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Diffstat (limited to 'src/modules/systemlib/systemlib.h')
| -rw-r--r-- | src/modules/systemlib/systemlib.h | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h new file mode 100644 index 000000000..2c53c648b --- /dev/null +++ b/src/modules/systemlib/systemlib.h @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * 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> + +__BEGIN_DECLS + +/** Reboots the board */ +extern void up_systemreset(void) 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(const char *name, + int priority, + int scheduler, + int stack_size, + main_t entry, + const char *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_ */ |