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UAVCAN node version info

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This commit is contained in:
Pavel Kirienko
2014-08-01 00:56:44 +04:00
parent b8c14417ce
commit 87273abc9a
2 changed files with 48 additions and 14 deletions
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61
src/modules/uavcan/uavcan_main.cpp
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@@ -39,6 +39,8 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@@ -173,6 +175,44 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
return OK;
}
void UavcanNode::fill_node_info()
{
/* software version */
uavcan::protocol::SoftwareVersion swver;
// Extracting the last 8 hex digits of FW_GIT and converting them to int
const unsigned fw_git_len = std::strlen(FW_GIT);
if (fw_git_len >= 8) {
char fw_git_short[9] = {};
std::memmove(fw_git_short, FW_GIT + fw_git_len - 8, 8);
assert(fw_git_short[8] == '\0');
char *end = nullptr;
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
swver.optional_field_mask |= swver.OPTIONAL_FIELD_MASK_VCS_COMMIT;
}
warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
_node.setSoftwareVersion(swver);
/* hardware version */
uavcan::protocol::HardwareVersion hwver;
if (!std::strncmp(HW_ARCH, "PX4FMU_V1", 9)) {
hwver.major = 1;
} else if (!std::strncmp(HW_ARCH, "PX4FMU_V2", 9)) {
hwver.major = 2;
} else {
; // All other values of HW_ARCH resolve to zero
}
uint8_t udid[12] = {}; // Someone seems to love magic numbers
get_board_serial(udid);
uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
_node.setHardwareVersion(hwver);
}
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret = -1;
@@ -183,6 +223,13 @@ int UavcanNode::init(uavcan::NodeID node_id)
if (ret != OK)
return ret;
_node.setName("org.pixhawk.pixhawk");
_node.setNodeID(node_id);
fill_node_info();
/* initializing the bridges UAVCAN <--> uORB */
ret = _esc_controller.init();
if (ret < 0)
return ret;
@@ -191,20 +238,6 @@ int UavcanNode::init(uavcan::NodeID node_id)
if (ret < 0)
return ret;
uavcan::protocol::SoftwareVersion swver;
swver.major = 12; // TODO fill version info
swver.minor = 34;
_node.setSoftwareVersion(swver);
uavcan::protocol::HardwareVersion hwver;
hwver.major = 42; // TODO fill version info
hwver.minor = 42;
_node.setHardwareVersion(hwver);
_node.setName("org.pixhawk"); // Huh?
_node.setNodeID(node_id);
return _node.start();
}