diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index 043cdde96f9673bb68ee97659a4b5dcc186f3406..bcda504bcc998c2b64d3f44a2cadec9c32f59540 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -101,6 +101,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
lib/rc
platforms/nuttx
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index fc48ab724d38e3d4a6b6573e442f8ab5fe4a200b..98d43191185be0d62f096a65793e9b0adedd8101 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -143,6 +143,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 680731b207bcc46450799379be8093dd4c2c7c31..3459aaa4c7e4554f5c1d026af735932b622a2f62 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -97,6 +97,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index ea661796b6a67ac0e973c6cf4f9a22006dbc4e6b..04056a74f6e62dd794bb0c33f0b484b2678ab74b 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -148,6 +148,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index f4480c789f00b126820f9aba4c7e7bc92e562a0e..87e690364536fb524c5457b865dd0ffdfa3eb38c 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -118,6 +118,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index d15c8cff3d6077706e1f240e11a9dadaaeb689bf..321cb027608ad6c3fb2f7530bea445ac9245994b 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -144,6 +144,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index e681f3278fcd2ec1c2ebfc7afdcde5ec0658c8f3..68d0f631ec0cf884adb4f02e4470fede1a35db95 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -144,6 +144,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 086d1caea429f51a33c16dec09bb8a849512a453..7faa2cd40e6d31d554f25db1eb954415ddf4817b 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -149,6 +149,7 @@ set(config_module_list
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
+ lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 23e411865ff0126c50b935fc69a13c499b66b066..f62e9ff7367ee0416854cc7348eafa50306177cf 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -148,6 +148,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/nuttx
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index c5970f4ee13ab64d8f358d49ce95d5fd904d9a70..b8b9857437816363c67ce917bbb9f041673f99be 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -97,11 +97,12 @@ set(config_module_list
lib/geo_lookup
lib/conversion
lib/launchdetection
- lib/terrain_estimation
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
+ lib/version
lib/DriverFramework/framework
- lib/rc
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 749d81f08e97f0d7b0621a0babfd9f14c0207453..6a3969db2773170af53b18eeec44cba30868b18d 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -89,6 +89,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index 4c4ba9f8ae09f83c6888934e4e691e3b7985139e..14f4cdae03fcd503a2c60ff89dc9bce1cca0d834 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -45,6 +45,7 @@ set(config_module_list
lib/geo
lib/geo_lookup
lib/conversion
+ lib/version
lib/DriverFramework/framework
platforms/common
diff --git a/cmake/configs/posix_eagle_legacy_driver_default.cmake b/cmake/configs/posix_eagle_legacy_driver_default.cmake
index e24dafa6a5a707e9da676d304c4423c8fbf50a00..fe716f797c07aebdd3a3ad791edea2a6bca3dfa4 100644
--- a/cmake/configs/posix_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@@ -69,6 +69,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/common
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index b4f20c88c41f8ac81dbbaf1dac0cbc7f5a8b7e19..ffcb1633c97e8a1aa24223b71829eb899adf19b4 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -91,6 +91,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index 3ebdfbeed37da9ee170ca6e8c0b1e0888606a5c1..af1c7ed4255f70c0a63fff19a085ba8305b72264 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -69,6 +69,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
