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Merge PR #19575 (changes to pr-extendend_hw_ver_rev_format)

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- 4096 of 3 hex digits each for rev and ver is enough.
    #defines used in SPI versions do not be long format, use use the macro
 - Board provides a prefix and the formatting is sized and built in
 - No need for funky board_get_base_eeprom_mtd_manifest interface
    Original mft is used where the abstraction is done with the MFT interface

Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
This commit is contained in:
Igor Mišić
2022-07-05 09:29:26 +02:00
committed by Beat Küng
co-authored by David Sidrane
parent f7d542e720
commit 4b503c310e
44 changed files with 199 additions and 188 deletions
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ROMFS/px4fmu_common/init.d/rcS
+1 -1
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@@ -303,7 +303,7 @@ else
then then
# Check for the mini using build with px4io fw file # Check for the mini using build with px4io fw file
# but not a px4IO # but not a px4IO
if ver hwtypecmp V540 V560 if ver hwtypecmp V5004000 V5006000
then then
param set SYS_USE_IO 0 param set SYS_USE_IO 0
else else
boards/atl/mantis-edu/src/board_config.h
+1 -1
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@@ -115,7 +115,7 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13) #define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12) #define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x" #define HW_INFO_INIT_PREFIX "VAM"
#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
// #define BOARD_USE_ESC_CURRENT_REPORT // #define BOARD_USE_ESC_CURRENT_REPORT
boards/holybro/can-gps-v1/src/board_config.h
+3 -1
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@@ -83,7 +83,9 @@
#define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) #define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0) #define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1) #define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
#define HW_INFO_INIT "CANGPS%04x%04x" #define HW_INFO_INIT_PREFIX "CANGPS"
#define CANGPS00 HW_VER_REV(0x0,0x0) // CANGPS
#define FLASH_BASED_PARAMS #define FLASH_BASED_PARAMS
boards/holybro/can-gps-v1/src/manifest.c
+1 -1
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@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
// ver/rev // ver/rev
{0x00000000, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)}, {CANGPS00, hw_mft_list_v0000, arraySize(hw_mft_list_v0000)},
}; };
/************************************************************************************ /************************************************************************************
boards/holybro/durandal-v1/init/rc.board_sensors
+2 -2
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@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
bmi088 -A -R 2 -s start bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start bmi088 -G -R 2 -s start
if ver hwtypecmp VD00 if ver hwtypecmp VD000000
then then
# Internal SPI BMI088 # Internal SPI BMI088
bmi088 -A -R 2 -s start bmi088 -A -R 2 -s start
bmi088 -G -R 2 -s start bmi088 -G -R 2 -s start
fi fi
if ver hwtypecmp VD01 if ver hwtypecmp VD000001
then then
# Internal SPI ICM-20602 # Internal SPI ICM-20602
icm20602 -R 2 -s start icm20602 -R 2 -s start
boards/holybro/durandal-v1/src/board_config.h
+3 -3
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@@ -152,12 +152,12 @@
#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13 #define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12 #define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
#define HW_INFO_INIT "VD%04x%04x" #define HW_INFO_INIT_PREFIX "VD"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
#define VD00000000 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0 #define VD00 HW_VER_REV(0x0,0x0) // Durandal, Ver 0 Rev 0
#define VD00000001 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1 #define VD01 HW_VER_REV(0x0,0x1) // Durandal, Ver 0 Rev 1
/* CAN Silence /* CAN Silence
* *
boards/holybro/durandal-v1/src/init.c
+9 -7
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -206,7 +206,6 @@ stm32_boardinitialize(void)
* *
****************************************************************************/ ****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg) __EXPORT int board_app_initialize(uintptr_t arg)
{ {
/* Power on Interfaces */ /* Power on Interfaces */
@@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init(); px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) { if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,7 +234,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
} }
/* configure SPI interfaces (after we determined the HW version) */ /* Configure the actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize(); stm32_spiinitialize();
@@ -268,9 +274,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */ #endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK; return OK;
} }
boards/holybro/durandal-v1/src/manifest.c
+2 -2
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@@ -83,8 +83,8 @@ static const px4_hw_mft_item_t hw_mft_list_durandal[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev // ver_rev
{VD00000000, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)}, {VD00, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
{VD00000001, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)}, {VD01, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
}; };
/************************************************************************************ /************************************************************************************
