/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* 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,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file boardinfo.c
* autopilot and carrier board information app
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <nuttx/i2c.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/bson/tinybson.h>
__EXPORT int boardinfo_main(int argc, char *argv[]);
struct eeprom_info_s
{
unsigned bus;
unsigned address;
unsigned page_size;
unsigned page_count;
unsigned page_write_delay;
};
/* XXX currently code below only supports 8-bit addressing */
const struct eeprom_info_s eeprom_info[] = {
{3, 0x57, 8, 16, 3300},
};
struct board_parameter_s {
const char *name;
bson_type_t type;
};
const struct board_parameter_s board_parameters[] = {
{"name", BSON_STRING}, /* ascii board name */
{"vers", BSON_INT32}, /* board version (major << 8) | minor */
{"date", BSON_INT32}, /* manufacture date */
{"build", BSON_INT32} /* build code (fab << 8) | tester */
};
const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]);
static int
eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
{
int result = -1;
struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
if (dev == NULL) {
warnx("failed to init bus %d for EEPROM", eeprom->bus);
goto out;
}
I2C_SETFREQUENCY(dev, 400000);
/* loop until all data has been transferred */
for (unsigned address = 0; address < size; ) {
uint8_t pagebuf[eeprom->page_size + 1];
/* how many bytes available to transfer? */
unsigned count = size - address;
/* constrain writes to the page size */
if (count > eeprom->page_size)
count = eeprom->page_size;
pagebuf[0] = address & 0xff;
memcpy(pagebuf + 1, buf + address, count);
struct i2c_msg_s msgv[1] = {
{
.addr = eeprom->address,
.flags = 0,
.buffer = pagebuf,
.length = count + 1
}
};
result = I2C_TRANSFER(dev, msgv, 1);
if (result != OK) {
warnx("EEPROM write failed: %d", result);
goto out;
}
usleep(eeprom->page_write_delay);
address += count;
}
out:
if (dev != NULL)
up_i2cuninitialize(dev);
return result;
}
static int
eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
{
int result = -1;
struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
if (dev == NULL) {
warnx("failed to init bus %d for EEPROM", eeprom->bus);
goto out;
}
I2C_SETFREQUENCY(dev, 400000);
/* loop until all data has been transferred */
for (unsigned address = 0; address < size; ) {
/* how many bytes available to transfer? */
unsigned count = size - address;
/* constrain transfers to the page size (bus anti-hog) */
if (count > eeprom->page_size)
count = eeprom->page_size;
uint8_t addr = address;
struct i2c_msg_s msgv[2] = {
{
.addr = eeprom->address,
.flags = 0,
.buffer = &addr,
.length = 1
},
{
.addr = eeprom->address,
.flags = I2C_M_READ,
.buffer = buf + address,
.length = count
}
};
result = I2C_TRANSFER(dev, msgv, 2);
if (result != OK) {
warnx("EEPROM read failed: %d", result);
goto out;
}
address += count;
}
out:
if (dev != NULL)
up_i2cuninitialize(dev);
return result;
}
static void *
idrom_read(const struct eeprom_info_s *eeprom)
{
uint32_t size = 0xffffffff;
int result;
void *buf = NULL;
result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size));
if (result != 0) {
warnx("failed reading ID ROM length");
goto fail;
}
if (size > (eeprom->page_size * eeprom->page_count)) {
warnx("ID ROM not programmed");
goto fail;
}
buf = malloc(size);
if (buf == NULL) {
warnx("could not allocate %d bytes for ID ROM", size);
goto fail;
}
result = eeprom_read(eeprom, buf, size);
if (result != 0) {
warnx("failed reading ID ROM");
goto fail;
}
return buf;
fail:
if (buf != NULL)
free(buf);
return NULL;
}
static void
boardinfo_set(const struct eeprom_info_s *eeprom, char *spec)
{
struct bson_encoder_s encoder;
int result = 1;
