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platforms/nuttx/src/px4/nxp: Add board identity
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Read unique ID from OCOTP fuses.

Signed-off-by: Jani Paalijarvi <[email protected]>
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@jpaali
jpaali committed Apr 15, 2024
1 parent 741163f commit 1a437c0
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Showing 2 changed files with 102 additions and 37 deletions.
2 changes: 1 addition & 1 deletion platforms/nuttx/src/px4/nxp/imx9/include/px4_arch/micro_hal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ __BEGIN_DECLS

/*
*/
#define PX4_CPU_UUID_BYTE_LENGTH 8
#define PX4_CPU_UUID_BYTE_LENGTH 16
#define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))

/* The mfguid will be an array of bytes with
Expand Down
137 changes: 101 additions & 36 deletions platforms/nuttx/src/px4/nxp/imx9/version/board_mcu_version.c
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,10 @@

#include <src/lib/version/build_git_version.h>

#include <hardware/imx9_memorymap.h>

#define getreg32(a) (*(volatile uint32_t *)(a))

#ifndef arraySize
#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
#endif
Expand All @@ -70,11 +74,21 @@ static unsigned hw_version = 0;
static unsigned hw_revision = 0;
static char hw_info[HW_INFO_SIZE] = {0};

static mfguid_t device_serial_number = { 0 };
/* Unique ID offset (undocumented, 128bits in bank 6) */

#define IMX93_OCOTP_UID_OFFSET 0xc0

#define CPU_UUID_BYTE_FORMAT_ORDER {3, 2, 1, 0, 7, 6, 5, 4, 11, 10, 9, 8, 15, 14, 13, 12}
#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))

/* 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];

devinfo_t device_boot_info __attribute__((section(".deviceinfo")));

static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID_MPFS;
static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;

__EXPORT const char *board_get_hw_type_name(void)
{
Expand All @@ -91,56 +105,85 @@ __EXPORT int board_get_hw_revision()
return hw_revision;
}

__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words)
void board_get_uuid(uuid_byte_t uuid_bytes)
{

/* DEPRECATED. Use board_get_px4_guid() */

uint32_t chip_uuid[PX4_CPU_UUID_WORD32_LENGTH];
memset((uint8_t *)chip_uuid, 0, PX4_CPU_UUID_WORD32_LENGTH * 4);
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 OCOTP */

for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
uuid_words[i] = chip_uuid[i];
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]];
}
}

int board_mcu_version(char *rev, const char **revstr, const char **errata)
void board_get_uuid32(uuid_uint32_t uuid_words)
{
const struct {
const char *revstr;
char rev;
const char *errata;
} hw_version_table[] = BOARD_REVISIONS;
uuid_words[0] = getreg32(IMX9_OCOTP_BASE + IMX93_OCOTP_UID_OFFSET);
uuid_words[1] = getreg32(IMX9_OCOTP_BASE + IMX93_OCOTP_UID_OFFSET + 0x4);
uuid_words[2] = getreg32(IMX9_OCOTP_BASE + IMX93_OCOTP_UID_OFFSET + 0x8);
uuid_words[3] = getreg32(IMX9_OCOTP_BASE + IMX93_OCOTP_UID_OFFSET + 0xc);
}

unsigned len = sizeof(hw_version_table) / sizeof(hw_version_table[0]);
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;

if (hw_version < len) {
*rev = hw_version_table[hw_version].rev;
*revstr = hw_version_table[hw_version].revstr;
*errata = hw_version_table[hw_version].errata;
for (unsigned i = 0; (offset < size - 1) && (i < PX4_CPU_UUID_WORD32_LENGTH); i++) {
offset += snprintf(&format_buffer[offset], size - offset, format, uuid[i]);

if (sep_size && (offset < size - sep_size - 1) && (i < PX4_CPU_UUID_WORD32_LENGTH - 1)) {
strncat(&format_buffer[offset], seperator, size - offset);
offset += sep_size;
}
}

return hw_version;
return 0;
}

const char *board_bl_version_string(void)
int board_get_mfguid(mfguid_t mfgid)
{
return device_boot_info.bl_version;
board_get_uuid(* (uuid_byte_t *) mfgid);
return PX4_CPU_MFGUID_BYTE_LENGTH;
}

int board_get_px4_guid(px4_guid_t px4_guid)
int board_get_mfguid_formated(char *format_buffer, int size)
{
uint8_t *pb = (uint8_t *) &px4_guid[0];
mfguid_t mfguid;

memset(pb, 0, sizeof(px4_guid_t));
board_get_mfguid(mfguid);
int offset = 0;

static_assert(sizeof(px4_guid_t) >= sizeof(device_serial_number) + 2);
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);

memcpy(pb, device_serial_number, sizeof(device_serial_number));

board_get_uuid(pb);
return PX4_GUID_BYTE_LENGTH;
}

Expand All @@ -163,6 +206,30 @@ int board_get_px4_guid_formated(char *format_buffer, int size)
return offset;
}

int board_mcu_version(char *rev, const char **revstr, const char **errata)
{
const struct {
const char *revstr;
char rev;
const char *errata;
} hw_version_table[] = BOARD_REVISIONS;

unsigned len = sizeof(hw_version_table) / sizeof(hw_version_table[0]);

if (hw_version < len) {
*rev = hw_version_table[hw_version].rev;
*revstr = hw_version_table[hw_version].revstr;
*errata = hw_version_table[hw_version].errata;
}

return hw_version;
}

const char *board_bl_version_string(void)
{
return device_boot_info.bl_version;
}

/* Parse git tag string to a 64-bit hex as follows:
* 0xvvmmrrpphhhhhhhd , where
Expand Down Expand Up @@ -257,6 +324,7 @@ int board_determine_hw_info(void)
struct system_version_s ver;
struct guid_s guid;
struct hw_info_s hwinfo;
uuid_byte_t chip_uuid;
orb_advert_t ver_str_pub = orb_advertise(ORB_ID(system_version_string), NULL);
orb_advert_t ver_pub = orb_advertise(ORB_ID(system_version), NULL);
orb_advert_t mfguid_pub = orb_advertise(ORB_ID(guid), NULL);
Expand Down Expand Up @@ -302,9 +370,13 @@ int board_determine_hw_info(void)
strncpy(ver_str.component_version1, "0", 2);
ver.component_version1 = 0;

/* Unique ID */

board_get_uuid(chip_uuid);

/* Make local copies of guid and hwinfo */

memcpy(guid.mfguid, device_serial_number, min(sizeof(device_serial_number), sizeof(guid.mfguid)));
memcpy(guid.mfguid, chip_uuid, min(PX4_CPU_UUID_BYTE_LENGTH, sizeof(guid.mfguid)));
memcpy(hwinfo.hw_info, hw_info, min(sizeof(hwinfo.hw_info), sizeof(hw_info)));

/* Then publish the topics */
Expand All @@ -321,10 +393,3 @@ int board_determine_hw_info(void)

return OK;
}

int board_get_mfguid(mfguid_t mfgid)
{
/* TODO */
memset(mfgid, 0, sizeof(mfguid_t));
return 0;
}

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