AP_Logger: log IOMCU cpu id and mcu id

Co-authored-by: Michelle Rossouw <[email protected]>
ArduPilot · Jan 29, 2025 · 3a95f91 · 3a95f91
1 parent 99a5018
commit 3a95f91
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Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -13,6 +13,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <Filter/Filter.h>
 #include "AP_Logger.h"
+#include <AP_IOMCU/AP_IOMCU.h>
 
 #if HAL_LOGGER_FENCE_ENABLED
     #include <AC_Fence/AC_Fence.h>
@@ -604,6 +605,13 @@ bool AP_Logger_Backend::Write_VER()
         patch: fwver.patch,
         fw_type: fwver.fw_type,
         git_hash: fwver.fw_hash,
+#if HAL_WITH_IO_MCU
+        iomcu_mcu_id : AP::iomcu()->get_mcu_id(),
+        iomcu_cpu_id : AP::iomcu()->get_cpu_id(),
+#else
+        iomcu_mcu_id : 0,
+        iomcu_cpu_id : 0,
+#endif  // HAL_WITH_IO_MCU
     };
     strncpy(pkt.fw_string, fwver.fw_string, ARRAY_SIZE(pkt.fw_string)-1);
 

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
@@ -636,6 +636,8 @@ struct PACKED log_VER {
     uint16_t _APJ_BOARD_ID;
     uint8_t build_type;
     uint8_t filter_version;
+    uint32_t iomcu_mcu_id;
+    uint32_t iomcu_cpu_id;
 };
 
 
@@ -1122,6 +1124,8 @@ struct PACKED log_VER {
 // @Field: BU: Build vehicle type
 // @FieldValueEnum: BU: APM_BUILD
 // @Field: FV: Filter version
+// @Field: IMI: IOMCU MCU ID
+// @Field: ICI: IOMCU CPU ID
 
 // @LoggerMessage: MOTB
 // @Description: Motor mixer information
@@ -1252,7 +1256,7 @@ LOG_STRUCTURE_FROM_AIS \
     { LOG_SCRIPTING_MSG, sizeof(log_Scripting), \
       "SCR",   "QNIii", "TimeUS,Name,Runtime,Total_mem,Run_mem", "s#sbb", "F-F--", true }, \
     { LOG_VER_MSG, sizeof(log_VER), \
-      "VER",   "QBHBBBBIZHBB", "TimeUS,BT,BST,Maj,Min,Pat,FWT,GH,FWS,APJ,BU,FV", "s-----------", "F-----------", false }, \
+      "VER",   "QBHBBBBIZHBBII", "TimeUS,BT,BST,Maj,Min,Pat,FWT,GH,FWS,APJ,BU,FV,IMI,ICI", "s-------------", "F-------------", false }, \
     { LOG_MOTBATT_MSG, sizeof(log_MotBatt), \
       "MOTB", "QfffffB",  "TimeUS,LiftMax,BatVolt,ThLimit,ThrAvMx,ThrOut,FailFlags", "s------", "F------" , true }