platforms/common
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 3bea67a31547c2f1dd9b1c4f5da3a4123b9b774c..e610470ba43c4a332d7ed01c86ea7029bebd1429 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -71,6 +71,7 @@ set(config_module_list
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
+ lib/version
examples/px4_simple_app
examples/mc_att_control_multiplatform
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index 3c359b279d8e711ec8109b85b5bb21028a1a69e6..a6a3d23d0a30ba018330dc615ef62aad7b5c9f80 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -26,6 +26,7 @@ set(config_module_list
lib/external_lgpl
lib/geo
lib/geo_lookup
+ lib/version
lib/DriverFramework/framework
)
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 8720104fb0661d68ea62c41dafbca05483b6aec3..ed84285d1909a863ba96ea4ae4f8a315fed656a4 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -69,6 +69,7 @@ set(config_module_list
lib/runway_takeoff
lib/tailsitter_recovery
lib/controllib
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/qurt_eagle_legacy_driver_default.cmake b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
index 1d66edc878ed43831b7a1c14f6236cdb0a7de690..ba56439615df18267bc1b21e2c65a9307ae08b4f 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@@ -92,6 +92,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 828f5b420ef66d18c7ad72beb2991408452033cd..0e0152ab1ec7b642a5432d2694f75ebe4fd058db 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -43,6 +43,7 @@ set(config_module_list
lib/geo
lib/geo_lookup
lib/conversion
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 0063827b01f1047c76618865faf1a9e20b126d0b..52646638ec440cba8b231965c78937345f7bbee5 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -75,6 +75,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/version
lib/DriverFramework/framework
#
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index 12175dbfbea6a79e7b80451362bb80dad36cdad6..b8e111d3feef2c96b9f76816775d33c7cc5c2e9a 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -87,6 +87,7 @@ set(config_module_list
lib/runway_takeoff
lib/tailsitter_recovery
lib/rc
+ lib/version
lib/DriverFramework/framework
#
diff --git a/src/lib/version/CMakeLists.txt b/src/lib/version/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8698814b01d105752bbc7b9f1d5fc7c9db95a4b0
--- /dev/null
+++ b/src/lib/version/CMakeLists.txt
@@ -0,0 +1,41 @@
+############################################################################
+#
+# Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+ MODULE lib__version
+ COMPILE_FLAGS
+ SRCS
+ version.c
+ DEPENDS
+ platforms__common
+ )
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/lib/version/version.c b/src/lib/version/version.c
new file mode 100644
index 0000000000000000000000000000000000000000..4735038339639d15d11a7541c4f1ccee4995617f
--- /dev/null
+++ b/src/lib/version/version.c
@@ -0,0 +1,258 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "version.h"
+
+#include "build_git_version.h" //generated from build_git_version.h.in
+
+#include <string.h>
+
+#if !defined(CONFIG_CDCACM_PRODUCTID)
+# define CONFIG_CDCACM_PRODUCTID 0
+#endif
+
+#if defined(__PX4_LINUX)
+#include <sys/utsname.h>
+#endif
+
+// dev >= 0
+// alpha >= 64
+// beta >= 128
+// release candidate >= 192
+// release == 255
+enum FIRMWARE_TYPE {
+ FIRMWARE_TYPE_DEV = 0,
+ FIRMWARE_TYPE_ALPHA = 64,
+ FIRMWARE_TYPE_BETA = 128,
+ FIRMWARE_TYPE_RC = 192,
+ FIRMWARE_TYPE_RELEASE = 255
+};
+
+/**
+ * Convert a version tag string to a number
+ * @param tag version tag in one of the following forms:
+ * - dev: v1.4.0rc3-7-g7e282f57
+ * - rc: v1.4.0rc4
+ * - release: v1.4.0
+ * - linux: 7.9.3
