zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Kill the old board info code.

sbg
px4dev 12 years ago
parent
0616d58340
commit
66da4395b4
3 changed files with 0 additions and 301 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 223
      apps/systemcmds/boardinfo/boardinfo.c
  2. 73
      apps/systemlib/systemlib.c
  3. 5
      apps/systemlib/systemlib.h

223
apps/systemcmds/boardinfo/boardinfo.c
Unescape View File

@ -51,8 +51,6 @@ @@ -51,8 +51,6 @@
__EXPORT int boardinfo_main(int argc, char *argv[]);
#if 1
struct eeprom_info_s
{
unsigned bus;
@ -65,7 +63,6 @@ struct eeprom_info_s @@ -65,7 +63,6 @@ struct eeprom_info_s
/* XXX currently code below only supports 8-bit addressing */
const struct eeprom_info_s eeprom_info[] = {
{3, 0x57, 8, 16, 3300},
{0, 0, 0, 0, 0}
};
struct board_parameter_s {
@ -411,223 +408,3 @@ boardinfo_main(int argc, char *argv[]) @@ -411,223 +408,3 @@ boardinfo_main(int argc, char *argv[])
errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
}
#else
/**
* Reads out the board information
*
* @param argc the number of string arguments (including the executable name)
* @param argv the argument strings
*
* @return 0 on success, 1 on error
*/
int boardinfo_main(int argc, char *argv[])
{
const char *commandline_usage = "\tusage: boardinfo [-c|-f] [-t id] [-w \"<info>\"]\n";
bool carrier_mode = false;
bool fmu_mode = false;
bool write_mode = false;
char *write_string = 0;
bool silent = false;
bool test_enabled = false;
int test_boardid = -1;
int ch;
while ((ch = getopt(argc, argv, "cft:w:v")) != -1) {
switch (ch) {
case 'c':
carrier_mode = true;
break;
case 'f':
fmu_mode = true;
break;
case 't':
test_enabled = true;
test_boardid = strtol(optarg, NULL, 10);
silent = true;
break;
case 'w':
write_mode = true;
write_string = optarg;
break;
default:
printf(commandline_usage);
exit(0);
}
}
/* Check if write is required - only one mode is allowed then */
if (write_mode && fmu_mode && carrier_mode) {
fprintf(stderr, "[boardinfo] Please choose only one mode for writing: --carrier or --fmu\n");
printf(commandline_usage);
return ERROR;
}
/* Write FMU information
if (fmu_mode && write_mode) {
struct fmu_board_info_s info;
int ret = fmu_store_board_info(&info);
if (ret == OK) {
printf("[boardinfo] Successfully wrote FMU board info\n");
} else {
fprintf(stderr, "[boardinfo] ERROR writing board info to FMU EEPROM, aborting\n");
return ERROR;
}
}*/
/* write carrier board info */
if (carrier_mode && write_mode) {
struct carrier_board_info_s info;
bool parse_ok = true;
unsigned parse_idx = 0;
//int maxlen = strlen(write_string);
char *curr_char;
/* Parse board info string */
if (write_string[0] != 'P' || write_string[1] != 'X' || write_string[2] != '4') {
fprintf(stderr, "[boardinfo] header must start with 'PX4'\n");
parse_ok = false;
}
info.header[0] = 'P'; info.header[1] = 'X'; info.header[2] = '4';
parse_idx = 3;
/* Copy board name */
int i = 0;
while (write_string[parse_idx] != 0x20 && (parse_idx < sizeof(info.board_name) + sizeof(info.header))) {
info.board_name[i] = write_string[parse_idx];
i++; parse_idx++;
}
/* Enforce null termination */
info.board_name[sizeof(info.board_name) - 1] = '\0';
curr_char = write_string + parse_idx;
/* Index is now on next field */
info.board_id = strtol(curr_char, &curr_char, 10);//atoi(write_string + parse_index);
info.board_version = strtol(curr_char, &curr_char, 10);
/* Read in multi ports */
for (i = 0; i < MULT_COUNT; i++) {
info.multi_port_config[i] = strtol(curr_char, &curr_char, 10);
}
/* Read in production data */
info.production_year = strtol(curr_char, &curr_char, 10);
if (info.production_year < 2012 || info.production_year > 3000) {
fprintf(stderr, "[boardinfo] production year is invalid: %d\n", info.production_year);
parse_ok = false;
}
info.production_month = strtol(curr_char, &curr_char, 10);
if (info.production_month < 1 || info.production_month > 12) {
fprintf(stderr, "[boardinfo] production month is invalid: %d\n", info.production_month);
parse_ok = false;
}
info.production_day = strtol(curr_char, &curr_char, 10);
if (info.production_day < 1 || info.production_day > 31) {
fprintf(stderr, "[boardinfo] production day is invalid: %d\n", info.production_day);
parse_ok = false;
}
info.production_fab = strtol(curr_char, &curr_char, 10);
info.production_tester = strtol(curr_char, &curr_char, 10);
if (!parse_ok) {
/* Parsing failed */
fprintf(stderr, "[boardinfo] failed parsing info string:\n\t%s\naborting\n", write_string);
return ERROR;
} else {
int ret = carrier_store_board_info(&info);
/* Display result */
if (ret == sizeof(info)) {
printf("[boardinfo] Successfully wrote carrier board info\n");
} else {
fprintf(stderr, "[boardinfo] ERROR writing board info to carrier EEPROM (forgot to pull the WRITE_ENABLE line high?), aborting\n");
return ERROR;
}
}
}
/* Print FMU information */
if (fmu_mode && !silent) {
struct fmu_board_info_s info;
int ret = fmu_get_board_info(&info);
/* Print human readable name */
if (ret == sizeof(info)) {
printf("[boardinfo] Autopilot:\n\t%s\n", info.header);
} else {
fprintf(stderr, "[boardinfo] ERROR loading board info from FMU, aborting\n");
return ERROR;
}
}
/* print carrier information */
if (carrier_mode && !silent) {
struct carrier_board_info_s info;
int ret = carrier_get_board_info(&info);
/* Print human readable name */
if (ret == sizeof(info)) {
printf("[boardinfo] Carrier board:\n\t%s\n", info.header);
printf("\tboard id:\t\t%d\n", info.board_id);
printf("\tversion:\t\t%d\n", info.board_version);
for (unsigned i = 0; i < MULT_COUNT; i++) {
printf("\tmulti port #%d:\t\t%s: function #%d\n", i, multiport_info.port_names[i], info.multi_port_config[i]);
}
printf("\tproduction date:\t%d-%d-%d (fab #%d / tester #%d)\n", info.production_year, info.production_month, info.production_day, info.production_fab, info.production_tester);
} else {
fprintf(stderr, "[boardinfo] ERROR loading board info from carrier EEPROM (errno #%d), aborting\n", -ret);
return ERROR;
}
}
/* test for a specific carrier */
if (test_enabled) {
struct carrier_board_info_s info;
int ret = carrier_get_board_info(&info);
if (ret != sizeof(info)) {
fprintf(stderr, "[boardinfo] no EEPROM for board %d\n", test_boardid);
exit(1);
}
if (info.board_id == test_boardid) {
printf("[boardinfo] Found carrier board with ID %d, test succeeded\n", info.board_id);
exit(0);
} else {
/* exit silently with an error so we can test for multiple boards quietly */
exit(1);
}
}
return 0;
}
#endif

