Fresh import of the PX4 firmware sources.

10 files changed, 1444 insertions, 0 deletions

diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
new file mode 100644
index 000000000..cb126825d
--- /dev/null
+++ b/apps/systemlib/Makefile
@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# System utility library
+#
+
+CSRCS		 = hx_stream.c \
+		   mixer.c \
+		   perf_counter.c
+
+#
+# XXX this really should be a CONFIG_* test
+#
+ifeq ($(TARGET),px4fmu)
+CSRCS		+= systemlib.c
+endif
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemlib/hx_stream.c b/apps/systemlib/hx_stream.c
new file mode 100644
index 000000000..e7e974998
--- /dev/null
+++ b/apps/systemlib/hx_stream.c
@@ -0,0 +1,244 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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	A simple serial line framing protocol based on HDLC
+ *		with 32-bit CRC protection.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <crc32.h>
+#include <unistd.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include "perf_counter.h"
+
+#include "hx_stream.h"
+
+
+struct hx_stream {
+	uint8_t			buf[HX_STREAM_MAX_FRAME + 4];
+	unsigned		frame_bytes;
+	bool			escaped;
+	bool			txerror;
+
+	int			fd;
+	hx_stream_rx_callback	callback;
+	void			*callback_arg;
+
+	perf_counter_t		pc_tx_frames;
+	perf_counter_t		pc_rx_frames;
+	perf_counter_t		pc_rx_errors;
+};
+
+/*
+ * Protocol magic numbers, straight out of HDLC.
+ */
+#define FBO	0x7e	/**< Frame Boundary Octet */
+#define CEO	0x7c	/**< Control Escape Octet */
+
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static int	hx_rx_frame(hx_stream_t stream);
+
+static void
+hx_tx_raw(hx_stream_t stream, uint8_t c)
+{
+	if (write(stream->fd, &c, 1) != 1)
+		stream->txerror = true;
+}
+
+static void
+hx_tx_byte(hx_stream_t stream, uint8_t c)
+{
+	switch (c) {
+	case FBO:
+	case CEO:
+		hx_tx_raw(stream, CEO);
+		c ^= 0x20;
+		break;
+	}
+
+	hx_tx_raw(stream, c);
+}
+
+static int
+hx_rx_frame(hx_stream_t stream)
+{
+	union {
+		uint8_t	b[4];
+		uint32_t w;
+	} u;
+	unsigned length = stream->frame_bytes;
+
+	/* reset the stream */
+	stream->frame_bytes = 0;
+	stream->escaped = false;
+
+	/* not a real frame - too short */
+	if (length < 4) {
+		if (length > 1)
+			perf_count(stream->pc_rx_errors);
+
+		return 0;
+	}
+
+	length -= 4;
+
+	/* compute expected CRC */
+	u.w = crc32(&stream->buf[0], length);
+
+	/* compare computed and actual CRC */
+	for (unsigned i = 0; i < 4; i++) {
+		if (u.b[i] != stream->buf[length + i]) {
+			perf_count(stream->pc_rx_errors);
+			return 0;
+		}
+	}
+
+	/* frame is good */
+	perf_count(stream->pc_rx_frames);
+	stream->callback(stream->callback_arg, &stream->buf[0], length);
+	return 1;
+}
+
+hx_stream_t
+hx_stream_init(int fd,
+	       hx_stream_rx_callback callback,
+	       void *arg)
+{
+	hx_stream_t stream;
+
+	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
+
+	if (stream != NULL) {
+		memset(stream, 0, sizeof(struct hx_stream));
+		stream->fd = fd;
+		stream->callback = callback;
+		stream->callback_arg = arg;
+	}
+
+	return stream;
+}
+
+void
+hx_stream_free(hx_stream_t stream)
+{
+	free(stream);
+}
+
+void
+hx_stream_set_counters(hx_stream_t stream,
+		       perf_counter_t tx_frames,
+		       perf_counter_t rx_frames,
+		       perf_counter_t rx_errors)
+{
+	stream->pc_tx_frames = tx_frames;
+	stream->pc_rx_frames = rx_frames;
+	stream->pc_rx_errors = rx_errors;
+}
+
+int
+hx_stream_send(hx_stream_t stream,
+	       const void *data,
+	       size_t count)
+{
+	union {
+		uint8_t	b[4];
+		uint32_t w;
+	} u;
+	const uint8_t *p = (const uint8_t *)data;
+	unsigned resid = count;
+
+	if (resid > HX_STREAM_MAX_FRAME) {
+		errno = EINVAL;
+		return -1;
+	}
+
+	/* start the frame */
+	hx_tx_raw(stream, FBO);
+
+	/* transmit the data */
+	while (resid--)
