From c43c71f4af001627ddfb4ccd9a2cebac037a1100 Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukkax@ssrc.tii.ae>
Date: Wed, 23 Feb 2022 14:25:32 +0200
Subject: [PATCH] platforms/nuttx/src/px4/common/board_ctrl: Add handlers for
 vbus & shutdown lockout

Add kernel side ioctls and handlers for vbus state and managing shutdown lockout

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
---
 platforms/nuttx/src/px4/common/board_ctrl.c   | 56 ++++++++++++++++---
 .../common/include/px4_platform/board_ctrl.h  | 34 +++++++++--
 2 files changed, 78 insertions(+), 12 deletions(-)

diff --git a/platforms/nuttx/src/px4/common/board_ctrl.c b/platforms/nuttx/src/px4/common/board_ctrl.c
index d4fc0ee868..15b4530f20 100644
--- a/platforms/nuttx/src/px4/common/board_ctrl.c
+++ b/platforms/nuttx/src/px4/common/board_ctrl.c
@@ -105,11 +105,8 @@ int board_ioctl(unsigned int cmd, uintptr_t arg)
  *
  ************************************************************************************/
 
-int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
+static int launch_kernel_builtin(int argc, char **argv)
 {
-	builtinioclaunch_t *kcmd = (builtinioclaunch_t *)arg;
-	int argc = kcmd->argc;
-	char **argv = kcmd->argv;
 	int i;
 	FAR const struct builtin_s *builtin = NULL;
 
@@ -123,13 +120,58 @@ int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
 	if (builtin) {
 		/* This is running in the userspace thread, created by nsh, and
 		   called via boardctl. Call the main directly */
-		kcmd->ret = builtin->main(argc, argv);
-		return OK;
+		return builtin->main(argc, argv);
 	}
 
 	return ENOENT;
 }
 
+/************************************************************************************
+ * Name: platform_ioctl
+ *
+ * Description:
+ *   handle all miscellaneous platform level ioctls
+ *
+ ************************************************************************************/
+
+static int platform_ioctl(unsigned int cmd, unsigned long arg)
+{
+	int ret = PX4_OK;
+
+	switch (cmd) {
+	case PLATFORMIOCLAUNCH: {
+			platformioclaunch_t *data = (platformioclaunch_t *)arg;
+			data->ret = launch_kernel_builtin(data->argc, data->argv);
+		}
+		break;
+
+	case PLATFORMIOCVBUSSTATE: {
+			platformiocvbusstate_t *data = (platformiocvbusstate_t *)arg;
+			data->ret = px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1;
+		}
+		break;
+
+	case PLATFORMIOCINDICATELOCKOUT: {
+			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
+			px4_arch_configgpio(data->enabled ? GPIO_nARMED : GPIO_nARMED_INIT);
+		}
+		break;
+
+	case PLATFORMIOCGETLOCKOUT: {
+			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
+			data->enabled = px4_arch_gpioread(GPIO_nARMED);
+		}
+		break;
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	return ret;
+}
+
+
 /************************************************************************************
  * Name: kernel_ioctl_initialize
  *
@@ -144,5 +186,5 @@ void kernel_ioctl_initialize(void)
 		ioctl_ptrs[i].ioctl_func = NULL;
 	}
 
-	px4_register_boardct_ioctl(_BUILTINIOCBASE, launch_kernel_builtin);
+	px4_register_boardct_ioctl(_PLATFORMIOCBASE, platform_ioctl);
 }
diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h b/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h
index 3e6da39097..c3d9589758 100644
--- a/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h
+++ b/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h
@@ -34,6 +34,8 @@
 
 #pragma once
 
+#include <px4_platform_common/defines.h>
+
 /* Encode the px4 boardctl ioctls in the following way:
  * the highest 4-bits identifies the boardctl's used by this if
  * the next 4-bits identifies the module which handles the ioctl
@@ -48,20 +50,42 @@
 #define _HRTIOCBASE				IOCTL_IDX_TO_BASE(1)
 #define _CRYPTOIOCBASE			IOCTL_IDX_TO_BASE(2)
 #define _PARAMIOCBASE			IOCTL_IDX_TO_BASE(3)
-#define _BUILTINIOCBASE			IOCTL_IDX_TO_BASE(4)
+#define _PLATFORMIOCBASE			IOCTL_IDX_TO_BASE(4)
 #define MAX_IOCTL_PTRS 5
 
-/* The BUILTINIOCLAUNCH IOCTL is used to launch kernel side modules
+/* The PLATFORMIOCLAUNCH IOCTL is used to launch kernel side modules
  * from the user side code
  */
 
-#define BUILTINIOCLAUNCH               (_PX4_IOC(_BUILTINIOCBASE, 1))
+#define PLATFORMIOCLAUNCH		(_PX4_IOC(_PLATFORMIOCBASE, 1))
 
-typedef struct builtinioclaunch {
+typedef struct platformioclaunch {
 	int argc;
 	char **argv;
 	int ret;
-} builtinioclaunch_t;
+} platformioclaunch_t;
+
+/* The PLATFORMIOCVBUSSTATE IOCTL is used to read USB VBUS state
+ * from the user side code
+ */
+
+#define PLATFORMIOCVBUSSTATE	(_PX4_IOC(_PLATFORMIOCBASE, 2))
+
+typedef struct platformiocvbusstate {
+	int ret;
+} platformiocvbusstate_t;
+
+
+/* These IOCTLs are used to set and read external lockout state
+ * from the user side code
+ */
+#define PLATFORMIOCINDICATELOCKOUT	(_PX4_IOC(_PLATFORMIOCBASE, 3))
+#define PLATFORMIOCGETLOCKOUT		(_PX4_IOC(_PLATFORMIOCBASE, 4))
+
+typedef struct platformioclockoutstate {
+	bool enabled;
+} platformioclockoutstate_t;
+
 
 typedef int (*ioctl_ptr_t)(unsigned int, unsigned long);