+ * @return version in the form 0xAABBCCTT (AA: Major, BB: Minor, CC: Patch, TT Type @see FIRMWARE_TYPE)
+ */
+static uint32_t version_tag_to_number(const char *tag)
+{
+ uint32_t ver = 0;
+ unsigned len = strlen(tag);
+ unsigned mag = 0;
+ int32_t type = -1;
+ unsigned dashcount = 0;
+
+ for (int i = len - 1; i >= 0; i--) {
+
+ if (tag[i] == '-') {
+ dashcount++;
+ }
+
+ if (tag[i] >= '0' && tag[i] <= '9') {
+ if (mag < 32) {
+ unsigned number = tag[i] - '0';
+
+ ver += (number << mag);
+ mag += 8;
+ }
+
+ } else if (tag[i] == '.') {
+ continue;
+
+ } else if (i > 3 && type == -1) {
+ /* scan and look for signature characters for each type */
+ const char *curr = &tag[i - 1];
+
+ while (curr > &tag[0]) {
+ if (*curr == 'v') {
+ type = FIRMWARE_TYPE_DEV;
+ break;
+
+ } else if (*curr == 'p') {
+ type = FIRMWARE_TYPE_ALPHA;
+ break;
+
+ } else if (*curr == 't') {
+ type = FIRMWARE_TYPE_BETA;
+ break;
+
+ } else if (*curr == 'r') {
+ type = FIRMWARE_TYPE_RC;
+ break;
+ }
+
+ curr--;
+ }
+
+ /* looks like a release */
+ if (type == -1) {
+ type = FIRMWARE_TYPE_RELEASE;
+ }
+
+ } else if (tag[i] != 'v') {
+ /* reset, because we don't have a full tag but
+ * are seeing non-numeric characters (eg. '-')
+ */
+ ver = 0;
+ mag = 0;
+ }
+ }
+
+ /* if git describe contains dashes this is not a real tag */
+ if (dashcount > 0) {
+ type = FIRMWARE_TYPE_DEV;
+ }
+
+ /* looks like a release */
+ if (type == -1) {
+ type = FIRMWARE_TYPE_RELEASE;
+ }
+
+ ver = (ver << 8);
+
+ return ver | type;
+}
+
+
+uint32_t px4_firmware_version(void)
+{
+ return version_tag_to_number(PX4_GIT_TAG_STR);
+}
+
+uint32_t px4_board_version(void)
+{
+#if defined(__PX4_NUTTX)
+ return CONFIG_CDCACM_PRODUCTID;
+#else
+ return 1;
+#endif
+}
+
+uint32_t px4_os_version(void)
+{
+#if defined(__PX4_DARWIN)
+ return 0; //TODO: implement version for Darwin
+#elif defined(__PX4_LINUX)
+ struct utsname name;
+
+ if (uname(&name) == 0) {
+ char *c = name.release;
+
+ // cut the part after the first '-'
+ while (*c && *c != '-') {
+ ++c;
+ }
+
+ *c = 0;
+ return version_tag_to_number(name.release);
+
+ } else {
+ return 0;
+ }
+
+#elif defined(__PX4_QURT)
+ return 0; //TODO: implement version for QuRT
+#elif defined(__PX4_NUTTX)
+ return version_tag_to_number("v7.18.0"); //TODO: get correct version
+#else
+# error "px4_os_version not implemented for current OS"
+#endif
+}
+
+const char *px4_os_version_string(void)
+{
+#if defined(__PX4_NUTTX)
+ return NULL; //TODO: get NuttX git tag as string
+#else
+ return NULL;
+#endif
+}
+
+const char *px4_os_name(void)
+{
+#if defined(__PX4_DARWIN)
+ return "Darwin";
+#elif defined(__PX4_LINUX)
+ return "Linux";
+#elif defined(__PX4_QURT)
+ return "QuRT";
+#elif defined(__PX4_NUTTX)
+ return "NuttX";
+#else
+# error "px4_os_name not implemented for current OS"
+#endif
+}
+
+const char *px4_toolchain_name(void)
+{
+#if defined(__clang__)
+ return "Clang/LLVM";
+#elif defined(__ICC) || defined(__INTEL_COMPILER)
+ return "Intel ICC";
+#elif defined(__GNUC__) || defined(__GNUG__)
+ return "GNU GCC";
+#elif defined(_MSC_VER)
+ return "MS Visual Studio";
+#else
+ return "Unknown";
+#endif
+}
+
+const char *px4_toolchain_version(void)
+{
+#ifdef __VERSION__
+ return __VERSION__;
+#else
+ return "";
+#endif
+}
+
+const char *px4_firmware_version_string(void)
+{
+ return PX4_GIT_VERSION_STR;
+}
+
+uint64_t px4_firmware_version_binary(void)
+{
+ return PX4_GIT_VERSION_BINARY;
+}
+
+uint64_t px4_os_version_binary(void)
+{
+ //TODO: get NuttX version via git tag
+ return 0;
+}
+
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index 4d23e5ade66ca4ec0d5dedaa0762cb6e1450be45..71ec5a6c8990231773bf21c3739339f36a28566f 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -38,10 +38,12 @@
* Tools for system version detection.