+		hx_tx_byte(stream, *p++);
+
+	/* compute the CRC */
+	u.w = crc32(data, count);
+
+	/* send the CRC */
+	p = &u.b[0];
+	resid = 4;
+
+	while (resid--)
+		hx_tx_byte(stream, *p++);
+
+	/* and the trailing frame separator */
+	hx_tx_raw(stream, FBO);
+
+	/* check for transmit error */
+	if (stream->txerror) {
+		stream->txerror = false;
+		return -1;
+	}
+
+	return -1;
+}
+
+void
+hx_stream_rx(hx_stream_t stream, uint8_t c)
+{
+	/* frame end? */
+	if (c == FBO) {
+		hx_rx_frame(stream);
+		return;
+	}
+
+	/* escaped? */
+	if (stream->escaped) {
+		stream->escaped = false;
+		c ^= 0x20;
+
+	} else if (c == CEO) {
+		/* now escaped, ignore the byte */
+		stream->escaped = true;
+		return;
+	}
+
+	/* save for later */
+	if (stream->frame_bytes < sizeof(stream->buf))
+		stream->buf[stream->frame_bytes++] = c;
+}
diff --git a/apps/systemlib/hx_stream.h b/apps/systemlib/hx_stream.h
new file mode 100644
index 000000000..591bb1291
--- /dev/null
+++ b/apps/systemlib/hx_stream.h
@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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	A simple serial line framing protocol based on HDLC
+ *		with 32-bit CRC protection.
+ */
+
+#ifndef _SYSTEMLIB_HX_STREAM_H
+#define _SYSTEMLIB_HX_STREAM_H
+
+#include <sys/types.h>
+
+#include "perf_counter.h"
+
+struct hx_stream;
+typedef struct hx_stream *hx_stream_t;
+
+#define HX_STREAM_MAX_FRAME	64
+
+typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
+
+__BEGIN_DECLS
+
+/**
+ * Allocate a new hx_stream object.
+ *
+ * @param fd		The file handle over which the protocol will
+ *			communicate.
+ * @param callback	Called when a frame is received.
+ * @param callback_arg	Passed to the callback.
+ * @return		A handle to the stream, or NULL if memory could
+ *			not be allocated.
+ */
+__EXPORT extern hx_stream_t	hx_stream_init(int fd,
+				       hx_stream_rx_callback callback,
+				       void *arg);
+
+/**
+ * Free a hx_stream object.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ */
+__EXPORT extern void		hx_stream_free(hx_stream_t stream);
+
+/**
+ * Set performance counters for the stream.
+ *
+ * Any counter may be set to NULL to disable counting that datum.
+ *
+ * @param tx_frames	Counter for transmitted frames.
+ * @param rx_frames	Counter for received frames.
+ * @param rx_errors	Counter for short and corrupt received frames.
+ */
+__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
+		perf_counter_t tx_frames,
+		perf_counter_t rx_frames,
+		perf_counter_t rx_errors);
+
+/**
+ * Send a frame.
+ *
+ * This function will block until all frame bytes are sent if
+ * the descriptor passed to hx_stream_init is marked blocking,
+ * otherwise it will return -1 (but may transmit a
+ * runt frame at the same time).
+ *
+ * @todo Handling of non-blocking streams needs to be better.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param data		Pointer to the data to send.
+ * @param count		The number of bytes to send.
+ * @return		Zero on success, nonzero with errno
+ *			set on error.
+ */
+__EXPORT extern int		hx_stream_send(hx_stream_t stream,
+				       const void *data,
+				       size_t count);
+
+/**
+ * Handle a byte from the stream.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param c		The character to process.
+ */
+__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
+				     uint8_t c);
+
+__END_DECLS
+
+#endif
diff --git a/apps/systemlib/mixer.c b/apps/systemlib/mixer.c
new file mode 100644
index 000000000..f372d04bc
--- /dev/null
+++ b/apps/systemlib/mixer.c
@@ -0,0 +1,79 @@
+/**
+ * @file	Generic control value mixing library.
+ *
+ * This library implements a generic mixer function that can be used
+ * by any driver or subsytem that wants to combine several control signals
+ * into a single output.
+ *
+ * See mixer.h for more details.