boards/holybro/pix32v5/src/board_config.h
+4 -1
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@@ -185,7 +185,10 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13) #define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12) #define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x" #define HW_INFO_INIT_PREFIX "VPIX32V5"
#define VPIX32V500 HW_VER_REV(0x0,0x0) // PIX32V5 Rev 0
#define VPIX32V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
/* CAN Silence /* CAN Silence
* *
boards/holybro/pix32v5/src/manifest.c
+2 -2
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@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
}; };
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, {VPIX32V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x00040000, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3 {VPIX32V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
}; };
/************************************************************************************ /************************************************************************************
boards/modalai/fc-v1/src/board_config.h
+4 -1
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@@ -142,7 +142,10 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14) #define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V1%04x%04x" #define HW_INFO_INIT_PREFIX "V1"
#define V10006 HW_VER_REV(0x0,0x6) // V1006 Rev 6
#define V10100 HW_VER_REV(0x1,0x0) // V1010 Rev 0
/* PWM /* PWM
*/ */
boards/modalai/fc-v1/src/manifest.c
+2 -2
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@@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
}; };
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)}, {V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
{0x00010000, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)} {V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
}; };
/************************************************************************************ /************************************************************************************
boards/modalai/fc-v2/src/board_config.h
+2 -1
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@@ -182,7 +182,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V2%04x%04x" #define HW_INFO_INIT_PREFIX "V2"
#define V20300 HW_VER_REV(0x3,0x0)
/* PE6 is nARMED --> FCv2 this goes to TP13 /* PE6 is nARMED --> FCv2 this goes to TP13
* The GPIO will be set as input while not armed HW will have external HW Pull UP. * The GPIO will be set as input while not armed HW will have external HW Pull UP.
boards/modalai/fc-v2/src/manifest.c
+1 -1
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@@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
}; };
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00030000, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)}, {V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
}; };
/************************************************************************************ /************************************************************************************
boards/nxp/fmurt1062-v1/src/board_config.h
+3 -1
View File
@@ -192,7 +192,9 @@
#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX) #define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
#define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24) #define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24)
#define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20) #define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20)
#define HW_INFO_INIT "V5%04x%04x" #define HW_INFO_INIT_PREFIX "V5"
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V540 HW_VER_REV(0x4,0x0) // mini no can 2,3, Rev 0
/* CAN Silence /* CAN Silence
* *
boards/nxp/fmurt1062-v1/src/manifest.c
+2 -2
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@@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
}; };
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, {V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, {V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
}; };
/************************************************************************************ /************************************************************************************
boards/px4/fmu-v5/init/rc.board_defaults
+2 -2
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@@ -9,9 +9,9 @@ param set-default BAT2_V_DIV 18.1
param set-default BAT1_A_PER_V 36.367515152 param set-default BAT1_A_PER_V 36.367515152
param set-default BAT2_A_PER_V 36.367515152 param set-default BAT2_A_PER_V 36.367515152
if ver hwtypecmp V500050000 V500050002 V500060000 V500060002 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
then then
# CUAV V5+ (V500050000/V500050002) and V5nano (V560/V562) have 3 IMUs # CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
# Multi-EKF (IMUs only) # Multi-EKF (IMUs only)
param set-default EKF2_MULTI_IMU 3 param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0 param set-default SENS_IMU_MODE 0
boards/px4/fmu-v5/init/rc.board_sensors
+1 -1
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@@ -5,7 +5,7 @@
board_adc start board_adc start
if ver hwtypecmp V500050002 V500060002 if ver hwtypecmp V5005002 V5006002
then then
# Internal SPI bus ICM-42688-P # Internal SPI bus ICM-42688-P
icm42688p -s -R 2 -q start icm42688p -s -R 2 -q start
boards/px4/fmu-v5/src/board_config.h
+9 -8
View File
@@ -188,15 +188,16 @@
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13) #define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12) #define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT "V5%04x%04x"
