boards: update manifest.c to follow the new hw_ver_rev format

board_hw_eeprom_rev_ver:Support Path and use MFT to get it

ROMFS/px4fmu_common/init.d/rcS

@@ -313,7 +313,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else

boards/atl/mantis-edu/src/board_config.h

@@ -115,9 +115,7 @@
 #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_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX    "VAM"
 
 #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT

boards/bitcraze/crazyflie/src/mtd.cpp

@@ -72,7 +72,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/holybro/can-gps-v1/src/board_config.h

@@ -83,9 +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_REV_SENSE     /* PA0 */ ADC1_GPIO(0)
 #define GPIO_HW_VER_SENSE     /* PA1 */ ADC1_GPIO(1)
-#define HW_INFO_INIT         {'C','A','N','G','P','S','x', 'x',0}
-#define HW_INFO_INIT_VER     6
-#define HW_INFO_INIT_REV     7
+#define HW_INFO_INIT_PREFIX         "CANGPS"
+
+#define CANGPS00   HW_VER_REV(0x0,0x0) // CANGPS
 
 #define FLASH_BASED_PARAMS
 

boards/holybro/can-gps-v1/src/manifest.c

@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
 // ver/rev
-	{0x0000, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
+	{CANGPS00, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
 };
 
 /************************************************************************************
@@ -127,7 +127,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -138,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
 bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start
 
-if ver hwtypecmp  VD00
+if ver hwtypecmp  VD000000
 then
 	# Internal SPI BMI088
 	bmi088 -A -R 2 -s start
 	bmi088 -G -R 2 -s start
 fi
-if ver hwtypecmp  VD01
+if ver hwtypecmp  VD000001
 then
 	# Internal SPI ICM-20602
 	icm20602 -R 2 -s start

boards/holybro/durandal-v1/src/board_config.h

@@ -152,9 +152,7 @@
 #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_SENSE    /* PC2   */ GPIO_ADC123_INP12
-#define HW_INFO_INIT         {'V','D','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX         "VD"
 
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 

boards/holybro/durandal-v1/src/init.c

@@ -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
  * modification, are permitted provided that the following conditions
@@ -206,7 +206,6 @@ stm32_boardinitialize(void)
  *
  ****************************************************************************/
 
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	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()) {
 		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");
 	}
 
-	/* configure SPI interfaces (after we determined the HW version) */
+	/* Configure the actual SPI interfaces (after we determined the HW version) */
 
 	stm32_spiinitialize();
 
@@ -268,9 +274,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif /* CONFIG_MMCSD */
 
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }

boards/holybro/durandal-v1/src/manifest.c

@@ -107,7 +107,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -118,7 +118,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/holybro/pix32v5/src/board_config.h

@@ -185,9 +185,11 @@
 #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_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#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
  *
  * Silent mode control \ ESC Mux select

boards/holybro/pix32v5/src/manifest.c

@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{VPIX32V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{VPIX32V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
 };
 
 /************************************************************************************
@@ -153,7 +153,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -164,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/modalai/fc-v1/src/board_config.h

@@ -142,9 +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_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','1','x', 'x',0}
-#define HW_INFO_INIT_VER       2 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       3 /* Offset in above string of the REV */
+#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
  */

boards/modalai/fc-v1/src/manifest.c

@@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
-	{0x0100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
+	{V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
+	{V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
 };
 
 /************************************************************************************
@@ -114,7 +114,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -125,7 +125,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/modalai/fc-v2/src/board_config.h

@@ -182,9 +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_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','2','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V2"
+#define V20300   HW_VER_REV(0x3,0x0)
 
 /* 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.

boards/modalai/fc-v2/src/manifest.c

@@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
+	{V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
 };
 
 /************************************************************************************
@@ -106,7 +106,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -117,7 +117,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/modalai/fc-v2/src/mtd.cpp

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -192,9 +192,10 @@
 #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_VER_SENSE     /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20)
-#define HW_INFO_INIT          {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER      2
-#define HW_INFO_INIT_REV      3
+#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
  *
  * Silent mode control \ ESC Mux select

boards/nxp/fmurt1062-v1/src/manifest.c

@@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
+	{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
+	{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
 };
 
 /************************************************************************************

boards/nxp/ucans32k146/src/mtd.cpp

@@ -66,7 +66,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/px4/fmu-v4pro/src/mtd.cpp

@@ -65,7 +65,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/px4/fmu-v5/init/rc.board_defaults

@@ -9,7 +9,7 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V550 V552 V560 V562
+if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)

boards/px4/fmu-v5/init/rc.board_sensors

@@ -5,7 +5,7 @@
 
 board_adc start
 
-if ver hwtypecmp V552 V562
+if ver hwtypecmp V5005002 V5006002
 then
 	# Internal SPI bus ICM-42688-P
 	icm42688p -s -R 2 -q start

boards/px4/fmu-v5/src/board_config.h

@@ -188,9 +188,8 @@
 #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_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+
+#define HW_INFO_INIT_PREFIX         "V5"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 #define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
 #define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5

boards/px4/fmu-v5/src/manifest.c

@@ -186,7 +186,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -197,7 +197,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
-if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
+if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# 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

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -32,33 +32,11 @@ then
 	ina238 -X -b 2 -t 2 -k start
 fi
 