*
* @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Beat Küng <beat-kueng@gmx.net>
*/
#pragma once
+#include <stdint.h>
#define FREEZE_STR(s) #s
#define STRINGIFY(s) FREEZE_STR(s)
@@ -79,7 +81,60 @@ static inline const char *px4_board_name(void)
return BOARD_NAME;
}
+/**
+ * get the PX4 Firmware version
+ * @return version in the form 0xAABBCCTT (AA: Major, BB: Minor, CC: Patch, TT Type @see FIRMWARE_TYPE)
+ */
+__EXPORT uint32_t px4_firmware_version(void);
+
+/**
+ * get the board version (last 8 bytes should be silicon ID, if any)
+ */
+__EXPORT uint32_t px4_board_version(void);
+
+/**
+ * operating system version
+ * @return version in the form 0xAABBCCTT (AA: Major, BB: Minor, CC: Patch, TT Type @see FIRMWARE_TYPE)
+ */
+__EXPORT uint32_t px4_os_version(void);
+
+/**
+ * Operating system version as human readable string (git tag)
+ * @return string or NULL if not defined
+ */
+__EXPORT const char *px4_os_version_string(void);
+
+/**
+ * name of the operating system
+ * @return human readable string
+ */
+__EXPORT const char *px4_os_name(void);
+/**
+ * Toolchain name used to compile PX4
+ */
+__EXPORT const char *px4_toolchain_name(void);
+
+/**
+ * Toolchain version used to compile PX4 (no particular format)
+ */
+__EXPORT const char *px4_toolchain_version(void);
+
+/**
+ * Firmware version as human readable string (git tag)
+ */
+__EXPORT const char *px4_firmware_version_string(void);
+
+/**
+ * Firmware version in binary form (first part of the git tag)
+ */
+__EXPORT uint64_t px4_firmware_version_binary(void);
+
+/**
+ * Operating system version in binary form (first part of the git tag)
+ * @return this is not available on all OSes and can return 0
+ */
+__EXPORT uint64_t px4_os_version_binary(void);
__END_DECLS
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index aa9a6c398b2afc9bfe07ae37d088ddca59974f90..380816aacb88419d661ba159cdf052224e54dfe3 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -1361,7 +1361,7 @@ void Logger::write_header()
/* write version info messages */
void Logger::write_version()
{
- write_info("ver_sw", PX4_GIT_VERSION_STR);
+ write_info("ver_sw", px4_firmware_version_string());
write_info("ver_hw", px4_board_name());
write_info("sys_name", "PX4");
int32_t utc_offset = 0;
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index 17cc8745d8ec360fff739f3b3ccc4f9ff00b022d..e0cb87d27d9fbb3bb70582ad25eacf780d904015 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -39,7 +39,6 @@
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <version/version.h>
-#include <systemlib/git_version.h>
#include <systemlib/param/param.h>
extern "C" __EXPORT int logger_main(int argc, char *argv[]);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 057f957d9dc7f3a441033286bc3459633cbfa37b..dda8ea95208ea889cd63b44f615fc29e72f7165f 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -72,11 +72,10 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/mcu_version.h>
-#include <systemlib/git_version.h>
#include <systemlib/mavlink_log.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
-//#include <mathlib/mathlib.h>
+#include <version/version.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command_ack.h>
@@ -1283,13 +1282,15 @@ void Mavlink::send_autopilot_capabilites()
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
- msg.flight_sw_version = version_tag_to_number(px4_git_tag);
- msg.middleware_sw_version = version_tag_to_number(px4_git_tag);
- msg.os_sw_version = version_tag_to_number(os_git_tag);
- msg.board_version = px4_board_version;
- memcpy(&msg.flight_custom_version, &px4_git_version_binary, sizeof(msg.flight_custom_version));
- memcpy(&msg.middleware_custom_version, &px4_git_version_binary, sizeof(msg.middleware_custom_version));
- memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
+ msg.flight_sw_version = px4_firmware_version();
+ msg.middleware_sw_version = px4_firmware_version();
+ msg.os_sw_version = px4_os_version();
+ msg.board_version = px4_board_version();
+ uint64_t fw_git_version_binary = px4_firmware_version_binary();
+ memcpy(&msg.flight_custom_version, &fw_git_version_binary, sizeof(msg.flight_custom_version));
