diff options
Diffstat (limited to 'apps/systemcmds/boardinfo/boardinfo.c')
-rw-r--r-- | apps/systemcmds/boardinfo/boardinfo.c | 265 |
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; +} + + |