diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-23 07:49:18 +0100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-23 07:49:18 +0100 |
commit | ba19a1ba15a7dfde5aeafa68b98530e6c6a18436 (patch) | |
tree | df88c4ad8464c59108dcbe79a856f94344f581d8 /src | |
parent | 5bc61c3c57164a7d2d118d3f7399a2a24e7199cd (diff) | |
parent | 6c23e2f159b226fec394cca506e55b9b1d77365e (diff) | |
download | px4-firmware-ba19a1ba15a7dfde5aeafa68b98530e6c6a18436.tar.gz px4-firmware-ba19a1ba15a7dfde5aeafa68b98530e6c6a18436.tar.bz2 px4-firmware-ba19a1ba15a7dfde5aeafa68b98530e6c6a18436.zip |
Merge branch 'master' of github.com:PX4/Firmware into rssi
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 1 | ||||
-rw-r--r-- | src/lib/version/version.h (renamed from src/modules/sdlog2/sdlog2_version.h) | 8 | ||||
-rw-r--r-- | src/mainpage.dox | 9 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 282 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 4 | ||||
-rw-r--r-- | src/systemcmds/hw_ver/hw_ver.c | 73 | ||||
-rw-r--r-- | src/systemcmds/hw_ver/module.mk | 43 |
7 files changed, 310 insertions, 110 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8e080c043..27ee1fb42 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1302,6 +1302,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) /* voltage is scaled to mV */ battery_status.voltage_v = vbatt / 1000.0f; + battery_status.voltage_filtered_v = vbatt / 1000.0f; /* ibatt contains the raw ADC count, as 12 bit ADC diff --git a/src/modules/sdlog2/sdlog2_version.h b/src/lib/version/version.h index c6a9ba638..af733aaf0 100644 --- a/src/modules/sdlog2/sdlog2_version.h +++ b/src/lib/version/version.h @@ -33,15 +33,15 @@ ****************************************************************************/ /** - * @file sdlog2_version.h + * @file version.h * * Tools for system version detection. * * @author Anton Babushkin <anton.babushkin@me.com> */ -#ifndef SDLOG2_VERSION_H_ -#define SDLOG2_VERSION_H_ +#ifndef VERSION_H_ +#define VERSION_H_ /* GIT_VERSION is defined at build time via a Makefile call to the @@ -59,4 +59,4 @@ #define HW_ARCH "PX4FMU_V2" #endif -#endif /* SDLOG2_VERSION_H_ */ +#endif /* VERSION_H_ */ diff --git a/src/mainpage.dox b/src/mainpage.dox new file mode 100644 index 000000000..7ca410341 --- /dev/null +++ b/src/mainpage.dox @@ -0,0 +1,9 @@ +/** +\mainpage PX4 Autopilot Flight Control Stack and Middleware + +This software repository offers a middleware for micro aerial vehicles capable of running efficiently on a 168 MHz Cortex M4F processor and a state of the art flight control stack supporting multicopter and fixed wing aircraft. It can be easily used for experimental air (and ground) vehicles as well, as the application on a spherical blimp shows. + +http://pixhawk.org + + +*/
\ No newline at end of file diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 06b1eddaa..c4fafb5a6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -85,13 +85,13 @@ #include <systemlib/systemlib.h> #include <systemlib/param/param.h> +#include <version/version.h> #include <mavlink/mavlink_log.h> #include "logbuffer.h" #include "sdlog2_format.h" #include "sdlog2_messages.h" -#include "sdlog2_version.h" #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ @@ -108,13 +108,13 @@ static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ +static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */ static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */ static const int LOG_BUFFER_SIZE_DEFAULT = 8192; static const int MAX_WRITE_CHUNK = 512; static const int MIN_BYTES_TO_WRITE = 512; -static const char *mountpoint = "/fs/microsd"; +static const char *log_root = "/fs/microsd/log"; static int mavlink_fd = -1; struct logbuffer_s lb; @@ -122,14 +122,17 @@ struct logbuffer_s lb; static pthread_mutex_t logbuffer_mutex; static pthread_cond_t logbuffer_cond; -static char folder_path[64]; +static char log_dir[32]; /* statistics counters */ -static unsigned long log_bytes_written = 0; static uint64_t start_time = 0; +static unsigned long log_bytes_written = 0; static unsigned long log_msgs_written = 0; static unsigned long log_msgs_skipped = 0; +/* GPS time, used for log files naming */ +static uint64_t gps_time = 0; + /* current state of logging */ static bool logging_enabled = false; /* enable logging on start (-e option) */ @@ -138,11 +141,14 @@ static bool log_on_start = false; static bool log_when_armed = false; /* delay = 1 / rate (rate defined by -r option) */ static useconds_t sleep_delay = 0; +/* use date/time for naming directories and files (-t option) */ +static bool log_name_timestamp = false; /* helper flag to track system state changes */ static bool flag_system_armed = false; static pthread_t logwriter_pthread = 0; +static pthread_attr_t logwriter_attr; /** * Log buffer writing thread. Open and close file here. @@ -203,14 +209,14 @@ static void handle_command(struct vehicle_command_s *cmd); static void handle_status(struct vehicle_status_s *cmd); /** - * Create folder for current logging session. Store folder name in 'log_folder'. + * Create dir for current logging session. Store