/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 systemlib.h
* Definition of commonly used low-level system-call like functions.
*/
#ifndef SYSTEMLIB_H_
#define SYSTEMLIB_H_
#include <float.h>
#include <stdint.h>
#include <sched.h>
__BEGIN_DECLS
/** Reboots the board */
__EXPORT void systemreset(bool to_bootloader) noreturn_function;
/** Sends SIGUSR1 to all processes */
__EXPORT void killall(void);
/** Default scheduler type */
#if CONFIG_RR_INTERVAL > 0
# define SCHED_DEFAULT SCHED_RR
#else
# define SCHED_DEFAULT SCHED_FIFO
#endif
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT int task_spawn_cmd(const char *name,
int priority,
int scheduler,
int stack_size,
main_t entry,
char * const argv[]);
enum MULT_PORTS {
MULT_0_US2_RXTX = 0,
MULT_1_US2_FLOW,
MULT_2_GPIO_12,
MULT_COUNT
};
/* Check max multi port count */
#if (MULT_COUNT > 33)
#error "MULT_COUNT HAS TO BE LESS THAN OR EQUAL 33"
#endif
/* FMU board info, to be stored in the first 64 bytes of the FMU EEPROM */
#pragma pack(push,1)
struct fmu_board_info_s {
char header[3]; /**< {'P', 'X', '4'} */
char board_name[20]; /**< Human readable board name, \0 terminated */
uint8_t board_id; /**< board ID, constantly increasing number per board */
uint8_t board_version; /**< board version, major * 10 + minor: v1.7 = 17 */
uint8_t multi_port_config[MULT_COUNT]; /**< Configuration of multi ports 1-3 */
uint8_t reserved[33 - MULT_COUNT]; /**< Reserved space for more multi ports */
uint16_t production_year;
uint8_t production_month;
uint8_t production_day;
uint8_t production_fab;
uint8_t production_tester;
}; /**< stores autopilot board information meta data from EEPROM */
#pragma pack(pop)
/* Carrier board info, to be stored in the 128 byte board info EEPROM */
#pragma pack(push,1)
struct carrier_board_info_s {
char header[3]; /**< {'P', 'X', '4'} */
char board_name[20]; /**< Human readable board name, \0 terminated */
uint8_t board_id; /**< board ID, constantly increasing number per board */
uint8_t board_version; /**< board version, major * 10 + minor: v1.7 = 17 */
uint8_t multi_port_config[MULT_COUNT]; /**< Configuration of multi ports 1-3 */
uint8_t reserved[33 - MULT_COUNT]; /**< Reserved space for more multi ports */
uint16_t production_year;
uint8_t production_month;
uint8_t production_day;
uint8_t production_fab;
uint8_t production_tester;
char board_custom_data[64];
}; /**< stores carrier board information meta data from EEPROM */
#pragma pack(pop)
struct __multiport_info {
const char *port_names[MULT_COUNT];
};
__EXPORT extern const struct __multiport_info multiport_info;
__END_DECLS
#endif /* SYSTEMLIB_H_ */
