int board_late_init(void)
{
struct wdog_regs *wdog = (struct wdog_regs *)WDOG1_BASE_ADDR;
#ifdef CONFIG_SERIAL_TAG
struct tag_serialnr serialnr;
char serial_string[0x20];
#endif
imx_iomux_v3_setup_multiple_pads(wdog_pads, ARRAY_SIZE(wdog_pads));
set_wdog_reset(wdog);
/*
* Do not assert internal WDOG_RESET_B_DEB(controlled by bit 4),
* since we use PMIC_PWRON to reset the board.
*/
clrsetbits_le16(&wdog->wcr, 0, 0x10);
#ifdef CONFIG_SERIAL_TAG
/* Set serial# standard environment variable based on OTP settings */
get_board_serial(&serialnr);
snprintf(serial_string, sizeof(serial_string), "WaRP7-0x%08x%08x",
serialnr.low, serialnr.high);
env_set("serial#", serial_string);
#endif
return 0;
}
void UavcanNode::fill_node_info()
{
/* software version */
uavcan::protocol::SoftwareVersion swver;
// Extracting the first 8 hex digits of GIT_VERSION and converting them to int
char fw_git_short[9] = {};
std::memmove(fw_git_short, px4_git_version, 8);
assert(fw_git_short[8] == '\0');
char *end = nullptr;
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
swver.optional_field_mask |= swver.OPTIONAL_FIELD_MASK_VCS_COMMIT;
warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
_node.setSoftwareVersion(swver);
/* hardware version */
uavcan::protocol::HardwareVersion hwver;
if (!std::strncmp(HW_ARCH, "PX4FMU_V1", 9)) {
hwver.major = 1;
} else if (!std::strncmp(HW_ARCH, "PX4FMU_V2", 9)) {
hwver.major = 2;
} else {
; // All other values of HW_ARCH resolve to zero
}
uint8_t udid[12] = {}; // Someone seems to love magic numbers
get_board_serial(udid);
uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
_node.setHardwareVersion(hwver);
}
void setup_serial_tag (struct tag **tmp)
{
struct tag *params = *tmp;
struct tag_serialnr serialnr;
void get_board_serial(struct tag_serialnr *serialnr);
get_board_serial(&serialnr);
params->hdr.tag = ATAG_SERIAL;
params->hdr.size = tag_size (tag_serialnr);
params->u.serialnr.low = serialnr.low;
params->u.serialnr.high= serialnr.high;
params = tag_next (params);
*tmp = params;
}
int UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
{
int rv = -1;
if (UavcanNode::instance()) {
if (!std::strncmp(HW_ARCH, "PX4FMU_V1", 9)) {
hwver.major = 1;
} else if (!std::strncmp(HW_ARCH, "PX4FMU_V2", 9)) {
hwver.major = 2;
} else {
; // All other values of HW_ARCH resolve to zero
}
uint8_t udid[12] = {}; // Someone seems to love magic numbers
get_board_serial(udid);
uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
rv = 0;
}
return rv;
}
int
fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[1];
if (!strcmp(verb, "stop")) {
fmu_stop();
errx(0, "FMU driver stopped");
}
if (!strcmp(verb, "id")) {
uint8_t id[12];
(void)get_board_serial(id);
errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
(unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
(unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
}
if (fmu_start() != OK)
errx(1, "failed to start the FMU driver");
/*
* Mode switches.
*/
if (!strcmp(verb, "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(verb, "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
#endif
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* yes but it's the same mode */
if (new_mode == g_port_mode)
return OK;
/* switch modes */
int ret = fmu_new_mode(new_mode);
exit(ret == OK ? 0 : 1);
}
if (!strcmp(verb, "test"))
test();
if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);
if (!strcmp(verb, "sensor_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
sensor_reset(reset_time);
} else {
sensor_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test, fake, sensor_reset, id\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds], i2c <bus> <hz>\n");
#endif
exit(1);
}
