Split px4_layer into kernel and userspace parts for nuttx protected build

Split the px4_layer into user and kernel space libraries. Add some stubs for
user-space (e.g. version) where an interface to the kernel needs to be added

Use posix-versions for cpuload.cpp and print_load.cpp for userspace; these link to nuttx internals. This functinality could be built on top of posix (e.g. procfs) interfaces

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -33,8 +33,8 @@
 
 # skip for px4_layer support on an IO board
 if(NOT PX4_BOARD MATCHES "io-v2")
-
-	add_library(px4_layer
+	# Kernel side & nuttx flat build common sources
+	set(KERNEL_SRCS
 		board_crashdump.c
 		board_dma_alloc.c
 		board_fat_dma_alloc.c
@@ -51,32 +51,36 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 		px4_24xxxx_mtd.c
 		px4_crypto.cpp
 	)
-	target_link_libraries(px4_layer
-		PRIVATE
+
+	# Kernel side & nuttx flat build common libraries
+	set(KERNEL_LIBS
 		arch_board_reset
 		arch_board_critmon
 		arch_version
-			nuttx_apps
 		nuttx_sched
-			nuttx_mm
-			px4_work_queue
-			uORB
 	)
+
+if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
+	# Build the NuttX user and kernel space px4 layers
+	include(${CMAKE_CURRENT_SOURCE_DIR}/px4_protected_layers.cmake)
+
+else()
+	# Build the flat build px4_layer
+	include(${CMAKE_CURRENT_SOURCE_DIR}/px4_layer.cmake)
+endif()
+
 else()
+	# Build the px4 layer for io_v2
 	add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)
 endif()
+
 add_dependencies(px4_layer prebuild_targets)
 
 add_subdirectory(gpio)
 add_subdirectory(srgbled)
 
+# Build px4_random
 if (DEFINED PX4_CRYPTO)
 	add_library(px4_random nuttx_random.c)
-	add_dependencies(px4_random nuttx_context)
 	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-
-	target_link_libraries(px4_layer
-		PUBLIC
-			crypto_backend
-	)
 endif()

platforms/nuttx/src/px4/common/console_buffer_usr.cpp

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/sem.h>
+#include <pthread.h>
+#include <string.h>
+#include <fcntl.h>
+
+#ifdef BOARD_ENABLE_CONSOLE_BUFFER
+#ifndef BOARD_CONSOLE_BUFFER_SIZE
+# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
+#endif
+
+
+// TODO: User side implementation of px4_console_buffer
+
+int px4_console_buffer_init()
+{
+	return 0;
+}
+
+int px4_console_buffer_size()
+{
+	return 0;
+}
+
+int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
+{
+	return 0;
+}
+
+#endif /* BOARD_ENABLE_CONSOLE_BUFFER */

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -0,0 +1,22 @@
+# Build the px4 layer for nuttx flat build
+
+add_library(px4_layer
+		${KERNEL_SRCS}
+		cdc_acm_check.cpp
+	)
+
+target_link_libraries(px4_layer
+	PRIVATE
+		${KERNEL_LIBS}
+		nuttx_c
+		nuttx_arch
+		nuttx_mm
+	)
+
+
+if (DEFINED PX4_CRYPTO)
+	target_link_libraries(px4_layer
+		PUBLIC
+			crypto_backend
+	)
+endif()

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -0,0 +1,41 @@
+
+# Build the user side px4_layer
+
+add_library(px4_layer
+	tasks.cpp
+	console_buffer_usr.cpp
+	usr_mcu_version.cpp
+	cdc_acm_check.cpp
+	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
+	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
+)
+
+target_link_libraries(px4_layer
+	PRIVATE
+		m
+		nuttx_c
+		nuttx_xx
+		nuttx_mm
+)
+
+# Build the kernel side px4_kernel_layer
+
+add_library(px4_kernel_layer
+		${KERNEL_SRCS}
+)
+
+target_link_libraries(px4_kernel_layer
+	PRIVATE
+		${KERNEL_LIBS}
+		nuttx_kc
+		nuttx_karch
+		nuttx_kmm
+)
+
+if (DEFINED PX4_CRYPTO)
+	target_link_libraries(px4_kernel_layer PUBLIC crypto_backend)
+endif()
+
+target_compile_options(px4_kernel_layer PRIVATE -D__KERNEL__)
+
+add_dependencies(px4_kernel_layer prebuild_targets)

platforms/nuttx/src/px4/common/usr_mcu_version.cpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 Technology Innovation Institute. All rights reserved.
+ *   Author: @author Jukka Laitinen <jukkax@ssrc.tii.ae>
+ *
+ * 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 usr_mcu_version.c
+ * Implementation of generic user-space version API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+
+#include "board_config.h"
+
+static int hw_version = 0;
+static int hw_revision = 0;
+static char hw_info[] = HW_INFO_INIT;
+
+__EXPORT const char *board_get_hw_type_name(void)
+{
+	return (const char *) hw_info;
+}
+
+__EXPORT int board_get_hw_version(void)
+{
+	return  hw_version;
+}
+
+__EXPORT int board_get_hw_revision()
+{
+	return  hw_revision;
+}
+
+__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the uuid32 from the kernel
+	 */
+	uint32_t chip_uuid[PX4_CPU_UUID_WORD32_LENGTH];
+	memset((uint8_t *)chip_uuid, 0, PX4_CPU_UUID_WORD32_LENGTH * 4);
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uuid_words[i] = chip_uuid[i];
+	}
+}
+
+int board_mcu_version(char *rev, const char **revstr, const char **errata)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the version from the kernel
+	 */
+	return -1;
+}
+
+int board_get_px4_guid(px4_guid_t px4_guid)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the guid from the kernel
+	 */
+	uint8_t  *pb = (uint8_t *) &px4_guid[0];
+	memset(pb, 0, PX4_GUID_BYTE_LENGTH);
+
+	return PX4_GUID_BYTE_LENGTH;
+}
+
+int board_get_px4_guid_formated(char *format_buffer, int size)
+{
+	px4_guid_t px4_guid;
+	board_get_px4_guid(px4_guid);
+	int offset  = 0;
+
+	/* size should be 2 per byte + 1 for termination
+	 * So it needs to be odd
+	 */
+	size = size & 1 ? size : size - 1;
+
+	/* Discard from MSD */
+	for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
+	}
+
+	return offset;
+}
+