dir name in 'log_dir'. */ -static int create_logfolder(void); +static int create_log_dir(void); /** * Select first free log file name and open it. */ -static int open_logfile(void); +static int open_log_file(void); static void sdlog2_usage(const char *reason) @@ -218,11 +224,12 @@ sdlog2_usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\n" + errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n" "\t-r\tLog rate in Hz, 0 means unlimited rate\n" "\t-b\tLog buffer size in KiB, default is 8\n" "\t-e\tEnable logging by default (if not, can be started by command)\n" - "\t-a\tLog only when armed (can be still overriden by command)\n"); + "\t-a\tLog only when armed (can be still overriden by command)\n" + "\t-t\tUse date/time for naming log directories and files\n"); } /** @@ -280,82 +287,112 @@ int sdlog2_main(int argc, char *argv[]) exit(1); } -int create_logfolder() +int create_log_dir() { - /* make folder on sdcard */ - uint16_t folder_number = 1; // start with folder sess001 + /* create dir on sdcard if needed */ + uint16_t dir_number = 1; // start with dir sess001 int mkdir_ret; - /* look for the next folder that does not exist */ - while (folder_number <= MAX_NO_LOGFOLDER) { - /* set up folder path: e.g. /fs/microsd/sess001 */ - sprintf(folder_path, "%s/sess%03u", mountpoint, folder_number); - mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); - /* the result is -1 if the folder exists */ + if (log_name_timestamp && gps_time != 0) { + /* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */ + time_t gps_time_sec = gps_time / 1000000; + struct tm t; + gmtime_r(&gps_time_sec, &t); + int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root); + strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t); + mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - if (mkdir_ret == 0) { - /* folder does not exist, success */ - break; + if (mkdir_ret == OK) { + warnx("log dir created: %s", log_dir); + + } else if (errno != EEXIST) { + warn("failed creating new dir: %s", log_dir); + return -1; + } + + } else { + /* look for the next dir that does not exist */ + while (dir_number <= MAX_NO_LOGFOLDER) { + /* format log dir: e.g. /fs/microsd/sess001 */ + sprintf(log_dir, "%s/sess%03u", log_root, dir_number); + mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - } else if (mkdir_ret == -1) { - /* folder exists already */ - folder_number++; + if (mkdir_ret == 0) { + warnx("log dir created: %s", log_dir); + break; + + } else if (errno != EEXIST) { + warn("failed creating new dir: %s", log_dir); + return -1; + } + + /* dir exists already */ + dir_number++; continue; + } - } else { - warn("failed creating new folder"); + if (dir_number >= MAX_NO_LOGFOLDER) { + /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ + warnx("all %d possible dirs exist already", MAX_NO_LOGFOLDER); return -1; } } - if (folder_number >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - warnx("all %d possible folders exist already.", MAX_NO_LOGFOLDER); - return -1; - } - + /* print logging path, important to find log file later */ + warnx("log dir: %s", log_dir); + mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); return 0; } -int open_logfile() +int open_log_file() { - /* make folder on sdcard */ - uint16_t file_number = 1; // start with file log001 - /* string to hold the path to the log */ - char path_buf[64] = ""; - - int fd = 0; - - /* look for the next file that does not exist */ - while (file_number <= MAX_NO_LOGFILE) { - /* set up file path: e.g. /fs/microsd/sess001/log001.bin */ - sprintf(path_buf, "%s/log%03u.bin", folder_path, file_number); + char log_file_name[16] = ""; + char log_file_path[48] = ""; + + if (log_name_timestamp && gps_time != 0) { + /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ + time_t gps_time_sec = gps_time / 1000000; + struct tm t; + gmtime_r(&gps_time_sec, &t); + strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &t); + snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); + + } else { + uint16_t file_number = 1; // start with file log001 + + /* look for the next file that does not exist */ + while (file_number <= MAX_NO_LOGFILE) { + /* format log file path: e.g. /fs/microsd/sess001/log001.bin */ + snprintf(log_file_name, sizeof(log_file_name), "log%03u.bin", file_number); + snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); + + if (!file_exist(log_file_path)) { + break; + } - if (file_exist(path_buf)) { file_number++; - continue; } - fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC); - - if (fd == 0) { - warn("opening %s failed", path_buf); + if (file_number > MAX_NO_LOGFILE) { + /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ + warnx("all %d possible files exist already", MAX_NO_LOGFILE); + return -1; } + } - warnx("logging to: %s.", path_buf); - mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf); + int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); - return fd; - } + if (fd < 0) { + warn("failed opening log: %s", log_file_name); + mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); - if (file_number > MAX_NO_LOGFILE) { - /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - warnx("all %d possible files exist already.", MAX_NO_LOGFILE); - return -1; + } else { + warnx("log file: %s", log_file_name); + mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } - return 0; + return fd; } static void *logwriter_thread(void *arg) @@ -363,9 +400,12 @@ static void *logwriter_thread(void *arg) /* set name */ prctl(PR_SET_NAME, "sdlog2_writer", 0); - struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; + int log_fd = open_log_file(); - int log_fd = open_logfile(); + if (log_fd < 0) + return; + + struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; /* write log messages formats, version and parameters */ log_bytes_written += write_formats(log_fd); @@ -443,14 +483,20 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); - return OK; + return; } void sdlog2_start_log() { - warnx("start logging."); + warnx("start logging"); mavlink_log_info(mavlink_fd, "[sdlog2] start logging"); + /* create log dir if needed */ + if (create_log_dir() != 0) { + mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); + errx(1, "error creating log dir"); + } + /* initialize statistics counter */ log_bytes_written = 0; start_time = hrt_absolute_time(); @@ -458,30 +504,28 @@ void sdlog2_start_log() log_msgs_skipped = 0; /* initialize log buffer emptying thread */ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); + pthread_attr_init(&logwriter_attr); struct sched_param param; /* low priority, as this is expensive disk I/O */ param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + (void)pthread_attr_setschedparam(&logwriter_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 2048); + pthread_attr_setstacksize(&logwriter_attr, 2048); logwriter_should_exit = false; /* start log buffer emptying thread */ - if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) { + if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) { errx(1, "error creating logwriter thread"); } logging_enabled = true; - // XXX we have to destroy the attr at some point } void sdlog2_stop_log() { - warnx("stop logging."); + warnx("stop logging"); mavlink_log_info(mavlink_fd, "[sdlog2] stop logging"); logging_enabled = false; @@ -501,6 +545,7 @@ void sdlog2_stop_log() } logwriter_pthread = 0; + pthread_attr_destroy(&logwriter_attr); sdlog2_status(); } @@ -569,8 +614,8 @@ int write_parameters(int fd) } case PARAM_TYPE_FLOAT: - param_get(param, &value); - break; + param_get(param, &value); + break; default: break; @@ -588,18 +633,25 @@ int sdlog2_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - warnx("failed to open MAVLink log stream, start mavlink app first."); + warnx("failed to open MAVLink log stream, start mavlink app first"); } /* log buffer size */ int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; + logging_enabled = false; + log_on_start = false; + log_when_armed = false; + log_name_timestamp = false; + + flag_system_armed = false; + /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; int ch; - while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) { + while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); @@ -632,49 +684,52 @@ int sdlog2_thread_main(int argc, char *argv[]) log_when_armed = true; break; + case 't': + log_name_timestamp = true; + break; + case '?': if (optopt == 'c') { - warnx("Option -%c requires an argument.", optopt); + warnx("option -%c requires an argument", optopt); } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.", optopt); + warnx("unknown option `-%c'", optopt); } else { - warnx("Unknown option character `\\x%x'.", optopt); + warnx("unknown option character `\\x%x'", optopt); } default: sdlog2_usage("unrecognized flag"); - errx(1, "exiting."); + errx(1, "exiting"); } } - if (!file_exist(mountpoint)) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } + gps_time = 0; + + /* create log root dir */ + int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); - if (create_logfolder()) { - errx(1, "unable to create logging folder, exiting."); + if (mkdir_ret != 0 && errno != EEXIST) { + err("failed creating log root dir: %s", log_root); } + /* copy conversion scripts */ const char *converter_in = "/etc/logging/conv.zip"; - char *converter_out = malloc(120); - sprintf(converter_out, "%s/conv.zip", folder_path); + char *converter_out = malloc(64); + snprintf(converter_out, 64, "%s/conv.zip", log_root); - if (file_copy(converter_in, converter_out)) { - errx(1, "unable to copy conversion scripts, exiting."); + if (file_copy(converter_in, converter_out) != OK) { + warn("unable to copy conversion scripts"); } free(converter_out); - /* only print logging path, important to find log file later */ - warnx("logging to directory: %s", folder_path); - /* initialize log buffer with specified size */ - warnx("log buffer size: %i bytes.", log_buffer_size); + warnx("log buffer size: %i bytes", log_buffer_size); if (OK != logbuffer_init(&lb, log_buffer_size)) { - errx(1, "can't allocate log buffer, exiting."); + errx(1, "can't allocate log buffer, exiting"); } struct vehicle_status_s buf_status; @@ -895,7 +950,7 @@ int sdlog2_thread_main(int