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Fix version topic publish #650

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merged 1 commit into from
Mar 4, 2024
Merged

Fix version topic publish #650

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10 changes: 8 additions & 2 deletions platforms/nuttx/src/px4/microchip/mpfs/version/board_mcu_version.c
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Original file line number Diff line number Diff line change
Expand Up @@ -284,6 +284,7 @@ int board_determine_hw_info(void)
orb_advert_t hw_info_pub = orb_advertise(ORB_ID(hw_info), NULL);

uint32_t fpga_version = getreg32(FPGA_VER_REGISTER); // todo: replace eventually with device_boot_info
uint64_t timestamp = hrt_absolute_time();

memset(&ver_str, 0, sizeof(ver_str));
memset(&ver, 0, sizeof(ver));
Expand Down Expand Up @@ -329,11 +330,16 @@ int board_determine_hw_info(void)

/* Make local copies of guid and hwinfo */

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

/* Then publish the topics */

ver_str.timestamp = timestamp;
ver.timestamp = timestamp;
guid.timestamp = timestamp;
hwinfo.timestamp = timestamp;

orb_publish(ORB_ID(system_version_string), &ver_str_pub, &ver_str);
orb_publish(ORB_ID(system_version), &ver_pub, &ver);
orb_publish(ORB_ID(guid), &mfguid_pub, &guid);
Expand Down
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