void UavcanNode::fill_node_info()
{
/* software version */
uavcan::protocol::SoftwareVersion swver;
// Extracting the first 8 hex digits of the git hash and converting them to int
char fw_git_short[9] = {};
std::memmove(fw_git_short, px4_firmware_version_string(), 8);
char *end = nullptr;
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
swver.major = AppDescriptor.major_version;
swver.minor = AppDescriptor.minor_version;
swver.image_crc = AppDescriptor.image_crc;
warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
_node.setSoftwareVersion(swver);
/* hardware version */
uavcan::protocol::HardwareVersion hwver;
hwver.major = HW_VERSION_MAJOR;
hwver.minor = HW_VERSION_MINOR;
mfguid_t mfgid = {};
board_get_mfguid(mfgid);
uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
_node.setHardwareVersion(hwver);
}
int board_get_mfguid_formated(char *format_buffer, int size)
{
mfguid_t mfguid;
board_get_mfguid(mfguid);
int offset = 0;
for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
}
return offset;
}
int UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
{
int rv = -1;
if (UavcanNode::instance()) {
if (!std::strncmp(px4_board_name(), "PX4FMU_V1", 9)) {
hwver.major = 1;
} else if (!std::strncmp(px4_board_name(), "PX4FMU_V2", 9)) {
hwver.major = 2;
} else {
; // All other values of px4_board_name() resolve to zero
}
mfguid_t mfgid = {};
board_get_mfguid(mfgid);
uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
rv = 0;
}
return rv;
}