char *state, *token;
unsigned i;
/* create the encoder and make a writable copy of the spec */
bson_encoder_init_buf(&encoder, NULL, 0);
for (i = 0, token = strtok_r(spec, ",", &state);
token && (i < num_parameters);
i++, token = strtok_r(NULL, ",", &state)) {
switch (board_parameters[i].type) {
case BSON_STRING:
result = bson_encoder_append_string(&encoder, board_parameters[i].name, token);
break;
case BSON_INT32:
result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0));
break;
default:
result = 1;
}
if (result) {
warnx("bson append failed for %s<%s>", board_parameters[i].name, token);
goto out;
}
}
bson_encoder_fini(&encoder);
if (i != num_parameters) {
warnx("incorrect parameter list, expected: \"<name>,<version><date>,<buildcode>\"");
result = 1;
goto out;
}
if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) {
warnx("data too large for EEPROM");
result = 1;
goto out;
}
if ((int)*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) {
warnx("buffer length mismatch");
result = 1;
goto out;
}
warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
if (result < 0) {
warnc(-result, "error writing EEPROM");
result = 1;
} else {
result = 0;
}
out:
free(bson_encoder_buf_data(&encoder));
exit(result);
}
static int
boardinfo_print(bson_decoder_t decoder, void *private, bson_node_t node)
{
switch (node->type) {
case BSON_INT32:
printf("%s: %d / 0x%08x\n", node->name, (int)node->i, (unsigned)node->i);
break;
case BSON_STRING: {
char buf[bson_decoder_data_pending(decoder)];
bson_decoder_copy_data(decoder, buf);
printf("%s: %s\n", node->name, buf);
break;
}
case BSON_EOO:
break;
default:
warnx("unexpected node type %d", node->type);
break;
}
return 1;
}
static void
boardinfo_show(const struct eeprom_info_s *eeprom)
{
struct bson_decoder_s decoder;
void *buf;
buf = idrom_read(eeprom);
if (buf == NULL)
errx(1, "ID ROM read failed");
if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_print, NULL) == 0) {
while (bson_decoder_next(&decoder) > 0)
;
} else {
warnx("failed to init decoder");
}
free(buf);
exit(0);
}
struct {
const char *property;
const char *value;
} test_args;
static int
boardinfo_test_callback(bson_decoder_t decoder, void *private, bson_node_t node)
{
/* reject nodes with non-matching names */
if (strcmp(node->name, test_args.property))
return 1;
/* compare node values to check for a match */
switch (node->type) {
case BSON_STRING: {
char buf[bson_decoder_data_pending(decoder)];
bson_decoder_copy_data(decoder, buf);
/* check for a match */
if (!strcmp(test_args.value, buf)) {
return 2;
}
break;
}
case BSON_INT32: {
int32_t val = strtol(test_args.value, NULL, 0);
/* check for a match */
if (node->i == val) {
return 2;
}
break;
}
default:
break;
}
return 1;
}
static void
boardinfo_test(const struct eeprom_info_s *eeprom, const char *property, const char *value)
{
struct bson_decoder_s decoder;
void *buf;
int result = -1;
if ((property == NULL) || (strlen(property) == 0) ||
(value == NULL) || (strlen(value) == 0))
errx(1, "missing property name or value");
test_args.property = property;
test_args.value = value;
buf = idrom_read(eeprom);
if (buf == NULL)
errx(1, "ID ROM read failed");
if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_test_callback, NULL) == 0) {
do {
result = bson_decoder_next(&decoder);
} while (result == 1);
} else {
warnx("failed to init decoder");
}
free(buf);
/* if we matched, we exit with zero success */
exit((result == 2) ? 0 : 1);
}
int
boardinfo_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "set"))
boardinfo_set(&eeprom_info[0], argv[2]);
if (!strcmp(argv[1], "show"))
boardinfo_show(&eeprom_info[0]);
if (!strcmp(argv[1], "test"))
boardinfo_test(&eeprom_info[0], argv[2], argv[3]);
errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
}
