1 files changed, 265 insertions, 0 deletions
diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/apps/systemcmds/boardinfo/boardinfo.c
new file mode 100644
index 000000000..61a6ea221
--- /dev/null
+++ b/apps/systemcmds/boardinfo/boardinfo.c
@@ -0,0 +1,265 @@
+/****************************************************************************
+ *
+ *   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;
+}
+
+