stm32:Add board Revision and version API for FMUv5 HW detection

8 years ago · 04f7a7a47a
2 changed files with 344 additions and 0 deletions
--- a/src/drivers/boards/common/stm32/CMakeLists.txt
+++ b/src/drivers/boards/common/stm32/CMakeLists.txt
@ -39,6 +39,7 @@ if (NOT ${LABEL} STREQUAL "bootloader")
				@@ -39,6 +39,7 @@ if (NOT ${LABEL} STREQUAL "bootloader")
 	list(APPEND SRCS
 		board_mcu_version.c
 		board_reset.c
+		board_hw_rev_ver.c
 		)
 endif()

--- a/src/drivers/boards/common/stm32/board_hw_rev_ver.c
+++ b/src/drivers/boards/common/stm32/board_hw_rev_ver.c
@ -0,0 +1,343 @@
				@@ -0,0 +1,343 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 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
+ * 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 board_hw_rev_ver.c
+ * Implementation of STM32 based Board Hardware Revision and Version ID API
+ */
+
+#include <px4_config.h>
+#include <stdio.h>
+#include "board_config.h"
+
+#include "../board_internal_common.h"
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int hw_version = -1;
+static int hw_revision = -1;
+static char hw_info[] = HW_INFO_INIT;
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+  * Name: determin_hw_version
+ *
+ * Description:
+ *
+ * This function fist determines if revision  and version resistors are in place.
+ * if they it will read the ADC channels and decode the DN to ordinal numbers
+ * that will be returned by board_get_hw_version and board_get_hw_revision API
+ *
+ *  This will return OK on success and -1 on not supported
+*
+ *
+ ****************************************************************************/
+
+static int dn_to_ordinal(uint16_t dn)
+{
+
+	const struct {
+		uint16_t low;  // High(n-1) + 1
+		uint16_t high; // Average High(n)+Low(n+1) EX. 1356 = AVRG(1331,1382)
+	} dn2o[] = {
+		//   R1(up) R2(down)    V min       V Max       DN Min DN Max
+		{0,   0   },   // 0                     No Resistors
+		{1,   579 },   // 1  24.9K   442K   0.166255191  0.44102252    204    553
+		{580, 967 },   // 2  32.4K   174K   0.492349322  0.770203609   605    966
+		{968, 1356},   // 3  38.3K   115K   0.787901749  1.061597759   968    1331
+		{1357, 1756},  // 4  46.4K   84.5K  1.124833577  1.386007306   1382   1738
+		{1757, 2137},  // 5  51.1K   61.9K  1.443393279  1.685367869   1774   2113
+		{2138, 2519},  // 6  61.9K   51.1K  1.758510242  1.974702534   2161   2476
+		{2520, 2919},  // 7  84.5K   46.4K  2.084546498  2.267198261   2562   2842
+		{2920, 3308},  // 8  115K    38.3K  2.437863827  2.57656294    2996   3230
+		{3309, 3699},  // 9  174K    32.4K  2.755223792  2.847933804   3386   3571
+		{3700, 4095},  // 10 442K    24.9K  3.113737849  3.147347506   3827   3946
+	};
+
+	for (unsigned int i = 0; i < arraySize(dn2o); i++) {
+		if (dn >= dn2o[i].low && dn <= dn2o[i].high) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
+/************************************************************************************
+ * Name: read_id_dn
+ *
+ * Description:
+ *   Read the HW sense set to get a DN of the value formed by
+ *                0 VDD
+ *                |
+ *                /
+ *                \   R1
+ *                /
+ *                |
+ *                +--------------- GPIO_HW_xxx_SENCE  | ADC channel N
+ *                |
+ *                /
+ *                \ R2
+ *                /
+ *                |
+ *                |
+ *                +--------------- GPIO_HW_xxx_DRIVE
+ *
+ * Input Parameters:
+ *   id          - pointer to receive the dn for the id set
+ *   gpio_drive  - gpio that is the drive
+ *   gpio_sense  - gpio that is the sence
+ *   adc_channel - the Channel number associated with gpio_sense
+ *
+ * Returned Value:
+ *    0    - Success and id is set
+ *   -EIO  - FAiled to init or read the ADC
+ *
+ ************************************************************************************/
+
+static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
+{
+	int rv = -EIO;
+	const unsigned int samples  = 16;
+	/*
+	 * Step one is there resistors?
