Add call to access the mcu unique id. Expose via the 'ver' command.

This is prep for verifying calibration parameters against the hardware they were gathered on.

src/modules/systemlib/mcu_version.c

@@ -47,7 +47,8 @@
 #ifdef CONFIG_ARCH_CHIP_STM32
 #include <up_arch.h>
 
-#define DBGMCU_IDCODE	0xE0042000
+#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
@@ -57,7 +58,13 @@
 
 #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)
 {

src/modules/systemlib/mcu_version.h

@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 /* magic numbers from reference manual */
 enum MCU_REV {
 	MCU_REV_STM32F4_REV_A = 0x1000,
@@ -42,6 +44,15 @@ enum MCU_REV {
 	MCU_REV_STM32F4_REV_3 = 0x2001
 };
 
+
+/**
+ * Reports the microcontroller unique id.
+ *
+ * This ID is guaranteed to be unique for every mcu. 
+ * @param uid_96_bit A uint32_t[3] array to copy the data to.
+ */
+__EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
+
 /**
  * Reports the microcontroller version of the main CPU.
  *

src/systemcmds/ver/ver.c

@@ -54,6 +54,7 @@ static const char sz_ver_bdate_str[] = "bdate";
 static const char sz_ver_gcc_str[] 	= "gcc";
 static const char sz_ver_all_str[] 	= "all";
 static const char mcu_ver_str[]		= "mcu";
+static const char mcu_uid_str[]		= "uid";
 
 static void usage(const char *reason)
 {
@@ -61,7 +62,7 @@ static void usage(const char *reason)
 		printf("%s\n", reason);
 	}
 
-	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n");
+	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu|uid}\n\n");
 }
 
 __EXPORT int ver_main(int argc, char *argv[]);
@@ -141,6 +142,17 @@ int ver_main(int argc, char *argv[])
 				ret = 0;
 			}
 
+			if (show_all || !strncmp(argv[1], mcu_uid_str, sizeof(mcu_uid_str))) {
+				uint32_t uid[3];
+
+				mcu_unique_id(uid);
+
+				printf("UID: %X:%X:%X \n",uid[0],uid[1],uid[2]);
+
+				ret = 0;
+			}
+
+
 			if (ret == 1) {
 				errx(1, "unknown command.\n");
 			}