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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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stm32:Add board Revision and version API for FMUv5 HW detection
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
d4892bf179
commit
04f7a7a47a
@@ -39,6 +39,7 @@ if (NOT ${LABEL} STREQUAL "bootloader")
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list(APPEND SRCS
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board_mcu_version.c
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board_reset.c
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board_hw_rev_ver.c
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)
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endif()
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343
src/drivers/boards/common/stm32/board_hw_rev_ver.c
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343
src/drivers/boards/common/stm32/board_hw_rev_ver.c
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@@ -0,0 +1,343 @@
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/****************************************************************************
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*
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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* Author: @author David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_hw_rev_ver.c
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* Implementation of STM32 based Board Hardware Revision and Version ID API
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*/
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#include <px4_config.h>
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#include <stdio.h>
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#include "board_config.h"
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#include "../board_internal_common.h"
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#include <systemlib/px4_macros.h>
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#if defined(BOARD_HAS_HW_VERSIONING)
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static int hw_version = -1;
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static int hw_revision = -1;
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static char hw_info[] = HW_INFO_INIT;
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Name: determin_hw_version
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*
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* Description:
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*
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* This function fist determines if revision and version resistors are in place.
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* if they it will read the ADC channels and decode the DN to ordinal numbers
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* that will be returned by board_get_hw_version and board_get_hw_revision API
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*
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* This will return OK on success and -1 on not supported
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*
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*
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****************************************************************************/
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static int dn_to_ordinal(uint16_t dn)
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{
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const struct {
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uint16_t low; // High(n-1) + 1
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uint16_t high; // Average High(n)+Low(n+1) EX. 1356 = AVRG(1331,1382)
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} dn2o[] = {
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// R1(up) R2(down) V min V Max DN Min DN Max
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{0, 0 }, // 0 No Resistors
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{1, 579 }, // 1 24.9K 442K 0.166255191 0.44102252 204 553
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{580, 967 }, // 2 32.4K 174K 0.492349322 0.770203609 605 966
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{968, 1356}, // 3 38.3K 115K 0.787901749 1.061597759 968 1331
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{1357, 1756}, // 4 46.4K 84.5K 1.124833577 1.386007306 1382 1738
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{1757, 2137}, // 5 51.1K 61.9K 1.443393279 1.685367869 1774 2113
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{2138, 2519}, // 6 61.9K 51.1K 1.758510242 1.974702534 2161 2476
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{2520, 2919}, // 7 84.5K 46.4K 2.084546498 2.267198261 2562 2842
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{2920, 3308}, // 8 115K 38.3K 2.437863827 2.57656294 2996 3230
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{3309, 3699}, // 9 174K 32.4K 2.755223792 2.847933804 3386 3571
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{3700, 4095}, // 10 442K 24.9K 3.113737849 3.147347506 3827 3946
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};
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for (unsigned int i = 0; i < arraySize(dn2o); i++) {
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if (dn >= dn2o[i].low && dn <= dn2o[i].high) {
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return i;
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}
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}
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return -1;
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}
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/************************************************************************************
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* Name: read_id_dn
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*
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* Description:
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* Read the HW sense set to get a DN of the value formed by
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* 0 VDD
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* |
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* /
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* \ R1
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* /
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* |
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* +--------------- GPIO_HW_xxx_SENCE | ADC channel N
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* |
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* /
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* \ R2
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* /
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* |
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* |
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* +--------------- GPIO_HW_xxx_DRIVE
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*
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* Input Parameters:
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* id - pointer to receive the dn for the id set
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* gpio_drive - gpio that is the drive
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* gpio_sense - gpio that is the sence
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* adc_channel - the Channel number associated with gpio_sense
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*
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* Returned Value:
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* 0 - Success and id is set
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* -EIO - FAiled to init or read the ADC
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*
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************************************************************************************/
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static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
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{
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int rv = -EIO;
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const unsigned int samples = 16;
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/*
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* Step one is there resistors?
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*
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* If we set the mid-point of the ladder which is the ADC input to an
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* output, then whatever state is driven out should be seen by the GPIO
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* that is on the bottom of the ladder that is switched to an input.
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* The SENCE line is effectively an output with a high value pullup
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* resistor on it driving an input through a series resistor with a pull up.
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* If present the series resistor will form a low pass filter due to stray
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* capacitance, but this is fine as long as we give it time to settle.