+ */
+
+#include "mixer.h"
+
+static int
+scale_check(struct MixScaler *scale)
+{
+ 	if (scale->offset > 1.0f)
+ 		return -1;
+ 	if (scale->offset > 1.0f)
+ 		return -1;
+ 	if (scale->lower_limit > scale->upper_limit)
+ 		return -1;
+ 	if (scale->lower_limit < -1.0f)
+ 		return -1;
+ 	if (scale->upper_limit > 1.0f)
+ 		return -1;
+ 	return 0;
+}
+
+int
+mixer_check(struct MixMixer *mixer, unsigned control_count)
+{
+	if (mixer->control_count < 1)
+		return -1;
+	if (mixer->control_count > control_count)
+		return -1;
+	if (!scale_check(&mixer->output_scaler))
+		return -1;
+
+	for (unsigned i = 0; i < mixer->control_count; i++) {
+		if (mixer->control_scaler[i].control >= control_count)
+			return -1;
+		if (!scale_check(&mixer->control_scaler[i]))
+			return -1;
+	}
+	return 0;
+}
+
+static float
+scale(struct MixScaler *scaler, float input)
+{
+	float output;
+
+	if (input < 0.0f) {
+		output = (input * scaler->negative_scale) + scaler->offset;
+	} else {
+		output = (input * scaler->positive_scale) + scaler->offset;
+	}
+	if (output > scaler->upper_limit) {
+		output = scaler->upper_limit;
+	} else if (output < scaler->lower_limit) {
+		output = scaler->lower_limit;
+	}
+
+	return output;
+}
+
+float
+mixer_mix(struct MixMixer *mixer, float *controls)
+{
+	struct MixScaler *scaler;
+	float sum = 0.0f;
+
+	for (unsigned i = 0; i < mixer->control_count; i++) {
+		scaler = &mixer->control_scaler[i];
+		sum += scale(scaler, controls[scaler->control]);
+	}
+
+	return scale(&mixer->output_scaler, sum);
+}
diff --git a/apps/systemlib/mixer.h b/apps/systemlib/mixer.h
new file mode 100644
index 000000000..fe95204a6
--- /dev/null
+++ b/apps/systemlib/mixer.h
@@ -0,0 +1,130 @@
+/**
+ * @file	Generic control value mixing library.
+ *
+ * This library implements a generic mixer function that can be used
+ * by any driver or subsytem that wants to combine several control signals
+ * into a single output.
+ *
+ * Terminology
+ * ===========
+ *
+ * control
+ *	A mixer input value, typically provided by some controlling
+ *	component of the system.
+ *
+ * actuator
+ *	The mixer output value.
+ *
+ * Mixing basics
+ * =============
+ *
+ * An actuator derives its value from the combination of one or more
+ * control values. Each of the control values is scaled according to
+ * the actuator's configuration and then combined to produce the 
+ * actuator value, which may then be further scaled to suit the specific
+ * output type.
+ *
+ * Internally, all scaling is performed using floating point values.
+ * Inputs and outputs are clamped to the range -1.0 to 1.0.
+ *
+ * control    control   control
+ *    |          |         |
+ *    v          v         v
+ *  scale      scale     scale
+ *    |          |         |
+ *    |          v         |
+ *    +-------> mix <------+
+ *               |
+ *             scale
+ *               |
+ *               v
+ *              out
+ *
+ * Scaling
+ * -------
+ *
+ * Each scaler allows the input value to be scaled independently for
+ * inputs greater/less than zero. An offset can be applied to the output,
+ * as well as lower and upper boundary constraints.
+ * Negative scaling factors cause the output to be inverted (negative input
+ * produces positive output).
+ *
+ * Scaler pseudocode:
+ *
+ * if (input < 0)
+ *     output = (input * NEGATIVE_SCALE) + OFFSET
+ * else
+ *     output = (input * POSITIVE_SCALE) + OFFSET
+ *
+ * if (output < LOWER_LIMIT)
+ *     output = LOWER_LIMIT
+ * if (output > UPPER_LIMIT)
+ *     output = UPPER_LIMIT
+ *
+ *
+ * Mixing
+ * ------
+ *
+ * Mixing is performed by summing the scaled control values.  
+ *
+ *
+ * Controls
+ * --------
+ *
+ * Each mixer is presented with an array of controls from which it
+ * selects the set that will be mixed for each actuator.
+ *
+ * The precise assignment of controls may vary depending on the 
+ * application, but the following assignments should be used
+ * when appropriate.
