forked from Archive/PX4-Autopilot
112 lines
3.5 KiB
C
112 lines
3.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file systemlib.c
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* Implementation of commonly used low-level system-call like functions.
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <sched.h>
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#include <signal.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <float.h>
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#include <string.h>
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#include "systemlib.h"
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/****************************************************************************
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* Definitions
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****************************************************************************/
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const struct __multiport_info multiport_info = {
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.port_names = {"MULT_0_US2_RXTX", "MULT_1_US2_FLOW", "MULT_2_GPIO_12"}
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};
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#define EEPROM_OFFSET 64
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#define EEPROM_PARAM_MAGIC_BYTE 0xAF
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void kill_task(FAR _TCB *tcb, FAR void *arg);
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void killall()
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{
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// printf("Sending SIGUSR1 to all processes now\n");
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/* iterate through all tasks and send kill signal */
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sched_foreach(kill_task, NULL);
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}
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static void kill_task(FAR _TCB *tcb, FAR void *arg)
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{
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kill(tcb->pid, SIGUSR1);
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}
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int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
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{
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int pid;
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sched_lock();
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/* create the task */
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pid = task_create(name, priority, stack_size, entry, argv);
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if (pid > 0) {
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/* configure the scheduler */
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struct sched_param param;
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param.sched_priority = priority;
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sched_setscheduler(pid, scheduler, ¶m);
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/* XXX do any other private task accounting here before the task starts */
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}
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sched_unlock();
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return pid;
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}
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