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*/
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/* Turn the drive lines to digital inputs with No pull up */
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stm32_configgpio(_MK_GPIO_INPUT(gpio_drive) & ~GPIO_PUPD_MASK);
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/* Turn the sense lines to digital outputs LOW */
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stm32_configgpio(_MK_GPIO_OUTPUT(gpio_sense));
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up_udelay(100); /* About 10 TC assuming 485 K */
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/* Read Drive lines while sense are driven low */
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int low = stm32_gpioread(_MK_GPIO_INPUT(gpio_drive));
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/* Write the sense lines HIGH */
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stm32_gpiowrite(_MK_GPIO_OUTPUT(gpio_sense), 1);
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up_udelay(100); /* About 10 TC assuming 485 K */
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/* Read Drive lines while sense are driven high */
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int high = stm32_gpioread(_MK_GPIO_INPUT(gpio_drive));
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/* restore the pins to ANALOG */
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stm32_configgpio(gpio_sense);
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/* Turn the drive lines to digital outputs LOW */
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stm32_configgpio(gpio_drive ^ GPIO_OUTPUT_SET);
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up_udelay(100); /* About 10 TC assuming 485 K */
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/* Are Resistors in place ?*/
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uint32_t dn_sum = 0;
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uint16_t dn = 0;
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if ((high ^ low) && low == 0) {
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/* Yes - Fire up the ADC (it has once control) */
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if (board_adc_init() == OK) {
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/* Read the value */
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for (unsigned av = 0; av < samples; av++) {
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dn = board_adc_sample(adc_channel);
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if (dn == 0xffff) {
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break;
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}
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dn_sum += dn;
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}
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if (dn != 0xffff) {
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*id = dn_sum / samples;
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rv = OK;
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}
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}
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} else {
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/* No - No Resistors is ID 0 */
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*id = 0;
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rv = OK;
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}
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/* Turn the drive lines to digital outputs High */
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stm32_configgpio(gpio_drive);
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return rv;
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}
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static int determine_hw_info(int *revision, int *version)
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{
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int dn;
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int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);
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if (rv == OK) {
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*revision = dn_to_ordinal(dn);
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rv = read_id_dn(&dn, GPIO_HW_VER_DRIVE, GPIO_HW_VER_SENSE, ADC_HW_VER_SENSE_CHANNEL);
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if (rv == OK) {
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*version = dn_to_ordinal(dn);
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}
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}
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return rv;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: board_get_hw_type
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*
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* Description:
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* Optional returns a 0 terminated string defining the HW type.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* a 0 terminated string defining the HW type. This my be a 0 length string ""
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*
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************************************************************************************/
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__EXPORT const char *board_get_hw_type_name()
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{
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return (const char *) hw_info;
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}
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/************************************************************************************
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* Name: board_get_hw_version
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*
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* Description:
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* Optional returns a integer HW version
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware version.
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* A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of -1 is the default for boards supporting the API but not having version.
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*
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************************************************************************************/
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__EXPORT int board_get_hw_version()
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{
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return hw_version;
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}
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/************************************************************************************
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* Name: board_get_hw_revision
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*
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* Description:
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* Optional returns a integer HW revision
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware revision.
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* A value of 0 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of -1 is the default for boards supporting the API but not having revision.
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*
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************************************************************************************/
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__EXPORT int board_get_hw_revision()
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{
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return hw_revision;
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}
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/************************************************************************************
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* Name: board_determine_hw_info
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*
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* Description:
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* Uses the HW revision and version detection added in FMUv5.
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* See https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY
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* HW REV and VER ID tab.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* 0 - on success or negated errono
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* 1) The values for integer value of this boards hardware revision is set
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* 2) The integer value of this boards hardware version is set.
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* 3) hw_info is populated
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*
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* A value of 0 is the default for boards supporting the BOARD_HAS_HW_VERSIONING API.
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* but not having R1 and R2.
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*
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************************************************************************************/
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int board_determine_hw_info()
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{
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int rv = determine_hw_info(&hw_revision, &hw_version);
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if (rv == OK) {
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hw_info[HW_INFO_INIT_REV] = board_get_hw_revision() + '0';
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hw_info[HW_INFO_INIT_VER] = board_get_hw_version() + '0';
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}
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return rv;
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}
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#endif
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