Fresh import of the PX4 firmware sources.

1 files changed, 320 insertions, 0 deletions

diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
new file mode 100644
index 000000000..6bde8b8ae
--- /dev/null
+++ b/apps/systemlib/systemlib.c
@@ -0,0 +1,320 @@
+/****************************************************************************
+ *
+ *   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 implementation of commonly used low-level system-call like functions */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <sched.h>
+#include <signal.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <arch/board/drv_eeprom.h>
+#include <uORB/parameter_storage.h>
+#include <float.h>
+#include <string.h>
+
+#include "systemlib.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+const struct __multiport_info multiport_info = {
+	.port_names = {"MULT_0_US2_RXTX", "MULT_1_US2_FLOW", "MULT_2_GPIO_12"}
+};
+
+#define EEPROM_OFFSET 64
+
+#define EEPROM_PARAM_MAGIC_BYTE 0xAF
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void kill_task(FAR _TCB *tcb, FAR void *arg);
+
+/****************************************************************************
+ * user_start
+ ****************************************************************************/
+
+int reboot(void)
+{
+	sched_lock();
+	// print text
+	printf("\r\nRebooting system - ending tasks and performing hard reset\r\n\r\n");
+	fflush(stdout);
+	//usleep(5000);
+
+	/* Sending kill signal to other tasks */
+	//killall();
+
+	/* Waiting maximum time for all to exit */
+	//usleep(5000);
+	//sched_lock();
+
+	/* Resetting CPU */
+	// FIXME Need check for ARM architecture here
+#ifndef NVIC_AIRCR
+#define NVIC_AIRCR (*((uint32_t*)0xE000ED0C))
+#endif
+
+	/* Set the SYSRESETREQ bit to force a reset */
+	NVIC_AIRCR = 0x05fa0004;
+
+	/* Spinning until the board is really reset */
+	while (true);
+
+	/* Should never reach here */
+	return 0;
+}
+
+void killall()
+{
+//	printf("Sending SIGUSR1 to all processes now\n");
+
+	/* iterate through all tasks and send kill signal */
+	sched_foreach(kill_task, NULL);
+}
+
+void kill_task(FAR _TCB *tcb, FAR void *arg)
+{
+	kill(tcb->pid, SIGUSR1);
+}
+
+int store_params_in_eeprom(struct global_data_parameter_storage_t *params)
+{
+	int ret = ERROR;
+	int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
+	int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
+	int write_res;
+
+	if (fd < 0) {
+		fprintf(stderr, "onboard eeprom: open fail\n");
+		ret = ERROR;
+
+	} else if (lseek_res < 0) {
+		fprintf(stderr, "onboard eeprom: set offet fail\n");
+		ret = ERROR;
+
+	} else {
+		/*Write start magic byte */
+		uint8_t mb = EEPROM_PARAM_MAGIC_BYTE;
+		write_res = write(fd, &mb, sizeof(mb));
+
+		if (write_res != sizeof(mb)) {
+			ret = ERROR;
+
+		} else {
+			for (int i = 0; i < params->pm.size; i++) {
+				write_res = write(fd, params->pm.param_values + i, sizeof(params->pm.param_values[i]));
+
+				if (write_res != sizeof(params->pm.param_values[i])) return ERROR;
+			}
+
+			/*Write end magic byte */
+			write_res = write(fd, &mb, sizeof(mb));
+
+			if (write_res != sizeof(mb)) {
+				ret = ERROR;
+
+			} else {
+				ret = OK;
+			}
+		}
+
+	}
+
+	close(fd);
+
+	return ret;
+}
+
+int get_params_from_eeprom(struct global_data_parameter_storage_t *params)
+{
+	int ret = ERROR;
+	uint8_t magic_byte = 0;
+	int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
