px4/nxp/imxrt:Support VER & REV from EEPROM

platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/CMakeLists.txt

@@ -34,3 +34,4 @@
 px4_add_library(arch_board_hw_info
 	board_hw_rev_ver.c
 )
+target_link_libraries(arch_board_hw_info PRIVATE arch_adc crc)

platforms/nuttx/src/px4/nxp/imxrt/board_hw_info/board_hw_rev_ver.c

@@ -40,11 +40,15 @@
 #include <px4_arch/adc.h>
 #include <px4_platform_common/micro_hal.h>
 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_hw_eeprom_rev_ver.h>
 #include <stdio.h>
+#include <fcntl.h>
 #include <board_config.h>
 
-#include <systemlib/px4_macros.h>
+#include <lib/crc/crc.h>
+#include <lib/systemlib/px4_macros.h>
 
 #if defined(BOARD_HAS_HW_VERSIONING)
 
@@ -326,17 +330,184 @@ __EXPORT int board_get_hw_revision()
 
 int board_determine_hw_info()
 {
+
+	// Read ADC jumpering hw_info
 	int rv = determine_hw_info(&hw_revision, &hw_version);
 
 	if (rv == OK) {
 
-		if (rv == OK) {
+		// MFT supported?
+		const char *path;
+		int rvmft = px4_mtd_query("MTD_MFT_VER", NULL, &path);
 
-			snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
+		if (rvmft == OK && path != NULL && hw_version == HW_ID_EEPROM) {
 
+			mtd_mft_v0_t mtd_mft = {MTD_MFT_v0};
+			rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+			if (rv == OK) {
+				hw_version = mtd_mft.hw_extended_id;
+			}
 		}
+
+		path = NULL;
+		rvmft = px4_mtd_query("MTD_MFT_REV", NULL, &path);
+
+		if (rvmft == OK && path != NULL && hw_revision == HW_ID_EEPROM) {
+
+			mtd_mft_v0_t mtd_mft = {MTD_MFT_v0};
+			rv = board_get_eeprom_hw_info(path, (mtd_mft_t *)&mtd_mft);
+
+			if (rv == OK) {
+				hw_revision = mtd_mft.hw_extended_id;
+			}
+		}
+	}
+
+	if (rv == OK) {
+		snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
 	}
 
 	return rv;
 }
+
+/************************************************************************************
+  * Name: board_set_eeprom_hw_info
+ *
+ * Description:
+ * Function for writing hardware info to EEPROM
+ *
+ * Input Parameters:
+ *   *mtd_mft_unk - pointer to mtd_mft to write hw_info
+ *
+ * Returned Value:
+ *    0    - Successful storing to EEPROM
+ *   -1    - Error while storing to EEPROM
+ *
+ ************************************************************************************/
+
+int board_set_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft_unk)
+{
+	if (mtd_mft_unk == NULL || path == NULL) {
+		return -EINVAL;
+	}
+
+	// Later this will be a demux on type
+	if (mtd_mft_unk->id != MTD_MFT_v0) {
+		printf("Version is: %d, Only mft version %d is supported\n", mtd_mft_unk->id, MTD_MFT_v0);
+		return -EINVAL;
+	}
+
+	mtd_mft_v0_t *mtd_mft = (mtd_mft_v0_t *)mtd_mft_unk;
+
+	if (mtd_mft->hw_extended_id < HW_EEPROM_ID_MIN) {
+		printf("hardware version for EEPROM must be greater than %x\n", HW_EEPROM_ID_MIN);
+		return -EINVAL;
+	}
+
+	int fd = open(path, O_WRONLY);
+
+	if (fd < 0) {
+		return -errno;
+	}
+
+	int ret_val = OK;
+
+	mtd_mft->crc = crc16_signature(CRC16_INITIAL, sizeof(*mtd_mft) - sizeof(mtd_mft->crc), (uint8_t *) mtd_mft);
+
+	if (
+		(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+		(sizeof(*mtd_mft) != write(fd, mtd_mft, sizeof(*mtd_mft)))
+	) {
+		ret_val = -errno;
+	}
+
+	close(fd);
+
+	return ret_val;
+}
+
+/************************************************************************************
+  * Name: board_get_eeprom_hw_info
+ *
+ * Description:
+ * Function for reading hardware info from EEPROM
+ *
+ * Output Parameters:
+ *   *mtd_mft - pointer to mtd_mft to read hw_info
+ *
+ * Returned Value:
+ *    0    - Successful reading from EEPROM
+ *   -1    - Error while reading from EEPROM
+ *
+ ************************************************************************************/
+__EXPORT int board_get_eeprom_hw_info(const char *path, mtd_mft_t *mtd_mft)
+{
+	if (mtd_mft == NULL || path == NULL) {
+		return -EINVAL;
+	}
+
+	int fd = open(path, O_RDONLY);
+
+	if (fd < 0) {
+		return -errno;
+	}
+
+	int ret_val = OK;
+	mtd_mft_t format_version = {-1};
+
+	if (
+		(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+		(sizeof(format_version) != read(fd, &format_version, sizeof(format_version)))
+	) {
+		ret_val = -errno;
+
+	} else if (format_version.id != mtd_mft->id) {
+		ret_val = -EPROTO;
+
+	} else {
+
+		uint16_t mft_size = 0;
+
+		switch (format_version.id) {
+		case MTD_MFT_v0: mft_size = sizeof(mtd_mft_v0_t); break;
+
+		case MTD_MFT_v1: mft_size = sizeof(mtd_mft_v1_t); break;
+
+		default:
+			printf("[boot] Error, unknown version %d of mtd_mft in EEPROM\n", format_version.id);
+			ret_val = -1;
+			break;
+		}
+
+		if (ret_val == OK) {
+
+			if (
+				(MTD_MFT_OFFSET != lseek(fd, MTD_MFT_OFFSET, SEEK_SET)) ||
+				(mft_size != read(fd, mtd_mft, mft_size))
+			) {
+				ret_val = -errno;
+
+			} else {
+
+				union {
+					uint16_t w;
+					uint8_t  b[2];
+				} crc;
+
+				uint8_t *bytes = (uint8_t *) mtd_mft;
+				crc.w = crc16_signature(CRC16_INITIAL, mft_size - sizeof(crc), bytes);
+				uint8_t *eeprom_crc = &bytes[mft_size - sizeof(crc)];
+
+				if (!(crc.b[0] == eeprom_crc[0] && crc.b[1] == eeprom_crc[1])) {
+					ret_val = -1;
+				}
+			}
+		}
+	}
+
+	close(fd);
+	return ret_val;
+}
+
 #endif