argc, char *argv[]) * differs from the number of messages in the above list. */ if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.", __FILE__, __LINE__); + warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__); fdsc_count = fdsc; } @@ -919,19 +974,27 @@ int sdlog2_thread_main(int argc, char *argv[]) uint16_t differential_pressure_counter = 0; /* enable logging on start if needed */ - if (log_on_start) + if (log_on_start) { + /* check GPS topic to get GPS time */ + if (log_name_timestamp) { + if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) { + gps_time = buf.gps_pos.time_gps_usec; + } + } + sdlog2_start_log(); + } while (!main_thread_should_exit) { /* decide use usleep() or blocking poll() */ bool use_sleep = sleep_delay > 0 && logging_enabled; /* poll all topics if logging enabled or only management (first 2) if not */ - int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout); + int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout); /* handle the poll result */ if (poll_ret < 0) { - warnx("ERROR: poll error, stop logging."); + warnx("ERROR: poll error, stop logging"); main_thread_should_exit = true; } else if (poll_ret > 0) { @@ -960,6 +1023,17 @@ int sdlog2_thread_main(int argc, char *argv[]) handled_topics++; } + /* --- GPS POSITION - LOG MANAGEMENT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + + if (log_name_timestamp) { + gps_time = buf.gps_pos.time_gps_usec; + } + + handled_topics++; + } + if (!logging_enabled || !check_data || handled_topics >= poll_ret) { continue; } @@ -988,7 +1062,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GPS POSITION --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec; log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type; @@ -1279,7 +1353,7 @@ int sdlog2_thread_main(int argc, char *argv[]) free(lb.data); - warnx("exiting."); + warnx("exiting"); thread_running = false; @@ -1292,8 +1366,8 @@ void sdlog2_status() float mebibytes = kibibytes / 1024.0f; float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; - warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs.", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); - mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs.", log_msgs_written, log_msgs_skipped); + warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); + mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); } /** @@ -1312,7 +1386,7 @@ int file_copy(const char *file_old, const char *file_new) int ret = 0; if (source == NULL) { - warnx("failed opening input file to copy."); + warnx("failed opening input file to copy"); return 1; } @@ -1320,7 +1394,7 @@ int file_copy(const char *file_old, const char *file_new) if (target == NULL) { fclose(source); - warnx("failed to open output file to copy."); + warnx("failed to open output file to copy"); return 1; } @@ -1331,7 +1405,7 @@ int file_copy(const char *file_old, const char *file_new) ret = fwrite(buf, 1, nread, target); if (ret <= 0) { - warnx("error writing file."); + warnx("error writing file"); ret = 1; break; } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ff6c5882e..9903a90a0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1548,8 +1548,8 @@ Sensors::task_main() raw.adc_voltage_v[3] = 0.0f; memset(&_battery_status, 0, sizeof(_battery_status)); - _battery_status.voltage_v = 0.0f; - _battery_status.voltage_filtered_v = 0.0f; + _battery_status.voltage_v = -1.0f; + _battery_status.voltage_filtered_v = -1.0f; _battery_status.current_a = -1.0f; _battery_status.discharged_mah = -1.0f; diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/systemcmds/hw_ver/hw_ver.c new file mode 100644 index 000000000..4b84523cc --- /dev/null +++ b/src/systemcmds/hw_ver/hw_ver.c @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 2014 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, + * 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 hw_ver.c + * + * Show and test hardware version. + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <string.h> +#include <errno.h> +#include <version/version.h> + +__EXPORT int hw_ver_main(int argc, char *argv[]); + +int +hw_ver_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "show")) { + printf(HW_ARCH "\n"); + exit(0); + } + + if (!strcmp(argv[1], "compare")) { + if (argc >= 3) { + int ret = strcmp(HW_ARCH, argv[2]) != 0; + if (ret == 0) { + printf("hw_ver match: %s\n", HW_ARCH); + } + exit(ret); + + } else { + errx(1, "not enough arguments, try 'compare PX4FMU_1'"); + } + } + } + + errx(1, "expected a command, try 'show' or 'compare'"); +} diff --git a/src/systemcmds/hw_ver/module.mk b/src/systemcmds/hw_ver/module.mk new file mode 100644 index 000000000..3cc08b6a1 --- /dev/null +++ b/src/systemcmds/hw_ver/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2014 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, +# 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. +# +############################################################################ + +# +# Show and test hardware version +# + +MODULE_COMMAND = hw_ver +SRCS = hw_ver.c + +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os |