/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
*
* 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 autopilot and carrier board information app */
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "systemlib/systemlib.h"
__EXPORT int boardinfo_main(int argc, char *argv[]);
/*
* 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] ERROR loading board info from EEPROM (errno #%d), aborting\n", -ret);
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;
}
