board_identity: move to platforms/nuttx/src

And fix a potential alignment issue in board_get_mfguid and
board_get_px4_guid.

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -43,6 +43,7 @@ if (NOT ${PX4_BOARD} MATCHES "px4_io")
 	)
 	target_link_libraries(px4_layer
 		PRIVATE
+			arch_version
 			nuttx_apps # up_cxxinitialize
 			nuttx_sched
 			drivers_boards_common_arch

platforms/nuttx/src/px4/nxp/k66/CMakeLists.txt

@@ -37,6 +37,7 @@ add_subdirectory(../kinetis/led_pwm led_pwm)
 add_subdirectory(../kinetis/hrt hrt)
 add_subdirectory(../kinetis/io_pins io_pins)
 add_subdirectory(../kinetis/tone_alarm tone_alarm)
+add_subdirectory(../kinetis/version version)
 
 
 

platforms/nuttx/src/px4/nxp/kinetis/version/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+px4_add_library(arch_version
+	board_identity.c
+)
+

platforms/nuttx/src/px4/nxp/kinetis/version/board_identity.c

@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * 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 board_identity.c
+ * Implementation of Kientis based Board identity API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <chip/kinetis_memorymap.h>
+#include <chip/kinetis_sim.h>
+
+static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+void board_get_uuid(uuid_byte_t uuid_bytes)
+{
+	uint32_t *chip_uuid = (uint32_t *) KINETIS_SIM_UIDH;
+	uint8_t *uuid_words = uuid_bytes;
+
+	for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uint32_t current_uuid_bytes = SWAP_UINT32(chip_uuid[i]);
+		memcpy(uuid_words, &current_uuid_bytes, sizeof(uint32_t));
+		uuid_words += sizeof(uint32_t);
+	}
+}
+
+void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	board_get_uuid(*(uuid_byte_t *) uuid_words);
+}
+
+int board_get_uuid32_formated(char *format_buffer, int size,
+			      const char *format,
+			      const char *seperator)
+{
+	uuid_uint32_t uuid;
+	board_get_uuid32(uuid);
+
+	int offset = 0;
+	int sep_size = seperator ? strlen(seperator) : 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - ((i * 2 * sizeof(uint32_t)) + 1), format, uuid[i]);
+
+		if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
+			strcat(&format_buffer[offset], seperator);
+			offset += sep_size;
+		}
+	}
+
+	return 0;
+}
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	board_get_uuid(* (uuid_byte_t *) mfgid);
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
+
+int board_get_mfguid_formated(char *format_buffer, int size)
+{
+	mfguid_t mfguid;
+
+	board_get_mfguid(mfguid);
+	int offset  = 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
+	}
+
+	return offset;
+}
+
+int board_get_px4_guid(px4_guid_t px4_guid)
+{
+	uint8_t  *pb = (uint8_t *) &px4_guid[0];
+	*pb++ = (soc_arch_id >> 8) & 0xff;
+	*pb++ = (soc_arch_id & 0xff);
+	board_get_uuid(pb);
+	return PX4_GUID_BYTE_LENGTH;
+}
+
+int board_get_px4_guid_formated(char *format_buffer, int size)
+{
+	px4_guid_t px4_guid;
+	board_get_px4_guid(px4_guid);
+	int offset  = 0;
+
+	/* size should be 2 per byte + 1 for termination
+	 * So it needs to be odd
+	 */
+	size = size & 1 ? size : size - 1;
+
+	/* Discard from MSD */
+	for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
+	}
+
+	return offset;
+}

platforms/nuttx/src/px4/stm/stm32_common/version/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+px4_add_library(arch_version
+	board_identity.c
+)
+