#define HW_INFO_INIT_PREFIX "V5"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define V500000000 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0 #define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V500010005 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5 #define V515 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
#define V500040000 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0 #define V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0
#define V500050000 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0 #define V550 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0
#define V500050002 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2 #define V552 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2
#define V500060000 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0 #define V560 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0
#define V500060002 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2 #define V562 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2
/* CAN Silence /* CAN Silence
* *
boards/px4/fmu-v5/src/manifest.c
+7 -7
View File
@@ -157,13 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{V500000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, {V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
{V500010005, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1 {V515, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5 R:5 V:1
{V500040000, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3 {V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // HolyBro mini no can 2,3
{V500050000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5 {V550, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:0 V:5
{V500050002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P {V552, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5+ R:2 V:5 ICM42688P
{V500060000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2 {V560, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // CUAV V5nano R:0 V:6 with can 2
{V500060002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P {V562, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // Alias for CUAV V5nano R:2 V:6 ICM42688P
}; };
/************************************************************************************ /************************************************************************************
boards/px4/fmu-v5/src/spi.cpp
+3 -3
View File
@@ -36,7 +36,7 @@
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(V500000000, { initSPIHWVersion(V500, {
initSPIBus(SPI::Bus::SPI1, { initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@@ -61,7 +61,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}), }),
}), }),
initSPIHWVersion(V500050002, { initSPIHWVersion(V552, {
initSPIBus(SPI::Bus::SPI1, { initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}), initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
@@ -86,7 +86,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}), }),
}), }),
initSPIHWVersion(V500060002, { initSPIHWVersion(V562, {
initSPIBus(SPI::Bus::SPI1, { initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}), initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
boards/px4/fmu-v5x/init/rc.board_mavlink
+1 -1
View File
@@ -3,7 +3,7 @@
# board specific MAVLink startup script. # board specific MAVLink startup script.
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
if ver hwtypecmp V5X00090000 V5X00090001 V5X000a0000 V5X000a0001 V5X00080000 V5X00080001 V5X00100001 if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then then
# Start MAVLink on the UART connected to the mission computer # Start MAVLink on the UART connected to the mission computer
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
boards/px4/fmu-v5x/init/rc.board_sensors
+5 -5
View File
@@ -5,7 +5,7 @@
set HAVE_PM2 yes set HAVE_PM2 yes
if ver hwtypecmp V5X50 V5X51 V5X52 if ver hwtypecmp V5X005000 V5X005001 V5X005002
then then
set HAVE_PM2 no set HAVE_PM2 no
fi fi
@@ -48,11 +48,11 @@ then
fi fi
fi fi
if ver hwtypecmp V5X00000000 V5X00000001 V5X00000002 V5X00010000 if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
then then
#FMUv5Xbase board orientation #FMUv5Xbase board orientation
if ver hwtypecmp V5X00000000 V5X00000001 if ver hwtypecmp V5X000000 V5X000001
then then
# Internal SPI BMI088 # Internal SPI BMI088
bmi088 -A -R 4 -s start bmi088 -A -R 4 -s start
@@ -74,7 +74,7 @@ then
else else
#SKYNODE base fmu board orientation #SKYNODE base fmu board orientation
if ver hwtypecmp V5X00090000 V5X00090001 V5X000a0000 V5X000a0001 V5X00080000 V5X00080001 V5X00100001 if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
then then
# Internal SPI BMI088 # Internal SPI BMI088
bmi088 -A -R 2 -s start bmi088 -A -R 2 -s start
@@ -104,7 +104,7 @@ ist8310 -X -b 1 -R 10 start
if param compare SENS_INT_BARO_EN 1 if param compare SENS_INT_BARO_EN 1
then then
bmp388 -I -a 0x77 start bmp388 -I -a 0x77 start
if ver hwtypecmp V5X00000000 V5X00010000 V5X00080000 V5X00090000 V5X000a0000 if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
then then
bmp388 -I start bmp388 -I start
else else
boards/px4/fmu-v5x/src/board_config.h
+15 -15
View File
@@ -184,23 +184,23 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14) #define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V5X%04x%04x" #define HW_INFO_INIT_PREFIX "V5X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
// Base FMUM // Base FMUM
#define V5X00000000 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0 #define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