+ *
+ * control | standard meaning
+ * --------+-----------------------
+ *     0   | roll
+ *     1   | pitch
+ *     2   | yaw
+ *     3   | primary thrust
+ */
+
+ struct MixScaler
+ {
+ 	unsigned	control;	/**< control consumed by this scaler */
+ 	float		negative_scale;	/**< scale for inputs < 0 */
+ 	float		positive_scale;	/**< scale for inputs > 0 */
+ 	float		offset;		/**< bias applied to output */
+ 	float		lower_limit;	/**< minimum output value */
+ 	float		upper_limit;	/**< maximum output value */
+ };
+
+ struct MixMixer
+ {
+ 	unsigned		control_count;	/**< number of control scalers */
+ 	struct MixScaler	output_scaler;	/**< scaler applied to mixer output */
+ 	struct MixScaler	control_scaler[0]; /**< array of control scalers */
+ };
+
+__BEGIN_DECLS
+
+/**
+ * Perform a mixer calculation.
+ *
+ * Note that the controls array is assumed to be sufficiently large for any control
+ * index in the mixer.
+ *
+ * @param mixer			Mixer configuration.
+ * @param controls		Array of input control values.
+ * @return			The mixed output.
+ */
+ __EXPORT float	mixer_mix(struct MixMixer *mixer, float *controls);
+
+ /**
+  * Check a mixer configuration for sanity.
+  *
+  * @param mixer		The mixer configuration to be checked.
+  * @param control_count	The number of controls in the system.
+  * @return			Zero if the mixer configuration is sane,
+  *				nonzero otherwise.
+  */
+ __EXPORT int	mixer_check(struct MixMixer *mixer, unsigned control_count);
+
+__END_DECLS
diff --git a/apps/systemlib/perf_counter.c b/apps/systemlib/perf_counter.c
new file mode 100644
index 000000000..14bd3c436
--- /dev/null
+++ b/apps/systemlib/perf_counter.c
@@ -0,0 +1,212 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 perf_counter.c
+ * 
+ * @brief Performance measuring tools.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <sys/queue.h>
+#include <arch/board/up_hrt.h>
+
+#include "perf_counter.h"
+
+/**
+ * Header common to all counters.
+ */
+struct perf_ctr_header {
+	sq_entry_t		link;	/**< list linkage */
+	enum perf_counter_type	type;	/**< counter type */
+	const char		*name;	/**< counter name */
+};
+
+/**
+ * PC_EVENT counter.
+ */
+struct perf_ctr_count {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+};
+
+/**
+ * PC_ELAPSED counter.
+ */
+struct perf_ctr_elapsed {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_start;
+	uint64_t		time_total;
+	uint64_t		time_least;
+	uint64_t		time_most;
+};
+
+/**
+ * List of all known counters.
+ */
+static sq_queue_t	perf_counters;
+
+
+perf_counter_t
+perf_alloc(enum perf_counter_type type, const char *name)
+{
+	perf_counter_t ctr = NULL;
+
+	switch (type) {
+	case PC_COUNT:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
+		break;
+
+	case PC_ELAPSED:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
+		break;
+
+	default:
+		break;
+	}
+
+	if (ctr != NULL) {
+		ctr->type = type;
+		ctr->name = name;
+		sq_addfirst(&ctr->link, &perf_counters);
+	}
+
+	return ctr;
+}
+
+void
+perf_free(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	sq_rem(&handle->link, &perf_counters);
+	free(handle);
+}
+
+void
+perf_count(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		((struct perf_ctr_count *)handle)->event_count++;
+		break;
+
+	default:
+		break;
+	}
+}
+
+void
+perf_begin(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED:
+		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
+		break;
+
+	default:
+		break;
+	}
+}
+
+void
+perf_end(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED: {
+			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
+
+			pce->event_count++;
+			pce->time_total += elapsed;
+
+			if ((pce->time_least > elapsed) || (pce->time_least == 0))
+				pce->time_least = elapsed;
+
+			if (pce->time_most < elapsed)
+				pce->time_most = elapsed;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_print_counter(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		printf("%s: %llu events\n",
+		       handle->name,
+		       ((struct perf_ctr_count *)handle)->event_count);
+		break;
+
+	case PC_ELAPSED:
+		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
+		       handle->name,
+		       ((struct perf_ctr_elapsed *)handle)->event_count,
+		       ((struct perf_ctr_elapsed *)handle)->time_total,
+		       ((struct perf_ctr_elapsed *)handle)->time_least,
+		       ((struct perf_ctr_elapsed *)handle)->time_most);
+
+	default:
+		break;
+	}
+}
+
+void
+perf_print_all(void)
+{
+	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
+
+	while (handle != NULL) {
+		perf_print_counter(handle);
+		handle = (perf_counter_t)sq_next(&handle->link);
+	}
+}
diff --git a/apps/systemlib/perf_counter.h b/apps/systemlib/perf_counter.h
new file mode 100644
index 000000000..2ea6591c5
--- /dev/null
+++ b/apps/systemlib/perf_counter.h
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 Performance measuring tools.