-if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
+if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
 then
-	#SKYNODE base fmu board orientation
-
-	if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 2 -s start
-		bmi088 -G -R 2 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 4 start
-	fi
-
-	# Internal SPI bus ICM42688p
-	icm42688p -R 4 -s start
-
-	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 8 -s start
-
-	# Internal magnetometer on I2c
-	bmm150 -I -R 6 start
-
-else
 	#FMUv5Xbase board orientation
 
-	if ver hwtypecmp V5X00 V5X01
+	if ver hwtypecmp V5X000000 V5X000001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 4 -s start
@@ -77,6 +55,28 @@ else
 	# Internal magnetometer on I2c
 	bmm150 -I start
 
+else
+	#SKYNODE base fmu board orientation
+
+	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	then
+		# Internal SPI BMI088
+		bmi088 -A -R 2 -s start
+		bmi088 -G -R 2 -s start
+	else
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 4 start
+	fi
+
+	# Internal SPI bus ICM42688p
+	icm42688p -R 4 -s start
+
+	# Internal SPI bus ICM-20602 (hard-mounted)
+	icm20602 -R 8 -s start
+
+	# Internal magnetometer on I2c
+	bmm150 -I -R 6 start
+
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
@@ -88,7 +88,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
 	then
 		bmp388 -I start
 	else

boards/px4/fmu-v5x/src/board_config.h

@@ -111,6 +111,8 @@
  *
  * Note that these are unshifted addresses.
  */
+
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
 #define PX4_I2C_OBDEV_SE050         0x48
 
 #define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
@@ -182,21 +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_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V5X"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 // Base                   FMUM
 #define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                 Rev 0
 #define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
 #define V5X01   HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388,     Rev 1
 #define V5X02   HW_VER_REV(0x0,0x2) // FMUV5X,                 Rev 2
+#define V5X80   HW_VER_REV(0x8,0x0) // USB (Q),                Rev 0
+#define V5X81   HW_VER_REV(0x8,0x1) // USB (Q) I2C2 BMP388,    Rev 1
+#define V5X82   HW_VER_REV(0x8,0x2) // USB (Q) I2C2 BMP388,    Rev 2
 #define V5X90   HW_VER_REV(0x9,0x0) // NO USB,                 Rev 0
 #define V5X91   HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388,     Rev 1
 #define V5X92   HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388,     Rev 2
 #define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),             Rev 0
 #define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
 #define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388, Rev 2
+#define V5X101  HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388, Rev 1
 
 /* HEATER
  * PWM in future

boards/px4/fmu-v5x/src/init.cpp

@@ -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
  * modification, are permitted provided that the following conditions
@@ -54,9 +54,7 @@
 #include <errno.h>
 
 #include <nuttx/config.h>
-extern "C" {
 #include <nuttx/board.h>
-}
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
@@ -72,6 +70,7 @@ extern "C" {
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -221,6 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	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()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -230,11 +236,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		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();
 
 	board_spi_reset(10, 0xffff);
 
-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */
 
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -266,10 +274,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif /* CONFIG_MMCSD */
 
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	int hw_version = board_get_hw_version();
 
 	if (hw_version == 0x9 || hw_version == 0xa) {

boards/px4/fmu-v5x/src/manifest.c

@@ -118,12 +118,16 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 1
 	{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 2
 	{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO,               Rev 0
+	{V5X80, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q),                Rev 0
+	{V5X81, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q) I2C2 BMP388,    Rev 1
+	{V5X82, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // USB (Q) I2C2 BMP388,    Rev 2
 	{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB,                 Rev 0
 	{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
 	{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 2
 	{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q),             Rev 0
 	{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
 	{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
+	{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
 };
 
 /************************************************************************************
@@ -146,7 +150,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -157,7 +161,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/px4/fmu-v5x/src/mtd.cpp

@@ -117,10 +117,12 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)
 {
 	return &mft;
-}
+}

boards/px4/fmu-v6u/src/board_config.h

@@ -173,9 +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_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','U','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX   "V6U"
+#define V6U00                 HW_VER_REV(0x0,0x0)
 
 /* HEATER
  * PWM in future

boards/px4/fmu-v6u/src/manifest.c

@@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 };
 
 /************************************************************************************
@@ -105,7 +105,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -116,7 +116,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/px4/fmu-v6u/src/mtd.cpp

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -32,7 +32,7 @@ bmi088 -G -R 4 -s start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start
 
-if ver hwtypecmp V6X03 V6X13
+if ver hwtypecmp V6X000003 V6X001003
 then
 	# Internal SPI bus ICM-42670-P (hard-mounted)
 	icm42670p -R 14 -s start
@@ -50,7 +50,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 bmp388 -I -a 0x77 start
 
-if ver hwtypecmp V6X00 V6X10
+if ver hwtypecmp V6X000000 V6X001000
 then
 	bmp388 -I start
 else

boards/px4/fmu-v6x/src/board_config.h

@@ -211,9 +211,7 @@
 #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_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX    "V6X"
 
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
 //                 Base/FMUM

boards/px4/fmu-v6x/src/init.c

@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>
 
 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -71,6 +70,7 @@
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -219,6 +219,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	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()) {
 		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");
 	}
 
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
 	stm32_spiinitialize();
 
 	board_spi_reset(10, 0xffff);
 