73
apps/systemlib/systemlib.c
Unescape View File

@ -110,76 +110,3 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma @@ -110,76 +110,3 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
return pid;
}
#define PX4_BOARD_ID_FMU (5)
int fmu_get_board_info(struct fmu_board_info_s *info)
{
/* Check which FMU version we're on */
struct stat sb;
int statres;
/* Copy version-specific fields */
statres = stat("/dev/bma180", &sb);
if (statres == OK) {
/* BMA180 indicates a v1.5-v1.6 board */
strcpy(info->board_name, "FMU v1.6");
info->board_version = 16;
} else {
statres = stat("/dev/accel", &sb);
if (statres == OK) {
/* MPU-6000 indicates a v1.7+ board */
strcpy(info->board_name, "FMU v1.7");
info->board_version = 17;
} else {
/* If no BMA and no MPU is present, it is a v1.3 board */
strcpy(info->board_name, "FMU v1.3");
info->board_version = 13;
}
}
/* Copy general FMU fields */
memcpy(info->header, "PX4", 3);
info->board_id = PX4_BOARD_ID_FMU;
return sizeof(struct fmu_board_info_s);
}
int carrier_store_board_info(const struct carrier_board_info_s *info)
{
int ret;
int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
/* Enforce correct header */
ret = write(fd, info, sizeof(struct carrier_board_info_s));
//ret = write(fd, "PX4", 3);
close(fd);
return ret;
}
int carrier_get_board_info(struct carrier_board_info_s *info)
{
int ret;
int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
if (fd < 0)
return -1; /* no board */
ret = read(fd, info, sizeof(struct carrier_board_info_s));
/* Enforce NUL termination of human-readable string */
if (ret == sizeof(struct carrier_board_info_s)) {
info->board_name[sizeof(info->board_name) - 1] = '\0';
}
close(fd);
return ret;
}

5
apps/systemlib/systemlib.h
Unescape View File

@ -117,11 +117,6 @@ struct __multiport_info { @@ -117,11 +117,6 @@ struct __multiport_info {
};
__EXPORT extern const struct __multiport_info multiport_info;
__EXPORT int carrier_store_board_info(const struct carrier_board_info_s *info);
__EXPORT int carrier_get_board_info(struct carrier_board_info_s *info);
__EXPORT int fmu_get_board_info(struct fmu_board_info_s *info);
__END_DECLS
#endif /* SYSTEMLIB_H_ */

Write Preview
Loading…
Cancel
Save