+ memcpy(&msg.middleware_custom_version, &fw_git_version_binary, sizeof(msg.middleware_custom_version));
+ uint64_t os_git_version_binary = px4_os_version_binary();
+ memcpy(&msg.os_custom_version, &os_git_version_binary, sizeof(msg.os_custom_version));
#ifdef CONFIG_CDCACM_VENDORID
msg.vendor_id = CONFIG_CDCACM_VENDORID;
#else
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a1df573ae77ce5bf38ca6a4b1adfd15e9103da6c..a918d6de3dfc8242e2ad177070d48af1837c2002 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -116,7 +116,6 @@
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
-#include <systemlib/git_version.h>
#include <systemlib/printload.h>
#include <systemlib/mavlink_log.h>
#include <version/version.h>
@@ -873,7 +872,7 @@ int write_version(int fd)
};
/* fill version message and write it */
- strncpy(log_msg_VER.body.fw_git, px4_git_version, sizeof(log_msg_VER.body.fw_git));
+ strncpy(log_msg_VER.body.fw_git, px4_firmware_version_string(), sizeof(log_msg_VER.body.fw_git));
strncpy(log_msg_VER.body.arch, px4_board_name(), sizeof(log_msg_VER.body.arch));
return write(fd, &log_msg_VER, sizeof(log_msg_VER));
}
diff --git a/src/modules/systemlib/git_version.h b/src/modules/systemlib/git_version.h
deleted file mode 100644
index a81ac035eefc2239881f8b7a4c4d8d1eca8d82bf..0000000000000000000000000000000000000000
--- a/src/modules/systemlib/git_version.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file git_version.h
- *
- * GIT repository version
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#include "build_git_version.h"
-
-__BEGIN_DECLS
-
-__EXPORT extern const char *px4_git_version;
-__EXPORT extern const uint64_t px4_git_version_binary;
-__EXPORT extern const char *px4_git_tag;
-__EXPORT extern const char *os_git_tag;
-__EXPORT extern const uint32_t px4_board_version;
-
-__EXPORT uint32_t version_tag_to_number(const char *tag);
-
-__END_DECLS
diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h
index f40ac069e141cdca22b93b51dc18f9f787e0f286..2aca31b99bb11f74712d3ee6b3403810eff9a26d 100644
--- a/src/modules/systemlib/mcu_version.h
+++ b/src/modules/systemlib/mcu_version.h
@@ -60,7 +60,7 @@ __EXPORT void mcu_unique_id(uint32_t *uid_96_bit);
*
* @param rev The silicon revision character
* @param revstr The full chip name string
- * @return The silicon revision / version number as integer
+ * @return The silicon revision / version number as integer. -1 on error (rev and revstr will not be set)
*/
__EXPORT int mcu_version(char *rev, char **revstr);
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index a776179b1a6260ff027a3769f14dd58b01ffb149..fafafda400cdd78c5eee22e23c0afa4120446c9e 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -53,7 +53,6 @@
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <systemlib/scheduling_priorities.h>
-#include <systemlib/git_version.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@@ -622,7 +621,7 @@ void UavcanNode::fill_node_info()
// Extracting the first 8 hex digits of GIT_VERSION and converting them to int
char fw_git_short[9] = {};
- std::memmove(fw_git_short, px4_git_version, 8);
+ std::memmove(fw_git_short, px4_firmware_version_string(), 8);
assert(fw_git_short[8] == '\0');
char *end = nullptr;
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index b05f4ea32053f9b36935c9e504bfec1b78f5ba3f..09d2389e00211f5f433274767c77a14db70ff325 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -45,7 +45,6 @@
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <systemlib/scheduling_priorities.h>
-#include <systemlib/git_version.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 4894c35c5dc285737154a0539ce933cc36c474ab..f27537bdb057a2f6fddca7763b5e987648aa3089 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -46,7 +46,6 @@
#include <version/version.h>
#include <systemlib/err.h>
#include <systemlib/mcu_version.h>
-#include <systemlib/git_version.h>
/* string constants for version commands */
static const char sz_ver_hw_str[] = "hw";
@@ -59,123 +58,6 @@ static const char sz_ver_all_str[] = "all";
static const char mcu_ver_str[] = "mcu";
static const char mcu_uid_str[] = "uid";
-const char *px4_git_version = PX4_GIT_VERSION_STR;
