mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 14:56:51 +08:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
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/****************************************************************************
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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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*
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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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/** @file implementation of commonly used low-level system-call like functions */
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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 <arch/board/drv_eeprom.h>
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#include <uORB/parameter_storage.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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* Public Functions
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****************************************************************************/
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void kill_task(FAR _TCB *tcb, FAR void *arg);
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/****************************************************************************
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* user_start
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****************************************************************************/
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int reboot(void)
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{
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sched_lock();
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// print text
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printf("\r\nRebooting system - ending tasks and performing hard reset\r\n\r\n");
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fflush(stdout);
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//usleep(5000);
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/* Sending kill signal to other tasks */
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//killall();
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/* Waiting maximum time for all to exit */
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//usleep(5000);
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//sched_lock();
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/* Resetting CPU */
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// FIXME Need check for ARM architecture here
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#ifndef NVIC_AIRCR
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#define NVIC_AIRCR (*((uint32_t*)0xE000ED0C))
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#endif
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/* Set the SYSRESETREQ bit to force a reset */
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NVIC_AIRCR = 0x05fa0004;
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/* Spinning until the board is really reset */
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while (true);
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/* Should never reach here */
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return 0;
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}
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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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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 store_params_in_eeprom(struct global_data_parameter_storage_t *params)
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{
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int ret = ERROR;
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int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
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int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
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int write_res;
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if (fd < 0) {
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fprintf(stderr, "onboard eeprom: open fail\n");
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ret = ERROR;
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} else if (lseek_res < 0) {
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fprintf(stderr, "onboard eeprom: set offet fail\n");
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ret = ERROR;
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} else {
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/*Write start magic byte */
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uint8_t mb = EEPROM_PARAM_MAGIC_BYTE;
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write_res = write(fd, &mb, sizeof(mb));
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if (write_res != sizeof(mb)) {
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ret = ERROR;
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} else {
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for (int i = 0; i < params->pm.size; i++) {
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write_res = write(fd, params->pm.param_values + i, sizeof(params->pm.param_values[i]));
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if (write_res != sizeof(params->pm.param_values[i])) return ERROR;
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}
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/*Write end magic byte */
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write_res = write(fd, &mb, sizeof(mb));
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if (write_res != sizeof(mb)) {
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ret = ERROR;
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} else {
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ret = OK;
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}
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}
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}
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close(fd);
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return ret;
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}
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int get_params_from_eeprom(struct global_data_parameter_storage_t *params)
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{
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int ret = ERROR;
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uint8_t magic_byte = 0;
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int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
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int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
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if (fd < 0) {
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fprintf(stderr, "onboard eeprom: open fail\n");
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ret = ERROR;
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} else if (lseek_res < 0) {
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fprintf(stderr, "onboard eeprom: set offet fail\n");
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ret = ERROR;
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} else {
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/*Get start magic byte */
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magic_byte = 0;
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int read_res = read(fd, &magic_byte, sizeof(uint8_t));
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if (read_res != sizeof(uint8_t)) {
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ret = ERROR;
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} else {
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if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
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ret = ERROR;
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fprintf(stderr, "onboard eeprom: parameters: start magic byte wrong\n");
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} else {
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/*get end magic byte */
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lseek_res = lseek(fd, EEPROM_OFFSET + 1 + params->pm.size * sizeof(float), SEEK_SET); // jump to 2nd magic byte
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if (lseek_res == OK) {
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/*Get end magic */
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read_res = read(fd, &magic_byte, sizeof(uint8_t));
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if (read_res != sizeof(uint8_t)) {
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ret = ERROR;
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} else {
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if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
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ret = ERROR;
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printf("onboard eeprom: parameters: end magic byte wrong\n");
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} else {
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lseek_res = lseek(fd, EEPROM_OFFSET + 1, SEEK_SET);
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/* read data */
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if (lseek_res == OK) {
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for (int i = 0; i < params->pm.size; i++) {
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read_res = read(fd, params->pm.param_values + i, sizeof(params->pm.param_values[i]));
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if (read_res != sizeof(params->pm.param_values[i])) return ERROR;
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}
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ret = OK;
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} else {
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/* lseek #2 failed */
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ret = ERROR;
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}
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}
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}
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} else {
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/* lseek #1 failed */
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ret = ERROR;
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}
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}
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}
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}
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close(fd);
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return ret;
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}
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#define PX4_BOARD_ID_FMU (5)
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int fmu_get_board_info(struct fmu_board_info_s *info)
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{
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/* Check which FMU version we're on */
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struct stat sb;
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int statres;
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/* Copy version-specific fields */
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statres = stat("/dev/bma280", &sb);
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if (statres == OK) {
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/* BMA280 indicates a v1.7+ board */
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strcpy(info->board_name, "FMU v1.7");
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info->board_version = 17;
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} else {
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statres = stat("/dev/bma180", &sb);
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if (statres == OK) {
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/* BMA180 indicates a v1.5-v1.6 board */
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strcpy(info->board_name, "FMU v1.6");
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info->board_version = 16;
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} else {
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/* If no BMA pressure sensor is present, it is a v1.3 board */
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strcpy(info->board_name, "FMU v1.3");
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info->board_version = 13;
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}
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}
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/* Copy general FMU fields */
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memcpy(info->header, "PX4", 3);
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info->board_id = PX4_BOARD_ID_FMU;
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return sizeof(struct fmu_board_info_s);
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}
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int carrier_store_board_info(const struct carrier_board_info_s *info)
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{
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int ret;
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int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
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if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
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/* Enforce correct header */
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ret = write(fd, info, sizeof(struct carrier_board_info_s));
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//ret = write(fd, "PX4", 3);
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close(fd);
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return ret;
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}
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int carrier_get_board_info(struct carrier_board_info_s *info)
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{
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int ret;
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int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
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if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
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ret = read(fd, info, sizeof(struct carrier_board_info_s));
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/* Enforce NUL termination of human-readable string */
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if (ret == sizeof(struct carrier_board_info_s)) {
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info->board_name[sizeof(info->board_name) - 1] = '\0';
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}
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close(fd);
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return ret;
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}
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