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112 lines
4.2 KiB
112 lines
4.2 KiB
/**************************************************************************** |
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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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__EXPORT int reboot(void); |
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/** Sends SIGUSR1 to all processes */ |
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__EXPORT void killall(void); |
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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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__EXPORT int carrier_store_board_info(const struct carrier_board_info_s *info); |
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__EXPORT int carrier_get_board_info(struct carrier_board_info_s *info); |
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__EXPORT int fmu_get_board_info(struct fmu_board_info_s *info); |
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__END_DECLS |
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#endif /* SYSTEMLIB_H_ */
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