+ */
+
+#ifndef _SYSTEMLIB_PERF_COUNTER_H
+#define _SYSTEMLIB_PERF_COUNTER_H value
+
+/**
+ * Counter types.
+ */
+enum perf_counter_type {
+	PC_COUNT,		/**< count the number of times an event occurs */
+	PC_ELAPSED		/**< measure the time elapsed performing an event */
+};
+
+struct perf_ctr_header;
+typedef struct perf_ctr_header	*perf_counter_t;
+
+__BEGIN_DECLS
+
+/**
+ * Create a new counter.
+ *
+ * @param type			The type of the new counter.
+ * @param name			The counter name.
+ * @return			Handle for the new counter, or NULL if a counter
+ *				could not be allocated.
+ */
+__EXPORT extern perf_counter_t	perf_alloc(enum perf_counter_type type, const char *name);
+
+/**
+ * Free a counter.
+ *
+ * @param handle		The performance counter's handle.
+ */
+__EXPORT extern void		perf_free(perf_counter_t handle);
+
+/**
+ * Count a performance event.
+ *
+ * This call only affects counters that take single events; PC_COUNT etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_count(perf_counter_t handle);
+
+/**
+ * Begin a performance event.
+ *
+ * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_begin(perf_counter_t handle);
+
+/**
+ * End a performance event.
+ *
+ * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_end(perf_counter_t handle);
+
+
+/**
+ * Print one performance counter.
+ *
+ * @param handle		The counter to print.
+ */
+__EXPORT extern void		perf_print_counter(perf_counter_t handle);
+
+/**
+ * Print all of the performance counters.
+ */
+__EXPORT extern void		perf_print_all(void);
+
+__END_DECLS
+
+#endif
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;
+}
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
new file mode 100644
index 000000000..e75f6ec9c
--- /dev/null
+++ b/apps/systemlib/systemlib.h
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   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 definition of commonly used low-level system-call like functions */
+
+#ifndef SYSTEMLIB_H_
+#define SYSTEMLIB_H_
+#include <float.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/** Reboots the board */
+__EXPORT int reboot(void);
+
+/** Sends SIGUSR1 to all processes */
+__EXPORT void killall(void);
+
+struct global_data_parameter_storage_t;
+
+__EXPORT int store_params_in_eeprom(struct global_data_parameter_storage_t *params);
+
+__EXPORT int get_params_from_eeprom(struct global_data_parameter_storage_t *params);
+
+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;
+
+__EXPORT int carrier_store_board_info(const struct carrier_board_info_s *info);
+__EXPORT int carrier_get_board_info(struct carrier_board_info_s *info);
+
+__EXPORT int fmu_get_board_info(struct fmu_board_info_s *info);
+
+__END_DECLS
+
+#endif /* SYSTEMLIB_H_ */
diff --git a/apps/systemlib/visibility.h b/apps/systemlib/visibility.h
new file mode 100644
index 000000000..9bd20e2a8
--- /dev/null
+++ b/apps/systemlib/visibility.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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	Definitions controlling symbol naming and visibility.
+ *
+ * This file is normally included automatically by the build system.
+ */
+
+#ifndef __SYSTEMLIB_VISIBILITY_H
+#define __SYSTEMLIB_VISIBILITY_H
+
+#ifdef __EXPORT
+#  undef __EXPORT
+#endif
+#define __EXPORT __attribute__ ((visibility ("default")))
+
+#ifdef __PRIVATE
+#  undef __PRIVATE
+#endif
+#define __PRIVATE __attribute__ ((visibility ("hidden")))
+
+#ifdef __cplusplus
+#  define __BEGIN_DECLS		extern "C" {
+#  define __END_DECLS		}
+#else
+#  define __BEGIN_DECLS
+#  define __END_DECLS
+#endif 
+#endif
\ No newline at end of file