#define V5X00010000 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 #define V5X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V5X00000001 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1 #define V5X01 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1
#define V5X00000002 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2 #define V5X02 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2
#define V5X00050000 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0 #define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X00050001 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1 #define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X00050002 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2 #define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
#define V5X00090000 HW_VER_REV(0x9,0x0) // NO USB, Rev 0 #define V5X90 HW_VER_REV(0x9,0x0) // NO USB, Rev 0
#define V5X00090001 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1 #define V5X91 HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388, Rev 1
#define V5X00090002 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2 #define V5X92 HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388, Rev 2
#define V5X000a0000 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0 #define V5Xa0 HW_VER_REV(0xa,0x0) // NO USB (Q), Rev 0
#define V5X000a0001 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1 #define V5Xa1 HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define V5X000a0002 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2 #define V5Xa2 HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
#define V5X00100001 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1 #define V5X101 HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
#define UAVCAN_NUM_IFACES_RUNTIME 1 #define UAVCAN_NUM_IFACES_RUNTIME 1
boards/px4/fmu-v5x/src/init.cpp
+11 -10
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -54,9 +54,7 @@
#include <errno.h> #include <errno.h>
#include <nuttx/config.h> #include <nuttx/config.h>
extern "C" {
#include <nuttx/board.h> #include <nuttx/board.h>
}
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
#include <nuttx/sdio.h> #include <nuttx/sdio.h>
#include <nuttx/mmcsd.h> #include <nuttx/mmcsd.h>
@@ -222,8 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init(); px4_platform_init();
/* Enable base EEPROM MTD to read hardware information*/ // Use the default HW_VER_REV(0x0,0x0) for Ramtron
px4_mtd_config(board_get_base_eeprom_mtd_manifest());
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) { if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -233,11 +236,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
} }
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize(); stm32_spiinitialize();
board_spi_reset(10, 0xffff); board_spi_reset(10, 0xffff);
/* configure the DMA allocator */ /* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) { if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -269,10 +274,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif /* CONFIG_MMCSD */ #endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
int hw_version = board_get_hw_version(); int hw_version = board_get_hw_version();
if (hw_version == 0x9 || hw_version == 0xa) { if (hw_version == 0x9 || hw_version == 0xa) {
boards/px4/fmu-v5x/src/manifest.c
+14 -14
View File
@@ -159,20 +159,20 @@ static const px4_hw_mft_item_t hw_mft_list_v0509[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev // ver_rev
{V5X00000000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 0 {V5X00, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 0
{V5X00000001, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1 {V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1
{V5X00000002, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2 {V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2
{V5X00010000, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0 {V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0
{V5X00050000, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0 {V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
{V5X00050001, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1 {V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1
{V5X00050002, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2 {V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2
{V5X00090000, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0 {V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0
{V5X00090001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1 {V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
{V5X00090002, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2 {V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 2
{V5X000a0000, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0 {V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q), Rev 0
{V5X000a0001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1 {V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
{V5X000a0002, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2 {V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
{V5X00100001, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1 {V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388, Rev 1
}; };
/************************************************************************************ /************************************************************************************
boards/px4/fmu-v5x/src/mtd.cpp
+2 -13
View File
@@ -102,20 +102,14 @@ static const px4_mtd_entry_t imu_eeprom = {
}; };
static const px4_mtd_manifest_t board_mtd_config = { static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 2, .nconfigs = 3,