+	int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET);  //don't touch first 64 bytes
+
+	if (fd < 0) {
+		fprintf(stderr, "onboard eeprom: open fail\n");
+		ret = ERROR;
+
+	} else if (lseek_res < 0) {
+		fprintf(stderr, "onboard eeprom: set offet fail\n");
+		ret = ERROR;
+
+	} else {
+		/*Get start magic byte */
+		magic_byte = 0;
+		int read_res = read(fd, &magic_byte, sizeof(uint8_t));
+
+		if (read_res != sizeof(uint8_t)) {
+			ret = ERROR;
+
+		} else {
+			if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
+				ret = ERROR;
+				fprintf(stderr, "onboard eeprom: parameters: start magic byte wrong\n");
+
+			} else {
+				/*get end magic byte */
+				lseek_res = lseek(fd, EEPROM_OFFSET + 1 + params->pm.size * sizeof(float), SEEK_SET); // jump to 2nd magic byte
+
+				if (lseek_res == OK) {
+					/*Get end magic */
+					read_res = read(fd, &magic_byte, sizeof(uint8_t));
+
+					if (read_res != sizeof(uint8_t)) {
+						ret = ERROR;
+
+					} else {
+						if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
+							ret = ERROR;
+							printf("onboard eeprom: parameters: end magic byte wrong\n");
+
+						} else {
+							lseek_res = lseek(fd, EEPROM_OFFSET + 1, SEEK_SET);
+
+							/* read data */
+							if (lseek_res == OK) {
+
+								for (int i = 0; i < params->pm.size; i++) {
+									read_res = read(fd, params->pm.param_values + i,  sizeof(params->pm.param_values[i]));
+
+									if (read_res != sizeof(params->pm.param_values[i])) return ERROR;
+								}
+
+								ret = OK;
+
+							} else {
+								/* lseek #2 failed */
+								ret = ERROR;
+							}
+						}
+					}
+
+				} else {
+					/* lseek #1 failed */
+					ret = ERROR;
+				}
+			}
+		}
+
+	}
+
+	close(fd);
+
+	return ret;
+}
+
+#define PX4_BOARD_ID_FMU (5)
+
+int fmu_get_board_info(struct fmu_board_info_s *info)
+{
+	/* Check which FMU version we're on */
+	struct stat sb;
+	int statres;
+
+	/* Copy version-specific fields */
+	statres = stat("/dev/bma280", &sb);
+
+	if (statres == OK) {
+		/* BMA280 indicates a v1.7+ board */
+		strcpy(info->board_name, "FMU v1.7");
+		info->board_version = 17;
+
+	} else {
+		statres = stat("/dev/bma180", &sb);
+
+		if (statres == OK) {
+			/* BMA180 indicates a v1.5-v1.6 board */
+			strcpy(info->board_name, "FMU v1.6");
+			info->board_version = 16;
+
+		} else {
+			/* If no BMA pressure sensor is present, it is a v1.3 board */
+			strcpy(info->board_name, "FMU v1.3");
+			info->board_version = 13;
+		}
+	}
+
+	/* Copy general FMU fields */
+	memcpy(info->header, "PX4", 3);
+	info->board_id = PX4_BOARD_ID_FMU;
+
+	return sizeof(struct fmu_board_info_s);
+}
+
+int carrier_store_board_info(const struct carrier_board_info_s *info)
+{
+	int ret;
+	int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
+
+	if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
+
+	/* Enforce correct header */
+	ret = write(fd, info, sizeof(struct carrier_board_info_s));
+	//ret = write(fd, "PX4", 3);
+	close(fd);
+
+	return ret;
+}
+
+int carrier_get_board_info(struct carrier_board_info_s *info)
+{
+	int ret;
+	int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
+
+	if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
+
+	ret = read(fd, info, sizeof(struct carrier_board_info_s));
+
+	/* Enforce NUL termination of human-readable string */
+	if (ret == sizeof(struct carrier_board_info_s)) {
+		info->board_name[sizeof(info->board_name) - 1] = '\0';
+	}
+
+	close(fd);
+
+	return ret;
+}