forked from Archive/PX4-Autopilot
123 lines
4.3 KiB
C
123 lines
4.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* 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.h
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* Definition of commonly used low-level system-call like functions.
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*/
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#ifndef SYSTEMLIB_H_
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#define SYSTEMLIB_H_
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#include <float.h>
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#include <stdint.h>
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__BEGIN_DECLS
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/** Reboots the board */
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extern void up_systemreset(void) noreturn_function;
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/** Sends SIGUSR1 to all processes */
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__EXPORT void killall(void);
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/** Default scheduler type */
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#if CONFIG_RR_INTERVAL > 0
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# define SCHED_DEFAULT SCHED_RR
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#else
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# define SCHED_DEFAULT SCHED_FIFO
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#endif
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/** Starts a task and performs any specific accounting, scheduler setup, etc. */
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__EXPORT int task_spawn(const char *name,
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int priority,
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int scheduler,
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int stack_size,
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main_t entry,
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const char *argv[]);
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enum MULT_PORTS {
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MULT_0_US2_RXTX = 0,
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MULT_1_US2_FLOW,
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MULT_2_GPIO_12,
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MULT_COUNT
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};
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/* Check max multi port count */
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#if (MULT_COUNT > 33)
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#error "MULT_COUNT HAS TO BE LESS THAN OR EQUAL 33"
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#endif
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/* FMU board info, to be stored in the first 64 bytes of the FMU EEPROM */
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#pragma pack(push,1)
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struct fmu_board_info_s {
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char header[3]; /**< {'P', 'X', '4'} */
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char board_name[20]; /**< Human readable board name, \0 terminated */
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uint8_t board_id; /**< board ID, constantly increasing number per board */
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uint8_t board_version; /**< board version, major * 10 + minor: v1.7 = 17 */
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uint8_t multi_port_config[MULT_COUNT]; /**< Configuration of multi ports 1-3 */
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uint8_t reserved[33 - MULT_COUNT]; /**< Reserved space for more multi ports */
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uint16_t production_year;
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uint8_t production_month;
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uint8_t production_day;
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uint8_t production_fab;
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uint8_t production_tester;
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}; /**< stores autopilot board information meta data from EEPROM */
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#pragma pack(pop)
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/* Carrier board info, to be stored in the 128 byte board info EEPROM */
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#pragma pack(push,1)
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struct carrier_board_info_s {
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char header[3]; /**< {'P', 'X', '4'} */
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char board_name[20]; /**< Human readable board name, \0 terminated */
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uint8_t board_id; /**< board ID, constantly increasing number per board */
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uint8_t board_version; /**< board version, major * 10 + minor: v1.7 = 17 */
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uint8_t multi_port_config[MULT_COUNT]; /**< Configuration of multi ports 1-3 */
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uint8_t reserved[33 - MULT_COUNT]; /**< Reserved space for more multi ports */
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uint16_t production_year;
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uint8_t production_month;
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uint8_t production_day;
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uint8_t production_fab;
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uint8_t production_tester;
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char board_custom_data[64];
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}; /**< stores carrier board information meta data from EEPROM */
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#pragma pack(pop)
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struct __multiport_info {
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const char *port_names[MULT_COUNT];
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};
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__EXPORT extern const struct __multiport_info multiport_info;
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__END_DECLS
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#endif /* SYSTEMLIB_H_ */
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