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-rw-r--r--ROMFS/px4fmu_common/init.d/1001_rc_quad.hil7
-rw-r--r--ROMFS/px4fmu_common/init.d/800_sdlogger4
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.io2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.logging4
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.sensors4
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS9
-rw-r--r--makefiles/config_px4fmu-v1_backside.mk1
-rw-r--r--makefiles/config_px4fmu-v1_default.mk1
-rw-r--r--makefiles/config_px4fmu-v2_default.mk1
-rw-r--r--makefiles/config_px4fmu-v2_test.mk1
-rw-r--r--src/lib/version/version.h (renamed from src/modules/sdlog2/sdlog2_version.h)8
-rw-r--r--src/modules/sdlog2/sdlog2.c2
-rw-r--r--src/systemcmds/hw_ver/hw_ver.c73
-rw-r--r--src/systemcmds/hw_ver/module.mk43
14 files changed, 144 insertions, 16 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
index 9b664d63e..25ea25ae8 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
@@ -67,8 +67,11 @@ if px4io start
then
echo "IO started"
else
- fmu mode_serial
- echo "FMU started"
+ if hw_ver compare PX4FMU_V1
+ then
+ fmu mode_serial
+ echo "FMU started"
+ fi
fi
#
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
index 9b90cbdd0..2d2c3737b 100644
--- a/ROMFS/px4fmu_common/init.d/800_sdlogger
+++ b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -42,10 +42,12 @@ position_estimator_inav start
if [ -d /fs/microsd ]
then
- if [ $BOARD == fmuv1 ]
+ if hw_ver compare PX4FMU_V1
then
+ echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -e -b 16
else
+ echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -e -b 16
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index aaf91b316..24784610c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -11,7 +11,7 @@ then
#
# Disable px4io topic limiting
#
- if [ $BOARD == fmuv1 ]
+ if hw_ver compare PX4FMU_V1
then
px4io limit 200
else
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index dc4be8055..1791acbee 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,10 +5,12 @@
if [ -d /fs/microsd ]
then
- if [ $BOARD == fmuv1 ]
+ if hw_ver compare PX4FMU_V1
then
+ echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 16
else
+ echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 16
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 070a4e7e3..a2517135f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -28,9 +28,7 @@ fi
if lsm303d start
then
- set BOARD fmuv2
-else
- set BOARD fmuv1
+ echo "using LSM303D"
fi
# Start airspeed sensors
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 66cb3f237..8801d1126 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -185,9 +185,12 @@ then
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
- tone_alarm MNGGG
- sleep 10
- reboot
+ if hw_ver compare PX4FMU_V2
+ then
+ tone_alarm MNGGG
+ sleep 10
+ reboot
+ fi
fi
else
echo "PX4IO update failed"
diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
index c86beacca..a37aa8f96 100644
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ b/makefiles/config_px4fmu-v1_backside.mk
@@ -54,6 +54,7 @@ MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
+MODULES += systemcmds/hw_ver
#
# General system control
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index d0733ec53..33c0b99e2 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -58,6 +58,7 @@ MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
+MODULES += systemcmds/hw_ver
#
# General system control
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index afe072b64..475cbae01 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -60,6 +60,7 @@ MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
+MODULES += systemcmds/hw_ver
#
# General system control
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 0f60e88b5..750c0e7c3 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -16,6 +16,7 @@ MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v2
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
+MODULES += systemcmds/hw_ver
#
# Library modules
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/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index e94b1e13c..658c6779c 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++; \
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
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-02 18:16:24 +0000