.entries = { .entries = {
&fmum_fram, &fmum_fram,
&base_eeprom,
&imu_eeprom &imu_eeprom
} }
}; };
static const px4_mtd_manifest_t board_mtd_base_eeprom_config = {
.nconfigs = 1,
.entries = {
&base_eeprom
}
};
static const px4_mft_entry_s mtd_mft = { static const px4_mft_entry_s mtd_mft = {
.type = MTD, .type = MTD,
.pmft = (void *) &board_mtd_config, .pmft = (void *) &board_mtd_config,
@@ -132,8 +126,3 @@ const px4_mft_s *board_get_manifest(void)
{ {
return &mft; return &mft;
} }
const px4_mtd_manifest_t *board_get_base_eeprom_mtd_manifest(void)
{
return &board_mtd_base_eeprom_config;
}
boards/px4/fmu-v6u/src/board_config.h
+2 -1
View File
@@ -173,7 +173,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V6U%04x%04x" #define HW_INFO_INIT_PREFIX "V6U"
#define V6U00 HW_VER_REV(0x0,0x0)
/* HEATER /* HEATER
* PWM in future * PWM in future
boards/px4/fmu-v6u/src/manifest.c
+1 -1
View File
@@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
}; };
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x00000000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, {V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
}; };
/************************************************************************************ /************************************************************************************
boards/px4/fmu-v6x/init/rc.board_sensors
+4 -4
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
set HAVE_PM2 yes set HAVE_PM2 yes
if ver hwtypecmp V6X00050000 V6X00050001 V6X00050003 V6X00050004 if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
then then
set HAVE_PM2 no set HAVE_PM2 no
fi fi
@@ -47,7 +47,7 @@ then
fi fi
fi fi
if ver hwtypecmp V6X00000004 V6X00010004 V6X00050004 if ver hwtypecmp V6X000004 V6X001004 V6X005004
then then
# Internal SPI bus ICM20649 # Internal SPI bus ICM20649
icm20649 -s -R 6 start icm20649 -s -R 6 start
@@ -60,7 +60,7 @@ fi
# Internal SPI bus ICM42688p # Internal SPI bus ICM42688p
icm42688p -R 6 -s start icm42688p -R 6 -s start
if ver hwtypecmp V6X00000003 V6X00010003 V6X00000004 V6X00010004 V6X00050003 V6X00050004 if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
then then
# Internal SPI bus ICM-42670-P (hard-mounted) # Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start icm42670p -R 10 -s start
@@ -78,7 +78,7 @@ ist8310 -X -b 1 -R 10 start
# Possible internal Baro # Possible internal Baro
bmp388 -I -a 0x77 start bmp388 -I -a 0x77 start
if ver hwtypecmp V6X00000000 V6X00010000 if ver hwtypecmp V6X000000 V6X001000
then then
bmp388 -I start bmp388 -I start
else else
boards/px4/fmu-v6x/src/board_config.h
+12 -12
View File
@@ -211,21 +211,21 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT "V6X%04x%04x" #define HW_INFO_INIT_PREFIX "V6X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
// Base/FMUM // Base/FMUM
#define V6X00000000 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0 #define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
#define V6X00000001 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1 #define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
#define V6X00000003 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3 #define V6X03 HW_VER_REV(0x0,0x3) // FMUV6X, Sensor Set Rev 3
#define V6X00000004 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4 #define V6X04 HW_VER_REV(0x0,0x4) // FMUV6X, Sensor Set Rev 4
#define V6X00010000 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 #define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V6X00010003 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3 #define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define V6X00010004 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4 #define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
#define V6X00050000 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0 #define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0
#define V6X00050001 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1 #define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
#define V6X00050003 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3 #define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
#define V6X00050004 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4 #define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4
#define UAVCAN_NUM_IFACES_RUNTIME 1 #define UAVCAN_NUM_IFACES_RUNTIME 1
boards/px4/fmu-v6x/src/init.c
+12 -6
View File
@@ -52,7 +52,6 @@
#include <string.h> #include <string.h>
#include <debug.h> #include <debug.h>
#include <errno.h> #include <errno.h>
#include <syslog.h>
#include <nuttx/config.h> #include <nuttx/config.h>
#include <nuttx/board.h> #include <nuttx/board.h>
@@ -71,6 +70,7 @@
#include <systemlib/px4_macros.h> #include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h> #include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h> #include <px4_platform_common/init.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/gpio.h> #include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h> #include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h> #include <px4_platform/board_dma_alloc.h>
@@ -219,6 +219,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
px4_platform_init(); px4_platform_init();
// Use the default HW_VER_REV(0x0,0x0) for Ramtron
stm32_spiinitialize();
/* Configure the HW based on the manifest */
px4_platform_configure();
if (OK == board_determine_hw_info()) { if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(), syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,11 +235,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n"); syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