-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */
 
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -264,13 +273,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */
 
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }

boards/px4/fmu-v6x/src/manifest.c

@@ -124,7 +124,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -135,7 +135,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/px4/fmu-v6x/src/mtd.cpp

@@ -117,7 +117,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };
 
 const px4_mft_s *board_get_manifest(void)

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -173,10 +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_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
-
+#define HW_INFO_INIT_PREFIX     "SDSA"
+#define SDSA0501                 HW_VER_REV(0x05,0x01)
 /* HEATER
  * PWM in future
  */

boards/sky-drones/smartap-airlink/src/manifest.c

@@ -88,7 +88,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0501[] = {
 
 
 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

@@ -82,6 +82,10 @@
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
 #endif
 
+#ifndef BOARD_MTD_NUM_EEPROM
+#define BOARD_MTD_NUM_EEPROM 1
+#endif
+
 /* ADC defining tools
  * We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
  */
@@ -258,9 +262,12 @@
 
 #if defined(BOARD_HAS_HW_VERSIONING)
 #  define BOARD_HAS_VERSIONING 1
-#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
+#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
 #endif
 
+#define HW_INFO_REV_DIGITS    3
+#define HW_INFO_VER_DIGITS    3
+
 /* Default LED logical to color mapping */
 
 #if defined(BOARD_OVERLOAD_LED)

platforms/common/include/px4_platform_common/mtd_manifest.h

@@ -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;
  *
  ************************************************************************************/
-__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

platforms/common/include/px4_platform_common/px4_manifest.h

@@ -65,7 +65,7 @@ typedef struct {
 
 typedef struct {
 	const uint32_t        nmft;
-	const px4_mft_entry_s *mfts;
+	const px4_mft_entry_s *mfts[];
 } px4_mft_s;
 
 #include "px4_platform_common/mtd_manifest.h"
@@ -88,6 +88,19 @@ __BEGIN_DECLS
 
 __EXPORT const px4_mft_s *board_get_manifest(void);
 
+/************************************************************************************
+ * Name: board_get_base_eeprom_mtd_manifest
+ *
+ * Description:
+ *   A board will provide this function to return the mtd with eeprom manifest
+ *
+ * Returned Value:
+ *   pointer to mtd manifest
+ *
+ ************************************************************************************/
+
+__EXPORT const px4_mtd_manifest_t *board_get_base_eeprom_mtd_manifest(void);
+
 /************************************************************************************
  * Name: px4_mft_configure
  *

platforms/common/include/px4_platform_common/px4_mtd.h

@@ -35,6 +35,8 @@
 
 __BEGIN_DECLS
 
+#define MAX_MTD_INSTANCES 5u
+
 // The data needed to interface with mtd device's
 
 typedef struct {
@@ -60,7 +62,7 @@ typedef struct {
  *            This can be  Null if there are no mtd instances.
  *
  */
-__EXPORT mtd_instance_s *px4_mtd_get_instances(unsigned int *count);
+__EXPORT mtd_instance_s **px4_mtd_get_instances(unsigned int *count);
 
 /*
   Get device complete geometry or a device
@@ -75,7 +77,9 @@ __EXPORT int  px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long
  */
 __EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname);
 
-FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
-		uint8_t address);
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);
+
+void px4_at24c_deinitialize(void);
 
 __END_DECLS

platforms/common/spi.cpp

@@ -47,7 +47,7 @@ void px4_set_spi_buses_from_hw_version()
 #if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
 	int hw_version_revision = board_get_hw_version();
 #else
-	int hw_version_revision = (board_get_hw_version() << 8) | board_get_hw_revision();
+	int hw_version_revision = (board_get_hw_version() << 16) | board_get_hw_revision();
 #endif
 
 
@@ -66,12 +66,12 @@ void px4_set_spi_buses_from_hw_version()
 	}
 }
 
-const px4_spi_bus_t *px4_spi_buses{};
+const px4_spi_bus_t *px4_spi_buses{nullptr};
 #endif
 
 int px4_find_spi_bus(uint32_t devid)
 {
-	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+	for (int i = 0; px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
 		const px4_spi_bus_t &bus_data = px4_spi_buses[i];
 
 		if (bus_data.bus == -1) {

platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h

@@ -32,9 +32,10 @@
  ****************************************************************************/
 #pragma once
 
-
+#include "micro_hal.h"
 __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
  *

