mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-05 22:24:47 +08:00
bson-based boardinfo working
This commit is contained in:
px4dev
@@ -37,17 +37,246 @@
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* autopilot and carrier board information app
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include "systemlib/systemlib.h"
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#include <nuttx/i2c.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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#include <systemlib/bson/tinybson.h>
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__EXPORT int boardinfo_main(int argc, char *argv[]);
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#if 1
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struct eeprom_info_s
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{
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unsigned bus;
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unsigned address;
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unsigned page_size;
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unsigned page_count;
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unsigned page_write_delay;
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};
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/* XXX currently code below only supports 8-bit addressing */
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const struct eeprom_info_s eeprom_info[] = {
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{3, 0x57, 8, 16, 3300},
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{0, 0, 0, 0, 0}
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};
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struct board_parameter_s {
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const char *name;
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bson_type_t type;
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};
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const struct board_parameter_s board_parameters[] = {
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{"name", BSON_STRING}, /* ascii board name */
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{"vers", BSON_INT32}, /* board version (major << 8) | minor */
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{"date", BSON_INT32}, /* manufacture date */
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{"build", BSON_INT32} /* build code (fab << 8) | tester */
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};
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const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]);
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static int
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eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
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{
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int result = -1;
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struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
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if (dev == NULL) {
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warnx("failed to init bus %d for EEPROM", eeprom->bus);
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goto out;
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}
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I2C_SETFREQUENCY(dev, 400000);
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/* loop until all data has been transferred */
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for (unsigned address = 0; address < size; ) {
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uint8_t pagebuf[eeprom->page_size + 1];
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/* how many bytes available to transfer? */
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unsigned count = size - address;
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/* constrain writes to the page size */
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if (count > eeprom->page_size)
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count = eeprom->page_size;
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pagebuf[0] = address & 0xff;
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memcpy(pagebuf + 1, buf + address, count);
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struct i2c_msg_s msgv[1] = {
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{
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.addr = eeprom->address,
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.flags = 0,
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.buffer = pagebuf,
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.length = count + 1
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}
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};
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warnx("write 0x%02x/%u", address, count);
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result = I2C_TRANSFER(dev, msgv, 1);
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if (result != OK) {
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warnx("EEPROM write failed: %d", result);
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goto out;
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}
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usleep(eeprom->page_write_delay);
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address += count;
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}
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out:
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if (dev != NULL)
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up_i2cuninitialize(dev);
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return result;
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}
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static int
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eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
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{
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int result = -1;
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struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
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if (dev == NULL) {
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warnx("failed to init bus %d for EEPROM", eeprom->bus);
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goto out;
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}
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I2C_SETFREQUENCY(dev, 400000);
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/* loop until all data has been transferred */
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for (unsigned address = 0; address < size; ) {
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/* how many bytes available to transfer? */
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unsigned count = size - address;
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/* constrain transfers to the page size (bus anti-hog) */
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if (count > eeprom->page_size)
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count = eeprom->page_size;
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uint8_t addr = address;
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struct i2c_msg_s msgv[2] = {
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{
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.addr = eeprom->address,
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.flags = 0,
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.buffer = &addr,
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.length = 1
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},
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{
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.addr = eeprom->address,
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.flags = I2C_M_READ,
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.buffer = buf + address,
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.length = count
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}
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};
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warnx("read 0x%02x/%u", address, count);
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result = I2C_TRANSFER(dev, msgv, 2);
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if (result != OK) {
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warnx("EEPROM read failed: %d", result);
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goto out;
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}
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address += count;
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}
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out:
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if (dev != NULL)
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up_i2cuninitialize(dev);
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return result;
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}
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static void
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boardinfo_set(const struct eeprom_info_s *eeprom, char *spec)
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{
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struct bson_encoder_s encoder;
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int result = 1;
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char *state, *token;
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unsigned i;
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/* create the encoder and make a writable copy of the spec */
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bson_encoder_init_buf(&encoder, NULL, 0);
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for (i = 0, token = strtok_r(spec, ",", &state);
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token && (i < num_parameters);
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i++, token = strtok_r(NULL, ",", &state)) {
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switch (board_parameters[i].type) {
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case BSON_STRING:
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result = bson_encoder_append_string(&encoder, board_parameters[i].name, token);
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break;
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case BSON_INT32:
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result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0));
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break;
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default:
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result = 1;
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}
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if (result) {
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warnx("bson append failed for %s<%s>", board_parameters[i].name, token);
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goto out;
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}
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}
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bson_encoder_fini(&encoder);
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if (i != num_parameters) {
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warnx("incorrect parameter list, expected: \"<name>,<version><date>,<buildcode>\"");
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result = 1;
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goto out;
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}
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if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) {
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warnx("data too large for EEPROM");
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result = 1;
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goto out;
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}
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if (*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) {
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warnx("buffer length mismatch");
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result = 1;
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goto out;
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}
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warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
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result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
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if (result < 0) {
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warnc(-result, "error writing EEPROM");
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result = 1;
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} else {
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result = 0;
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}
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out:
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free(bson_encoder_buf_data(&encoder));
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exit(result);
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}
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static void
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boardinfo_show(const struct eeprom_info_s *eeprom)
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{
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uint32_t size = 0xffffffff;
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int result;
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result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size));
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if (result != 0) {
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warnx("failed reading ID ROM length");
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}
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warnx("data length 0x%08x", size);
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exit(0);
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}
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int
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boardinfo_main(int argc, char *argv[])
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{
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if (!strcmp(argv[1], "set"))
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boardinfo_set(&eeprom_info[0], argv[2]);
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if (!strcmp(argv[1], "show"))
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boardinfo_show(&eeprom_info[0]);
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errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
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}
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#else
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/**
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* Reads out the board information
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*
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@@ -265,3 +494,4 @@ int boardinfo_main(int argc, char *argv[])
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}
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#endif
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@@ -144,7 +144,7 @@ bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_
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/* read and discard document size */
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if (read_int32(decoder, &len))
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CODER_KILL(decoder, "failed reading length");
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if (len > (int)bufsize)
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if ((len > 0) && (len > (int)bufsize))
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CODER_KILL(decoder, "document length larger than buffer");
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/* ready for decoding */
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