+	 *
+	 * If we set the mid-point of the ladder which is the ADC input to an
+	 * output, then whatever state is driven out should be seen by the GPIO
+	 * that is on the bottom of the ladder that is switched to an input.
+	 * The SENCE line is effectively an output with a high value pullup
+	 * resistor on it driving an input through a series resistor with a pull up.
+	 * If present the series resistor will form a low pass filter due to stray
+	 * capacitance, but this is fine as long as we give it time to settle.
+	 */
+
+	/*  Turn the drive lines to digital inputs with No pull up */
+
+	stm32_configgpio(_MK_GPIO_INPUT(gpio_drive) & ~GPIO_PUPD_MASK);
+
+	/*  Turn the sense lines to digital outputs LOW */
+
+	stm32_configgpio(_MK_GPIO_OUTPUT(gpio_sense));
+
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/*  Read Drive lines while sense are driven low */
+
+	int low = stm32_gpioread(_MK_GPIO_INPUT(gpio_drive));
+
+
+	/*  Write the sense lines HIGH */
+
+	stm32_gpiowrite(_MK_GPIO_OUTPUT(gpio_sense), 1);
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/*  Read Drive lines while sense are driven high */
+
+	int high = stm32_gpioread(_MK_GPIO_INPUT(gpio_drive));
+
+	/* restore the pins to ANALOG */
+
+	stm32_configgpio(gpio_sense);
+
+	/*  Turn the drive lines to digital outputs LOW */
+
+	stm32_configgpio(gpio_drive ^ GPIO_OUTPUT_SET);
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/* Are Resistors in place ?*/
+
+	uint32_t dn_sum = 0;
+	uint16_t dn = 0;
+
+	if ((high ^ low) && low == 0) {
+
+
+		/* Yes - Fire up the ADC (it has once control) */
+
+		if (board_adc_init() == OK) {
+
+			/* Read the value */
+			for (unsigned av = 0; av < samples; av++) {
+				dn = board_adc_sample(adc_channel);
+
+				if (dn == 0xffff) {
+					break;
+				}
+
+				dn_sum  += dn;
+			}
+
+			if (dn != 0xffff) {
+				*id = dn_sum / samples;
+				rv = OK;
+			}
+		}
+
+	} else {
+		/* No - No Resistors is ID 0 */
+		*id = 0;
+		rv = OK;
+	}
+
+	/*  Turn the drive lines to digital outputs High */
+
+	stm32_configgpio(gpio_drive);
+	return rv;
+}
+
+
+static int determine_hw_info(int *revision, int *version)
+{
+	int dn;
+	int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);
+
+	if (rv == OK) {
+		*revision =  dn_to_ordinal(dn);
+		rv = read_id_dn(&dn, GPIO_HW_VER_DRIVE, GPIO_HW_VER_SENSE, ADC_HW_VER_SENSE_CHANNEL);
+
+		if (rv == OK) {
+			*version =  dn_to_ordinal(dn);
+		}
+	}
+
+	return rv;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	return (const char *) hw_info;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of -1 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  hw_version;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of -1 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  hw_revision;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses the HW revision and version detection added in FMUv5.
+ *	See https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY
+ *	HW REV and VER ID tab.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   0  - on success or negated errono
+ *   1) The values for integer value of this boards hardware revision is set
+ *   2) The integer value of this boards hardware version is set.
+ *   3) hw_info is populated
+ *
+ *   A value of 0 is the default for boards supporting the BOARD_HAS_HW_VERSIONING API.
+ *   but not having R1 and R2.
+ *
+ ************************************************************************************/
+
+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';
+	}
+
+	return rv;
+}
+#endif