} }
/* Configure the Actual SPI interfaces (after we determined the HW version) */
stm32_spiinitialize(); stm32_spiinitialize();
board_spi_reset(10, 0xffff); board_spi_reset(10, 0xffff);
/* configure the DMA allocator */ /* Configure the DMA allocator */
if (board_dma_alloc_init() < 0) { if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -264,13 +273,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) { if (ret != OK) {
led_on(LED_RED); led_on(LED_RED);
return ret;
} }
#endif /* CONFIG_MMCSD */ #endif /* CONFIG_MMCSD */
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK; return OK;
} }
boards/px4/fmu-v6x/src/manifest.c
+11 -11
View File
@@ -139,17 +139,17 @@ static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev // ver_rev
{V6X00000000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, {V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6X00000001, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2 {V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{V6X00000003, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3 {V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
{V6X00050000, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini {V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini
{V6X00050001, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini {V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini
{V6X00050003, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3 {V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{V6X00050004, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4 {V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{V6X00010000, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO {V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{V6X00010003, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3 {V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{V6X00000004, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4 {V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{V6X00010004, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4 {V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
}; };
/************************************************************************************ /************************************************************************************
boards/sky-drones/smartap-airlink/src/board_config.h
+2 -2
View File
@@ -173,8 +173,8 @@
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14) #define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT "V5X%04x%04x" #define HW_INFO_INIT_PREFIX "SDSA"
#define SDSA0501 HW_VER_REV(0x05,0x01)
/* HEATER /* HEATER
* PWM in future * PWM in future
*/ */
boards/sky-drones/smartap-airlink/src/manifest.c
+1 -1
View File
@@ -88,7 +88,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0501[] = {
static px4_hw_mft_list_entry_t mft_lists[] = { static px4_hw_mft_list_entry_t mft_lists[] = {
{0x0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)}, {SDSA0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
}; };
platforms/common/include/px4_platform_common/board_common.h
+3
View File
@@ -265,6 +265,9 @@
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff) # define HW_VER_REV(v,r) ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
#endif #endif
#define HW_INFO_REV_DIGITS 3
#define HW_INFO_VER_DIGITS 3
/* Default LED logical to color mapping */ /* Default LED logical to color mapping */
#if defined(BOARD_OVERLOAD_LED) #if defined(BOARD_OVERLOAD_LED)
platforms/common/include/px4_platform_common/mtd_manifest.h
+1 -1
View File
@@ -100,6 +100,6 @@ __EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
* 0 (get !=null) item by type's value is returned at get; * 0 (get !=null) item by type's value is returned at get;
* *
************************************************************************************/ ************************************************************************************/
__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get = nullptr); __EXPORT int px4_mtd_query(const char *type, const char *val, const char **get);
__END_DECLS __END_DECLS
platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h
+2 -1
View File
@@ -32,9 +32,10 @@
****************************************************************************/ ****************************************************************************/
#pragma once #pragma once
#include "micro_hal.h"
__BEGIN_DECLS __BEGIN_DECLS
#define HW_INFO_SUFFIX "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
/************************************************************************************ /************************************************************************************
* Name: board_determine_hw_info * Name: board_determine_hw_info
* *
platforms/nuttx/src/px4/common/include/px4_platform/board_hw_eeprom_rev_ver.h
+5 -4
View File
@@ -71,6 +71,7 @@ __BEGIN_DECLS
* Function for writing hardware info to EEPROM * Function for writing hardware info to EEPROM
* *
* Input Parameters: * Input Parameters:
* *path - path to mtd_mft
* *mtd_mft_unk - pointer to mtd_mft to write hw_info * *mtd_mft_unk - pointer to mtd_mft to write hw_info
* *
* Returned Value: * Returned Value:
@@ -80,9 +81,9 @@ __BEGIN_DECLS
************************************************************************************/ ************************************************************************************/
#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING) #if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
__EXPORT int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk); __EXPORT int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk);
#else #else
