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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @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.c
* 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 <unistd.h>
#include <float.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#ifdef CONFIG_ARCH_CHIP_STM32
#include <stm32_pwr.h>
#endif
#include "systemlib.h"
// Didn't seem right to include up_internal.h, so direct extern instead.
extern void up_systemreset(void) noreturn_function;
void
systemreset(bool to_bootloader)
{
#ifdef CONFIG_ARCH_CHIP_STM32
if (to_bootloader) {
stm32_pwr_enablebkp();
/* XXX wow, this is evil - write a magic number into backup register zero */
*(uint32_t *)0x40002850 = 0xb007b007;
}
#endif
up_systemreset();
/* lock up here */
while (true);
}
static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
void killall()
{
// printf("Sending SIGUSR1 to all processes now\n");
/* iterate through all tasks and send kill signal */
sched_foreach(kill_task, NULL);
}
static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
{
kill(tcb->pid, SIGUSR1);
}
int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
{
int pid;
sched_lock();
/* create the task */
pid = task_create(name, priority, stack_size, entry, argv);
if (pid > 0) {
/* configure the scheduler */
struct sched_param param;
param.sched_priority = priority;
sched_setscheduler(pid, scheduler, ¶m);
/* XXX do any other private task accounting here before the task starts */
}
sched_unlock();
return pid;
}
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