px4-firmware/apps/systemlib/systemlib.c

324 lines
8.3 KiB
C

/****************************************************************************
*
* 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 <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;
}