$the_posts = get_posts(array('post_type' => 'post_type_name'));
That will get all posts from the post type called “post_type_name” so replace that with whatever custom post type you are using. I mean this in the nicest possible way, but you should probably read the documentation as this is a pretty well documented feature that isn’t too hard to understand.
Documentation for get_posts is available here on the WordPress website with plenty of example code for you to easily understand.