platforms/nuttx/src/px4/common/include/px4_platform/board_hw_eeprom_rev_ver.h

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#define HW_VERSION_EEPROM 		0x7		//!< Get hw_info from EEPROM
+#define HW_EEPROM_VERSION_MIN	0x10	//!< Minimum supported version
+
+#pragma pack(push, 1)
+
+typedef struct {
+	uint16_t id;
+} mtd_mft_t;
+
+typedef struct {
+	mtd_mft_t version;
+	uint16_t hw_extended_ver;
+	uint16_t crc;
+} mtd_mft_v0_t;
+
+typedef struct {
+	mtd_mft_t  version;
+	uint16_t hw_extended_ver;
+	//{device tree overlay}
+	uint16_t crc;
+} mtd_mft_v1_t;
+
+
+#pragma pack(pop)
+
+#define MTD_MFT_v0 0U //<! EEPROM MTD MFT structure version 0
+#define MTD_MFT_v1 1U //<! EEPROM MTD MFT structure version 1
+
+#define MTD_MFT_OFFSET 0 //<! Offset in EEPROM where mtd_mft data starts
+
+__BEGIN_DECLS
+
+/************************************************************************************
+  * Name: board_set_eeprom_hw_info
+ *
+ * Description:
+ * Function for writing hardware info to EEPROM
+ *
+ * Input Parameters:
+ *   *path        - path to mtd_mft
+ *   *mtd_mft_unk - pointer to mtd_mft to write hw_info
+ *
+ * Returned Value:
+ *    0    - Successful storing to EEPROM
+ *   -1    - Error while storing to EEPROM
+ *
+ ************************************************************************************/
+
+#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
+__EXPORT int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk);
+#else
+static inline int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk) { return -ENOSYS; }
+#endif
+
+/************************************************************************************
+  * Name: board_get_eeprom_hw_info
+ *
+ * Description:
+ * Function for reading hardware info from EEPROM
+ *
+ * Output Parameters:
+ *   *mtd_mft - pointer to mtd_mft to read hw_info
+ *
+ * Returned Value:
+ *    0    - Successful reading from EEPROM
+ *   -1    - Error while reading from EEPROM
+ *
+ ************************************************************************************/
+
+#if !defined(BOARD_HAS_SIMPLE_HW_VERSIONING) && defined(BOARD_HAS_VERSIONING)
+__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft);
+#else
+static inline int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft) { return -ENOSYS; }
+#endif
+
+__END_DECLS

platforms/nuttx/src/px4/common/px4_24xxxx_mtd.c

@@ -70,6 +70,7 @@
 #include <nuttx/mtd/mtd.h>
 
 #include <perf/perf_counter.h>
+#include <board_config.h>
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -195,11 +196,8 @@ int at24c_nuke(void);
  * Private Data
  ************************************************************************************/
 
-/* At present, only a single AT24 part is supported.  In this case, a statically
- * allocated state structure may be used.
- */
-
-static struct at24c_dev_s g_at24c;
+static uint8_t number_of_instances = 0u;
+static struct at24c_dev_s g_at24c[BOARD_MTD_NUM_EEPROM];
 
 /************************************************************************************
  * Private Functions
@@ -262,7 +260,7 @@ void at24c_test(void)
 	unsigned errors = 0;
 
 	for (count = 0; count < 10000; count++) {
-		ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
+		ssize_t result = at24c_bread(&g_at24c[0].mtd, 0, 1, buf);
 
 		if (result == ERROR) {
 			if (errors++ > 2) {
@@ -538,13 +536,17 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
  *   other functions (such as a block or character driver front end).
  *
  ************************************************************************************/
-FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
-		uint8_t address)
+int px4_at24c_initialize(FAR struct i2c_master_s *dev,
+			 uint8_t address, FAR struct mtd_dev_s **mtd_dev)
 
 {
+	if (number_of_instances >= BOARD_MTD_NUM_EEPROM) {
+		return -ENOMEM;
+	}
+
 	FAR struct at24c_dev_s *priv;
 
-	finfo("dev: %p\n", dev);
+	finfo("dev: %p, mtd_dev %p\n", dev, mtd_dev);
 
 	/* Allocate a state structure (we allocate the structure instead of using
 	 * a fixed, static allocation so that we can handle multiple FLASH devices.
@@ -553,7 +555,7 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
 	 * to be extended to handle multiple FLASH parts on the same I2C bus.
 	 */
 
-	priv = &g_at24c;
+	priv = &g_at24c[number_of_instances];
 
 	if (priv) {
 		/* Initialize the allocated structure */
@@ -608,13 +610,13 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
 		priv->perf_resets_retries = NULL;
 		priv->perf_errors = NULL;
 
-		return NULL;
+		return ret;
 	}
 
-	/* Return the implementation-specific state structure as the MTD device */
+	*mtd_dev = (FAR struct mtd_dev_s *)priv;
+	++number_of_instances;
 
-	finfo("Return %p\n", priv);
-	return (FAR struct mtd_dev_s *)priv;
+	return 0;
 }
 
 /*
@@ -622,5 +624,5 @@ FAR struct mtd_dev_s *px4_at24c_initialize(FAR struct i2c_master_s *dev,
  */
 int at24c_nuke(void)
 {
-	return at24c_eraseall(&g_at24c);
+	return at24c_eraseall(&g_at24c[0]);
 }

platforms/nuttx/src/px4/common/px4_manifest.cpp

@@ -58,7 +58,9 @@ static const px4_mft_entry_s mtd_mft = {
 
 static const px4_mft_s default_mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts =  {
+		&mtd_mft
+	}
 };
 
 
@@ -73,9 +75,9 @@ __EXPORT int px4_mft_configure(const px4_mft_s *mft)
 
 	if (mft != nullptr) {
 		for (uint32_t m = 0; m < mft->nmft; m++) {
-			switch (mft->mfts[m].type) {
+			switch (mft->mfts[m]->type) {
 			case MTD:
-				px4_mtd_config(static_cast<const px4_mtd_manifest_t *>(mft->mfts[m].pmft));
+				px4_mtd_config(static_cast<const px4_mtd_manifest_t *>(mft->mfts[m]->pmft));
 				break;
 
 			case MFT:
@@ -95,10 +97,10 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
 
 	if (mft != nullptr) {
 		for (uint32_t m = 0; m < mft->nmft; m++) {
-			if (mft->mfts[m].type == type)
+			if (mft->mfts[m]->type == type)
 				switch (type) {
 				case MTD:
-					return px4_mtd_query(sub, val);
+					return px4_mtd_query(sub, val, nullptr);
 					break;
 
 				case MFT:

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -64,7 +64,8 @@ extern "C" {
 					off_t firstblock, off_t nblocks);
 }
 static int num_instances = 0;
-static mtd_instance_s *instances = nullptr;
+static int total_blocks = 0;
+static mtd_instance_s *instances[MAX_MTD_INSTANCES] = {};
 
 
 static int ramtron_attach(mtd_instance_s &instance)
@@ -147,15 +148,19 @@ static int at24xxx_attach(mtd_instance_s &instance)
 
 	/* start the MTD driver, attempt 5 times */
 	for (int i = 0; i < 5; i++) {
-		instance.mtd_dev = px4_at24c_initialize(i2c, PX4_I2C_DEVID_ADDR(instance.devid));
+		int ret_val = px4_at24c_initialize(i2c, PX4_I2C_DEVID_ADDR(instance.devid), &(instance.mtd_dev));
 
-		if (instance.mtd_dev) {
+		if (ret_val == 0) {
 			/* abort on first valid result */
 			if (i > 0) {
 				PX4_WARN("EEPROM needed %d attempts to attach", i + 1);
 			}
 
 			break;
+
+		} else if (ret_val == -ENOMEM) {
+			PX4_ERR("Number of at24c EEPROM instances reached the board limit of %d", BOARD_MTD_NUM_EEPROM);
+			break;
 		}
 	}
 
@@ -230,7 +235,7 @@ ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *p
 	return instance->partition_block_counts[partn] * blocksize;
 }
 
-mtd_instance_s *px4_mtd_get_instances(unsigned int *count)
+mtd_instance_s **px4_mtd_get_instances(unsigned int *count)
 {
 	*count = num_instances;
 	return instances;
@@ -292,62 +297,69 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
 	}
 
 	rv = -ENOMEM;
-	int total_blocks = 0;
+	uint8_t total_new_instances = mtd_list->nconfigs + num_instances;
 
-	instances = new mtd_instance_s[mtd_list->nconfigs];
-
-	if (instances == nullptr) {
-memoryout:
-		PX4_ERR("failed to allocate memory!");
+	if (total_new_instances >= MAX_MTD_INSTANCES) {
+		PX4_ERR("reached limit of max %u mtd instances", MAX_MTD_INSTANCES);
 		return rv;
 	}
 
-	for (uint32_t i = 0; i < mtd_list->nconfigs; i++) {
+	for (uint8_t i = num_instances, num_entry = 0u; i < total_new_instances; ++i, ++num_entry) {
+
+		instances[i] = new mtd_instance_s;
+
+		if (instances == nullptr) {
+memoryout:
+			PX4_ERR("failed to allocate memory!");
+			return rv;
+		}
+
 		num_instances++;
-		uint32_t nparts = mtd_list->entries[i]->npart;
-		instances[i].devid = mtd_list->entries[i]->device->devid;
-		instances[i].mtd_dev = nullptr;
-		instances[i].n_partitions_current = 0;
+
+		uint32_t nparts = mtd_list->entries[num_entry]->npart;
+		instances[i]->devid = mtd_list->entries[num_entry]->device->devid;
+		instances[i]->mtd_dev = nullptr;
+		instances[i]->n_partitions_current = 0;
 
 		rv = -ENOMEM;
-		instances[i].part_dev = new FAR struct mtd_dev_s *[nparts];
+		instances[i]->part_dev = new FAR struct mtd_dev_s *[nparts];
 
-		if (instances[i].part_dev == nullptr) {
+		if (instances[i]->part_dev == nullptr) {
 			goto memoryout;
 		}
 
-		instances[i].partition_block_counts = new int[nparts];
+		instances[i]->partition_block_counts = new int[nparts];
 
-		if (instances[i].partition_block_counts == nullptr) {
+		if (instances[i]->partition_block_counts == nullptr) {
 			goto memoryout;
 		}
 
-		instances[i].partition_types = new int[nparts];
+		instances[i]->partition_types = new int[nparts];
 
-		if (instances[i].partition_types == nullptr) {
+		if (instances[i]->partition_types == nullptr) {
 			goto memoryout;
 		}
 
-		instances[i].partition_names = new const char *[nparts];
+		instances[i]->partition_names = new const char *[nparts];
 
-		if (instances[i].partition_names == nullptr) {
+		if (instances[i]->partition_names == nullptr) {
 			goto memoryout;
 		}
 
 		for (uint32_t p = 0; p < nparts; p++) {
-			instances[i].partition_block_counts[p] =  mtd_list->entries[i]->partd[p].nblocks;
-			instances[i].partition_names[p] = mtd_list->entries[i]->partd[p].path;
-			instances[i].partition_types[p] = mtd_list->entries[i]->partd[p].type;
+			instances[i]->partition_block_counts[p] =  mtd_list->entries[num_entry]->partd[p].nblocks;
+			instances[i]->partition_names[p] = mtd_list->entries[num_entry]->partd[p].path;
+			instances[i]->partition_types[p] = mtd_list->entries[num_entry]->partd[p].type;
 		}
 