static inline int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk) { return -ENOSYS; } static inline int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk) { return -ENOSYS; }
#endif #endif
/************************************************************************************ /************************************************************************************
@@ -101,9 +102,9 @@ static inline int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk) { return -ENO
************************************************************************************/ ************************************************************************************/
#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING) #if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
__EXPORT int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft); __EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft);
#else #else
static inline int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft) { return -ENOSYS; } static inline int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft) { return -ENOSYS; }
#endif #endif
__END_DECLS __END_DECLS
platforms/nuttx/src/px4/common/px4_manifest.cpp
+1 -1
View File
@@ -100,7 +100,7 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
if (mft->mfts[m]->type == type) if (mft->mfts[m]->type == type)
switch (type) { switch (type) {
case MTD: case MTD:
return px4_mtd_query(sub, val); return px4_mtd_query(sub, val, nullptr);
break; break;
case MFT: case MFT:
platforms/nuttx/src/px4/common/usr_mcu_version.cpp
+1 -1
View File
@@ -44,7 +44,7 @@
static int hw_version = 0; static int hw_version = 0;
static int hw_revision = 0; static int hw_revision = 0;
static char hw_info[] = HW_INFO_INIT; static char hw_info[] = HW_INFO_INIT_PREFIX HW_INFO_SUFFIX;
__EXPORT const char *board_get_hw_type_name(void) __EXPORT const char *board_get_hw_type_name(void)
{ {
platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c
+7 -10
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2019 PX4 Development Team. All rights reserved. * Copyright (C) 2019, 2022 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com> * Author: @author David Sidrane <david_s5@nscdg.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@@ -53,7 +53,8 @@
# define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE # define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
# endif # endif
#define HW_INFO_SIZE 20 //<! Size to fit hw_info string #define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
@@ -196,7 +197,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
/* Are Resistors in place ?*/ /* Are Resistors in place ?*/
uint32_t dn_sum = 0; uint32_t dn_sum = 0;
uint16_t dn = 0; uint32_t dn = 0;
if ((high ^ low) && low == 0) { if ((high ^ low) && low == 0) {
/* Yes - Fire up the ADC (it has once control) */ /* Yes - Fire up the ADC (it has once control) */
@@ -207,14 +208,14 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
for (unsigned av = 0; av < samples; av++) { for (unsigned av = 0; av < samples; av++) {
dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel); dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel);
if (dn == 0xffff) { if (dn == UINT32_MAX) {
break; break;
} }
dn_sum += dn; dn_sum += dn;
} }
if (dn != 0xffff) { if (dn != UINT32_MAX) {
*id = dn_sum / samples; *id = dn_sum / samples;
rv = OK; rv = OK;
} }
@@ -344,12 +345,8 @@ int board_determine_hw_info()
if (rv == OK) { if (rv == OK) {
int hw_info_size = snprintf(hw_info, HW_INFO_SIZE, HW_INFO_INIT, hw_version, hw_revision); snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
if ((hw_info_size < 0) || (hw_info_size >= HW_INFO_SIZE)) {
printf("[boot] Error, hw_info string hasn't been completely written\n");
rv = -1;
}
} }
} }
platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c
+19 -22
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2017 PX4 Development Team. All rights reserved. * Copyright (C) 2017, 2022 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com> * Author: @author David Sidrane <david_s5@nscdg.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@@ -41,6 +41,7 @@
#include <px4_arch/adc.h> #include <px4_arch/adc.h>
#include <px4_platform_common/micro_hal.h> #include <px4_platform_common/micro_hal.h>
#include <px4_platform_common/px4_config.h> #include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform/board_determine_hw_info.h> #include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_hw_eeprom_rev_ver.h> #include <px4_platform/board_hw_eeprom_rev_ver.h>
#include <stdio.h> #include <stdio.h>
@@ -57,7 +58,8 @@
# define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE # define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
# endif # endif
#define HW_INFO_SIZE 20 //<! Size to fit hw_info string #define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
@@ -66,8 +68,6 @@ static int hw_version = 0;
static int hw_revision = 0; static int hw_revision = 0;
static char hw_info[HW_INFO_SIZE] = {0}; static char hw_info[HW_INFO_SIZE] = {0};
static const char *mtd_mft_path = "/fs/mtd_mft";
/**************************************************************************** /****************************************************************************
* Protected Functions * Protected Functions
****************************************************************************/ ****************************************************************************/
@@ -445,16 +445,19 @@ __EXPORT int board_get_hw_revision()
int board_determine_hw_info() int board_determine_hw_info()
{ {
// ADC hw version range: {0x1 - 0xF} // MFT supported?
