mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
5084a61f0e
Modified uint32_t casts of pointers to unsigned long for portability. It otherwise breaks on x86_64. Added _PX4_IOC to handle the conflice between _IOC on Linux and NuttX. Removed use of px4::ok() because it cannot be used in a thread based implementation. Changed to use px4::AppMgr which uses ok() on ROS. Removed up_cxxinitialize.c from Linux build. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
118 lines
3.2 KiB
C
118 lines
3.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file mcu_version.c
|
|
*
|
|
* Read out the microcontroller version from the board
|
|
*
|
|
* @author Lorenz Meier <lorenz@px4.io>
|
|
*
|
|
*/
|
|
|
|
#include "mcu_version.h"
|
|
|
|
#include <px4_config.h>
|
|
#include <px4_defines.h>
|
|
|
|
#ifdef CONFIG_ARCH_CHIP_STM32
|
|
#include <up_arch.h>
|
|
|
|
#define DBGMCU_IDCODE 0xE0042000 //STM DocID018909 Rev 8 Sect 38.18 (MCU device ID code)
|
|
#define UNIQUE_ID 0x1FFF7A10 //STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
|
|
|
|
#define STM32F40x_41x 0x413
|
|
#define STM32F42x_43x 0x419
|
|
|
|
#define REVID_MASK 0xFFFF0000
|
|
#define DEVID_MASK 0xFFF
|
|
|
|
#endif
|
|
|
|
/** Copy the 96bit MCU Unique ID into the provided pointer */
|
|
void mcu_unique_id(uint32_t *uid_96_bit)
|
|
{
|
|
uid_96_bit[0] = getreg32(UNIQUE_ID);
|
|
uid_96_bit[1] = getreg32(UNIQUE_ID+4);
|
|
uid_96_bit[2] = getreg32(UNIQUE_ID+8);
|
|
}
|
|
|
|
int mcu_version(char* rev, char** revstr)
|
|
{
|
|
#ifdef CONFIG_ARCH_CHIP_STM32
|
|
uint32_t abc = getreg32(DBGMCU_IDCODE);
|
|
|
|
int32_t chip_version = abc & DEVID_MASK;
|
|
enum MCU_REV revid = (abc & REVID_MASK) >> 16;
|
|
|
|
switch (chip_version) {
|
|
case STM32F40x_41x:
|
|
*revstr = "STM32F40x";
|
|
break;
|
|
case STM32F42x_43x:
|
|
*revstr = "STM32F42x";
|
|
break;
|
|
default:
|
|
*revstr = "STM32F???";
|
|
break;
|
|
}
|
|
|
|
switch (revid) {
|
|
|
|
case MCU_REV_STM32F4_REV_A:
|
|
*rev = 'A';
|
|
break;
|
|
case MCU_REV_STM32F4_REV_Z:
|
|
*rev = 'Z';
|
|
break;
|
|
case MCU_REV_STM32F4_REV_Y:
|
|
*rev = 'Y';
|
|
break;
|
|
case MCU_REV_STM32F4_REV_1:
|
|
*rev = '1';
|
|
break;
|
|
case MCU_REV_STM32F4_REV_3:
|
|
*rev = '3';
|
|
break;
|
|
default:
|
|
*rev = '?';
|
|
revid = -1;
|
|
break;
|
|
}
|
|
|
|
return revid;
|
|
#else
|
|
return -1;
|
|
#endif
|
|
}
|