-		if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) {
-			rv = at24xxx_attach(instances[i]);
+		if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::I2C) {
+			rv = at24xxx_attach(*instances[i]);
 
-		} else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::SPI) {
-			rv = ramtron_attach(instances[i]);
+		} else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::SPI) {
+			rv = ramtron_attach(*instances[i]);
 
-		} else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::ONCHIP) {
-			instances[i].n_partitions_current++;
+		} else if (mtd_list->entries[num_entry]->device->bus_type == px4_mft_device_t::ONCHIP) {
+			instances[i]->n_partitions_current++;
 			return 0;
 		}
 
@@ -362,7 +374,7 @@ memoryout:
 		unsigned int  nblocks;
 		unsigned int  partsize;
 
-		rv = px4_mtd_get_geometry(&instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
+		rv = px4_mtd_get_geometry(instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
 
 		if (rv != 0) {
 			goto errout;
@@ -375,13 +387,13 @@ memoryout:
 		unsigned long offset;
 		unsigned part;
 
-		for (offset = 0, part = 0; rv == 0 && part < nparts; offset += instances[i].partition_block_counts[part], part++) {
+		for (offset = 0, part = 0; rv == 0 && part < nparts; offset += instances[i]->partition_block_counts[part], part++) {
 
 			/* Create the partition */
 
-			instances[i].part_dev[part] = mtd_partition(instances[i].mtd_dev, offset, instances[i].partition_block_counts[part]);
+			instances[i]->part_dev[part] = mtd_partition(instances[i]->mtd_dev, offset, instances[i]->partition_block_counts[part]);
 
-			if (instances[i].part_dev[part] == nullptr) {
+			if (instances[i]->part_dev[part] == nullptr) {
 				PX4_ERR("mtd_partition failed. offset=%lu nblocks=%u",
 					offset, nblocks);
 				rv = -ENOSPC;
@@ -392,7 +404,7 @@ memoryout:
 
 			snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", total_blocks);
 
-			rv = ftl_initialize(total_blocks, instances[i].part_dev[part]);
+			rv = ftl_initialize(total_blocks, instances[i]->part_dev[part]);
 
 			if (rv < 0) {
 				PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
@@ -403,14 +415,14 @@ memoryout:
 
 			/* Now create a character device on the block device */
 
-			rv = bchdev_register(blockname, instances[i].partition_names[part], false);
+			rv = bchdev_register(blockname, instances[i]->partition_names[part], false);
 
 			if (rv < 0) {
-				PX4_ERR("bchdev_register %s failed: %d", instances[i].partition_names[part], rv);
+				PX4_ERR("bchdev_register %s failed: %d", instances[i]->partition_names[part], rv);
 				goto errout;
 			}
 
-			instances[i].n_partitions_current++;
+			instances[i]->n_partitions_current++;
 		}
 
 errout:
@@ -418,9 +430,9 @@ errout:
 		if (rv < 0) {
 			PX4_ERR("mtd failure: %d bus %" PRId32 " address %" PRId32 " class %d",
 				rv,
-				PX4_I2C_DEVID_BUS(instances[i].devid),
-				PX4_I2C_DEVID_ADDR(instances[i].devid),
-				mtd_list->entries[i]->partd[instances[i].n_partitions_current].type);
+				PX4_I2C_DEVID_BUS(instances[i]->devid),
+				PX4_I2C_DEVID_ADDR(instances[i]->devid),
+				mtd_list->entries[num_entry]->partd[instances[i]->n_partitions_current].type);
 			break;
 		}
 	}
@@ -452,14 +464,14 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
 			rv = -ENOENT;
 
 			for (int i = 0; i < num_instances; i++) {
-				for (unsigned n = 0; n < instances[i].n_partitions_current; n++) {
-					if (instances[i].partition_types[n] == key) {
+				for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) {
+					if (instances[i]->partition_types[n] == key) {
 						if (get != nullptr && val == nullptr) {
-							*get =  instances[i].partition_names[n];
+							*get =  instances[i]->partition_names[n];
 							return 0;
 						}
 
-						if (val != nullptr && strcmp(instances[i].partition_names[n], val) == 0) {
+						if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) {
 							return 0;
 						}
 					}

platforms/nuttx/src/px4/common/usr_mcu_version.cpp

@@ -44,7 +44,7 @@
 
 static int hw_version = 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)
 {

platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c

@@ -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>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -52,12 +52,16 @@
 #    define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE
 #    define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
 #  endif
+
+#define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 static int hw_version = 0;
 static int hw_revision = 0;
-static char hw_info[] = HW_INFO_INIT;
+static char hw_info[HW_INFO_SIZE] = {0};
 
 /****************************************************************************
  * Protected Functions
@@ -193,7 +197,7 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
 	/* Are Resistors in place ?*/
 
 	uint32_t dn_sum = 0;
-	uint16_t dn = 0;
+	uint32_t dn = 0;
 
 	if ((high ^ low) && low == 0) {
 		/* Yes - Fire up the ADC (it has once control) */
@@ -204,14 +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++) {
 				dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel);
 