const char *path;
int rvmft = px4_mtd_query("MTD_MFT", NULL, &path);
// Read ADC jumpering hw_info
int rv = determine_hw_info(&hw_revision, &hw_version); int rv = determine_hw_info(&hw_revision, &hw_version);
if (rv == OK) { if (rv == OK) {
/* EEPROM hw version range: {0x10 - 0xFFFF} */ if (rvmft == OK && path != NULL && hw_version == HW_VERSION_EEPROM) {
if (hw_version == HW_VERSION_EEPROM) {
mtd_mft_v0_t mtd_mft = {MTD_MFT_v0}; mtd_mft_v0_t mtd_mft = {MTD_MFT_v0};
rv = board_get_eeprom_hw_info((mtd_mft_t *)&mtd_mft); rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
if (rv == OK) { if (rv == OK) {
hw_version = mtd_mft.hw_extended_ver; hw_version = mtd_mft.hw_extended_ver;
@@ -463,13 +466,7 @@ int board_determine_hw_info()
} }
if (rv == OK) { if (rv == OK) {
snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
int hw_info_size = snprintf(hw_info, HW_INFO_SIZE, HW_INFO_INIT, hw_version, hw_revision);
if ((hw_info_size < 0) || (hw_info_size >= HW_INFO_SIZE)) {
printf("[boot] Error, hw_info string hasn't been completely written\n");
rv = -1;
}
} }
return rv; return rv;
@@ -490,10 +487,10 @@ int board_determine_hw_info()
* *
************************************************************************************/ ************************************************************************************/
int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk) int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk)
{ {
if (mtd_mft_unk == NULL) { if (mtd_mft_unk == NULL || path == NULL) {
return -1; return -EINVAL;
} }
// Later this will be a demux on type // Later this will be a demux on type
@@ -509,7 +506,7 @@ int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk)
return -EINVAL; return -EINVAL;
} }
int fd = open(mtd_mft_path, O_WRONLY); int fd = open(path, O_WRONLY);
if (fd < 0) { if (fd < 0) {
return -errno; return -errno;
@@ -545,13 +542,13 @@ int board_set_eeprom_hw_info(mtd_mft_t *mtd_mft_unk)
* -1 - Error while reading from EEPROM * -1 - Error while reading from EEPROM
* *
************************************************************************************/ ************************************************************************************/
__EXPORT int board_get_eeprom_hw_info(mtd_mft_t *mtd_mft) __EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft)
{ {
if (mtd_mft == NULL) { if (mtd_mft == NULL || path == NULL) {
return -EINVAL; return -EINVAL;
} }
int fd = open(mtd_mft_path, O_RDONLY); int fd = open(path, O_RDONLY);
if (fd < 0) { if (fd < 0) {
return -errno; return -errno;
src/systemcmds/ver/ver.cpp
+3 -2
View File
@@ -46,6 +46,7 @@
#include <stdbool.h> #include <stdbool.h>
#include <string.h> #include <string.h>
#include <version/version.h> #include <version/version.h>
#include <version/version.h>
/* string constants for version commands */ /* string constants for version commands */
static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hw_str[] = "hw";
@@ -141,11 +142,11 @@ extern "C" __EXPORT int ver_main(int argc, char *argv[])
int r = px4_board_hw_revision(); int r = px4_board_hw_revision();
if (v >= 0) { if (v >= 0) {
snprintf(vb, sizeof(vb), "0x%08X", v); snprintf(vb, sizeof(vb), "0x%0" STRINGIFY(HW_INFO_VER_DIGITS) "X", v);
} }
if (r >= 0) { if (r >= 0) {
snprintf(rb, sizeof(rb), "0x%08X", r); snprintf(rb, sizeof(rb), "0x%0" STRINGIFY(HW_INFO_REV_DIGITS) "X", r);
} }
printf("HW type: %s\n", strlen(px4_board_sub_type()) ? px4_board_sub_type() : "NA"); printf("HW type: %s\n", strlen(px4_board_sub_type()) ? px4_board_sub_type() : "NA");