-const uint64_t px4_git_version_binary = PX4_GIT_VERSION_BINARY;
-#if !defined(CONFIG_CDCACM_PRODUCTID)
-# define CONFIG_CDCACM_PRODUCTID 0
-#endif
-const char *px4_git_tag = PX4_GIT_TAG_STR;
-
-#if defined(__PX4_NUTTX)
-__EXPORT const char *os_git_tag = "7.18";
-__EXPORT const uint32_t px4_board_version = CONFIG_CDCACM_PRODUCTID;
-#else
-__EXPORT const char *os_git_tag = "";
-__EXPORT const uint32_t px4_board_version = 1;
-#endif
-
-// dev >= 0
-// alpha >= 64
-// beta >= 128
-// release candidate >= 192
-// release == 255
-enum FIRMWARE_TYPE {
- FIRMWARE_TYPE_DEV = 0,
- FIRMWARE_TYPE_ALPHA = 64,
- FIRMWARE_TYPE_BETA = 128,
- FIRMWARE_TYPE_RC = 192,
- FIRMWARE_TYPE_RELEASE = 255
-};
-
-/**
- * Convert a version tag string to a number
- */
-uint32_t version_tag_to_number(const char *tag)
-{
- uint32_t ver = 0;
- unsigned len = strlen(tag);
- unsigned mag = 0;
- int32_t type = -1;
- bool dotparsed = false;
- unsigned dashcount = 0;
-
- for (int i = len - 1; i >= 0; i--) {
-
- if (tag[i] == '-') {
- dashcount++;
- }
-
- if (tag[i] >= '0' && tag[i] <= '9') {
- unsigned number = tag[i] - '0';
-
- ver += (number << mag);
- mag += 8;
-
- } else if (tag[i] == '.') {
- continue;
-
- } else if (mag > 2 * 8 && dotparsed) {
- /* this is a full version and we have enough digits */
- return ver;
-
- } else if (i > 3 && type == -1) {
- /* scan and look for signature characters for each type */
- const char *curr = &tag[i - 1];
-
- // dev: v1.4.0rc3-7-g7e282f57
- // rc: v1.4.0rc4
- // release: v1.4.0
-
- while (curr > &tag[0]) {
- if (*curr == 'v') {
- type = FIRMWARE_TYPE_DEV;
- break;
-
- } else if (*curr == 'p') {
- type = FIRMWARE_TYPE_ALPHA;
- break;
-
- } else if (*curr == 't') {
- type = FIRMWARE_TYPE_BETA;
- break;
-
- } else if (*curr == 'r') {
- type = FIRMWARE_TYPE_RC;
- break;
- }
-
- curr--;
- }
-
- /* looks like a release */
- if (type == -1) {
- type = FIRMWARE_TYPE_RELEASE;
- }
-
- } else if (tag[i] != 'v') {
- /* reset, because we don't have a full tag but
- * are seeing non-numeric characters
- */
- ver = 0;
- mag = 0;
- }
- }
-
- /* if git describe contains dashes this is not a real tag */
- if (dashcount > 0) {
- type = FIRMWARE_TYPE_DEV;
- }
-
- /* looks like a release */
- if (type == -1) {
- type = FIRMWARE_TYPE_RELEASE;
- }
-
- ver = (ver << 8);
-
- return ver | type;
-}
-
static void usage(const char *reason)
{
if (reason != NULL) {
@@ -224,16 +106,41 @@ int ver_main(int argc, char *argv[])
}
if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
- printf("FW git-hash: %s\n", px4_git_version);
- unsigned fwver = version_tag_to_number(px4_git_tag);
+ printf("FW git-hash: %s\n", px4_firmware_version_string());
+ unsigned fwver = px4_firmware_version();
unsigned major = (fwver >> (8 * 3)) & 0xFF;
unsigned minor = (fwver >> (8 * 2)) & 0xFF;
unsigned patch = (fwver >> (8 * 1)) & 0xFF;
unsigned type = (fwver >> (8 * 0)) & 0xFF;
- printf("FW version: %s (%u.%u.%u %u), %u\n", px4_git_tag, major, minor, patch,
- type, fwver);
- /* middleware is currently the same thing as firmware, so not printing yet */
- printf("OS version: %s (%u)\n", os_git_tag, version_tag_to_number(os_git_tag));
+
+ if (type == 255) {
+ printf("FW version: Release %u.%u.%u (%u)\n", major, minor, patch, fwver);
+
+ } else {
+ printf("FW version: %u.%u.%u %u (%u)\n", major, minor, patch, type, fwver);
+ }
+
+
+ fwver = px4_os_version();
+ major = (fwver >> (8 * 3)) & 0xFF;
+ minor = (fwver >> (8 * 2)) & 0xFF;
+ patch = (fwver >> (8 * 1)) & 0xFF;
+ type = (fwver >> (8 * 0)) & 0xFF;
+ printf("OS: %s\n", px4_os_name());
+
+ if (type == 255) {
+ printf("OS version: Release %u.%u.%u (%u)\n", major, minor, patch, fwver);
+
+ } else {
+ printf("OS version: %u.%u.%u %u (%u)\n", major, minor, patch, type, fwver);
+ }
+
+ const char *os_git_hash = px4_os_version_string();
+
+ if (os_git_hash) {
+ printf("OS git-hash: %s\n", os_git_hash);
+ }
+
ret = 0;
}
@@ -252,7 +159,7 @@ int ver_main(int argc, char *argv[])
if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
- printf("Toolchain: %s\n", __VERSION__);
+ printf("Toolchain: %s, %s\n", px4_toolchain_name(), px4_toolchain_version());
ret = 0;
}