platforms/nuttx/src/px4/stm/stm32_common/version/board_identity.c

@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * 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 board_identity.c
+ * Implementation of STM32 based Board identity API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <stdio.h>
+#include <string.h>
+
+#define CPU_UUID_BYTE_FORMAT_ORDER          {3, 2, 1, 0, 7, 6, 5, 4, 11, 10, 9, 8}
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;
+
+/* A type suitable for holding the reordering array for the byte format of the UUID
+ */
+
+typedef const uint8_t uuid_uint8_reorder_t[PX4_CPU_UUID_BYTE_LENGTH];
+
+
+void board_get_uuid(uuid_byte_t uuid_bytes)
+{
+	uuid_uint8_reorder_t reorder = CPU_UUID_BYTE_FORMAT_ORDER;
+	union {
+		uuid_byte_t b;
+		uuid_uint32_t w;
+	} id;
+
+	/* Copy the serial from the chips non-write memory */
+
+	board_get_uuid32(id.w);
+
+	/* swap endianess */
+
+	for (int i = 0; i < PX4_CPU_UUID_BYTE_LENGTH; i++) {
+		uuid_bytes[i] = id.b[reorder[i]];
+	}
+}
+
+__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uuid_words[i] = chip_uuid[i];
+	}
+}
+
+int board_get_uuid32_formated(char *format_buffer, int size,
+			      const char *format,
+			      const char *seperator)
+{
+	uuid_uint32_t uuid;
+	board_get_uuid32(uuid);
+	int offset = 0;
+	int sep_size = seperator ? strlen(seperator) : 0;
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, format, uuid[i]);
+
+		if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
+			strcat(&format_buffer[offset], seperator);
+			offset += sep_size;
+		}
+	}
+
+	return 0;
+}
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+	uint8_t  *rv = &mfgid[0];
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uint32_t uuid_bytes = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
+		memcpy(rv, &uuid_bytes, sizeof(uint32_t));
+		rv += sizeof(uint32_t);
+	}
+
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
+
+int board_get_mfguid_formated(char *format_buffer, int size)
+{
+	mfguid_t mfguid;
+
+	board_get_mfguid(mfguid);
+	int offset  = 0;
+
+	for (unsigned i = 0; offset < size && i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
+	}
+
+	return offset;
+}
+
+int board_get_px4_guid(px4_guid_t px4_guid)
+{
+	uint8_t  *pb = (uint8_t *) &px4_guid[0];
+	*pb++ = (soc_arch_id >> 8) & 0xff;
+	*pb++ = (soc_arch_id & 0xff);
+
+	for (unsigned i = 0; i < PX4_GUID_BYTE_LENGTH - (sizeof(soc_arch_id) + PX4_CPU_UUID_BYTE_LENGTH); i++) {
+		*pb++ = 0;
+	}
+
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uint32_t uuid_bytes = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
+		memcpy(pb, &uuid_bytes, sizeof(uint32_t));
+		pb += sizeof(uint32_t);
+	}
+
+	return PX4_GUID_BYTE_LENGTH;
+}
+
+int board_get_px4_guid_formated(char *format_buffer, int size)
+{
+	px4_guid_t px4_guid;
+	board_get_px4_guid(px4_guid);
+	int offset  = 0;
+
+	/* size should be 2 per byte + 1 for termination
+	 * So it needs to be odd
+	 */
+	size = size & 1 ? size : size - 1;
+
+	/* Discard from MSD */
+	for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
+	}
+
+	return offset;
+}

platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt

@@ -38,6 +38,7 @@ add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/led_pwm led_pwm)
 add_subdirectory(../stm32_common/io_pins io_pins)
 add_subdirectory(../stm32_common/tone_alarm tone_alarm)
+add_subdirectory(../stm32_common/version version)
 
 add_subdirectory(px4io_serial)
 

platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt

@@ -39,6 +39,7 @@ add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/led_pwm led_pwm)
 add_subdirectory(../stm32_common/io_pins io_pins)
 add_subdirectory(../stm32_common/tone_alarm tone_alarm)
+add_subdirectory(../stm32_common/version version)
 
 add_subdirectory(px4io_serial)