-				if (dn == 0xffff) {
+				if (dn == UINT32_MAX) {
 					break;
 				}
 
 				dn_sum  += dn;
 			}
 
-			if (dn != 0xffff) {
+			if (dn != UINT32_MAX) {
 				*id = dn_sum / samples;
 				rv = OK;
 			}
@@ -338,8 +342,12 @@ int board_determine_hw_info()
 	int rv = determine_hw_info(&hw_revision, &hw_version);
 
 	if (rv == OK) {
-		hw_info[HW_INFO_INIT_REV] = board_get_hw_revision() + '0';
-		hw_info[HW_INFO_INIT_VER] = board_get_hw_version() + '0';
+
+		if (rv == OK) {
+
+			snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
+
+		}
 	}
 
 	return rv;

platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/CMakeLists.txt

@@ -34,4 +34,4 @@
 px4_add_library(arch_board_hw_info
 	board_hw_rev_ver.c
 )
-target_link_libraries(arch_board_hw_info PRIVATE arch_adc)
+target_link_libraries(arch_board_hw_info PRIVATE arch_adc systemlib)

platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c

@@ -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>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -41,10 +41,14 @@
 #include <px4_arch/adc.h>
 #include <px4_platform_common/micro_hal.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_hw_eeprom_rev_ver.h>
 #include <stdio.h>
+#include <fcntl.h>
 #include <board_config.h>
 
+#include <systemlib/crc.h>
 #include <systemlib/px4_macros.h>
 
 #if defined(BOARD_HAS_HW_VERSIONING)
@@ -53,12 +57,16 @@
 #    define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE
 #    define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
 #  endif
+
+#define HW_INFO_SIZE (int) arraySize(HW_INFO_INIT_PREFIX) + HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 static int hw_version = 0;
 static int hw_revision = 0;
-static char hw_info[] = HW_INFO_INIT;
+static char hw_info[HW_INFO_SIZE] = {0};
 
 /****************************************************************************
  * Protected Functions
@@ -437,18 +445,170 @@ __EXPORT int board_get_hw_revision()
 
 int board_determine_hw_info()
 {
+	// 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);
 
 	if (rv == OK) {
 
-		hw_info[HW_INFO_INIT_REV] = board_get_hw_revision() < 10 ?
-					    board_get_hw_revision() + '0' :
-					    board_get_hw_revision() + 'a' - 10;
-		hw_info[HW_INFO_INIT_VER] = board_get_hw_version()  < 10 ?
-					    board_get_hw_version() + '0' :
-					    board_get_hw_version()  + 'a' - 10;
+		if (rvmft == OK && path != NULL && hw_version == HW_VERSION_EEPROM) {
+
+			mtd_mft_v0_t mtd_mft = {MTD_MFT_v0};
+			rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+			if (rv == OK) {
+				hw_version = mtd_mft.hw_extended_ver;
+			}
+		}
+	}
+
+	if (rv == OK) {
+		snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
 	}
 
 	return rv;
 }
+
+/************************************************************************************
+  * Name: board_set_eeprom_hw_info
+ *
+ * Description:
+ * Function for writing hardware info to EEPROM
+ *
+ * Input Parameters:
+ *   *mtd_mft_unk - pointer to mtd_mft to write hw_info
+ *
+ * Returned Value:
+ *    0    - Successful storing to EEPROM
+ *   -1    - Error while storing to EEPROM
+ *
+ ************************************************************************************/
+
+int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk)
+{
+	if (mtd_mft_unk == NULL || path == NULL) {
+		return -EINVAL;
+	}
+
+	// Later this will be a demux on type
+	if (mtd_mft_unk->id != MTD_MFT_v0) {
+		printf("Verson is: %d, Only mft version %d is supported\n", mtd_mft_unk->id, MTD_MFT_v0);
+		return -EINVAL;
+	}
+
+	mtd_mft_v0_t *mtd_mft = (mtd_mft_v0_t *)mtd_mft_unk;
+
+	if (mtd_mft->hw_extended_ver < HW_EEPROM_VERSION_MIN) {
+		printf("hardware version for EEPROM must be greater than %x\n", HW_EEPROM_VERSION_MIN);
+		return -EINVAL;
+	}
+
+	int fd = open(path, O_WRONLY);
+
+	if (fd < 0) {
+		return -errno;
+	}
+
+	int ret_val = OK;
+
+	mtd_mft->crc = crc16_signature(CRC16_INITIAL, sizeof(*mtd_mft) - sizeof(mtd_mft->crc), (uint8_t *) mtd_mft);
+
+	if (
+		(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+		(sizeof(*mtd_mft) != write(fd, mtd_mft, sizeof(*mtd_mft)))
+	) {
+		ret_val = -errno;
+	}
+
+	close(fd);
+
+	return ret_val;
+}
+
+/************************************************************************************
+  * Name: board_get_eeprom_hw_info
+ *
+ * Description:
+ * Function for reading hardware info from EEPROM
+ *
+ * Output Parameters:
+ *   *mtd_mft - pointer to mtd_mft to read hw_info
+ *
+ * Returned Value:
+ *    0    - Successful reading from EEPROM
+ *   -1    - Error while reading from EEPROM
+ *
+ ************************************************************************************/
+__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft)
+{
+	if (mtd_mft == NULL || path == NULL) {
+		return -EINVAL;
+	}
+
+	int fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		return -errno;
+	}
+
+	int ret_val = OK;
+	mtd_mft_t format_version = {-1};
+
+	if (
+		(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+		(sizeof(format_version) != read(fd, &format_version, sizeof(format_version)))
+	) {
+		ret_val = -errno;
+
+	} else if (format_version.id != mtd_mft->id) {
+		ret_val = -EPROTO;
+
+	} else {
+
+		uint16_t mft_size = 0;
+
+		switch (format_version.id) {
+		case MTD_MFT_v0: mft_size = sizeof(mtd_mft_v0_t); break;
+
+		case MTD_MFT_v1: mft_size = sizeof(mtd_mft_v1_t); break;
+
+		default:
+			printf("[boot] Error, unknown version %d of mtd_mft in EEPROM\n", format_version.id);
+			ret_val = -1;
+			break;
+		}
+
+		if (ret_val == OK) {
+
+			if (
+				(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+				(mft_size != read(fd, mtd_mft, mft_size))
+			) {
+				ret_val = -errno;
+
+			} else {
+
+				union {
+					uint16_t w;
+					uint8_t  b[2];
+				} crc;
+
+				uint8_t *bytes = (uint8_t *) mtd_mft;
+				crc.w = crc16_signature(CRC16_INITIAL, mft_size - sizeof(crc), bytes);
+				uint8_t *eeprom_crc = &bytes[mft_size - sizeof(crc)];
+
+				if (!(crc.b[0] == eeprom_crc[0] && crc.b[1] == eeprom_crc[1])) {
+					ret_val = -1;
+				}
+			}
+		}
+	}
+
+	close(fd);
+	return ret_val;
+}
+
 #endif

src/systemcmds/mtd/mtd.cpp

@@ -80,11 +80,11 @@ static int mtd_status(void)
 	bool running = false;
 	unsigned int num_instances;
 
-	const mtd_instance_s *instances = px4_mtd_get_instances(&num_instances);
+	mtd_instance_s **instances = px4_mtd_get_instances(&num_instances);
 
 	if (instances) {
 		for (unsigned int i = 0; i < num_instances; ++i) {
-			if (instances[i].mtd_dev) {
+			if (instances[i]->mtd_dev) {
 
 				unsigned long blocksize;
 				unsigned long erasesize;
@@ -93,7 +93,7 @@ static int mtd_status(void)
 				unsigned int  nblocks;
 				unsigned int  partsize;
 
-				ret = px4_mtd_get_geometry(&instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
+				ret = px4_mtd_get_geometry(instances[i], &blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize);
 
 				if (ret == 0) {
 
@@ -102,17 +102,17 @@ static int mtd_status(void)
 					printf("  blocksize:      %lu\n", blocksize);
 					printf("  erasesize:      %lu\n", erasesize);
 					printf("  neraseblocks:   %lu\n", neraseblocks);
-					printf("  No. partitions: %u\n", instances[i].n_partitions_current);
+					printf("  No. partitions: %u\n", instances[i]->n_partitions_current);
 
 
 					unsigned int  totalnblocks = 0;
 					unsigned int  totalpartsize = 0;
 
-					for (unsigned int p = 0; p < instances[i].n_partitions_current; p++) {
+					for (unsigned int p = 0; p < instances[i]->n_partitions_current; p++) {
 						FAR struct mtd_geometry_s geo;
-						ret = instances[i].part_dev[p]->ioctl(instances[i].part_dev[p], MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+						ret = instances[i]->part_dev[p]->ioctl(instances[i]->part_dev[p], MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
 						printf("    partition: %u:\n", p);
-						printf("     name:   %s\n", instances[i].partition_names[p]);
+						printf("     name:   %s\n", instances[i]->partition_names[p]);
 						printf("     blocks: %" PRIu32 " (%lu bytes)\n", geo.neraseblocks, erasesize * geo.neraseblocks);
 						totalnblocks += geo.neraseblocks;
 						totalpartsize += erasesize * geo.neraseblocks;
@@ -323,7 +323,7 @@ int mtd_main(int argc, char *argv[])
 
 	if (myoptind < argc) {
 		unsigned int num_instances;
-		mtd_instance_s *instances = px4_mtd_get_instances(&num_instances);
+		mtd_instance_s **instances = px4_mtd_get_instances(&num_instances);
 
 		if (instances == nullptr) {
 			PX4_ERR("Driver not running");
@@ -338,11 +338,11 @@ int mtd_main(int argc, char *argv[])
 #if !defined(CONSTRAINED_FLASH)
 
 		if (!strcmp(argv[myoptind], "readtest")) {
-			return mtd_readtest(instances[instance]);
+			return mtd_readtest(*instances[instance]);
 		}
 
 		if (!strcmp(argv[myoptind], "rwtest")) {
-			return mtd_rwtest(instances[instance]);
+			return mtd_rwtest(*instances[instance]);
 		}
 
 #endif
@@ -352,7 +352,7 @@ int mtd_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[myoptind],  "erase")) {
-			return mtd_erase(instances[instance]);
+			return mtd_erase(*instances[instance]);
 		}
 	}
 

src/systemcmds/ver/ver.cpp

@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <string.h>
 #include <version/version.h>
+#include <version/version.h>
 
 /* string constants for version commands */
 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();
 
 				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) {
-					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");