diff --git a/platforms/nuttx/src/px4/common/board_ctrl.c b/platforms/nuttx/src/px4/common/board_ctrl.c new file mode 100644 index 0000000000..7ebc942c79 --- /dev/null +++ b/platforms/nuttx/src/px4/common/board_ctrl.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (C) 2020 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. + * + ****************************************************************************/ + +/** + * @file board_ctrl.c + * + * Provide a kernel-userspace boardctl_ioctl interface + */ + +#include +#include +#include +#include "board_config.h" + +static struct { + ioctl_ptr_t ioctl_func; +} ioctl_ptrs[MAX_IOCTL_PTRS]; + +/************************************************************************************ + * Name: px4_register_boardct_ioctl + * + * Description: + * an interface function for kernel services to register an ioct handler for user side + * + ************************************************************************************/ + + +int px4_register_boardct_ioctl(unsigned base, ioctl_ptr_t func) +{ + unsigned i = IOCTL_BASE_TO_IDX(base); + int ret = PX4_ERROR; + + if (i < MAX_IOCTL_PTRS) { + ioctl_ptrs[i].ioctl_func = func; + ret = PX4_OK; + } + + return ret; +} + +/************************************************************************************ + * Name: board_ioctl + * + * Description: + * implements board_ioctl for userspace-kernel interface + * + ************************************************************************************/ + +int board_ioctl(unsigned int cmd, uintptr_t arg) +{ + unsigned i = IOCTL_BASE_TO_IDX(cmd); + int ret = -EINVAL; + + if (i < MAX_IOCTL_PTRS && ioctl_ptrs[i].ioctl_func) { + ret = ioctl_ptrs[i].ioctl_func(cmd, arg); + } + + return ret; +} + +/************************************************************************************ + * Name: kernel_ioctl_initialize + * + * Description: + * initializes the kernel-side ioctl interface + * + ************************************************************************************/ + +void kernel_ioctl_initialize(void) +{ + for (int i = 0; i < MAX_IOCTL_PTRS; i++) { + ioctl_ptrs[i].ioctl_func = NULL; + } +} 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 new file mode 100644 index 0000000000..686402989e --- /dev/null +++ b/platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h @@ -0,0 +1,63 @@ +/**************************************************************************** + * + * Copyright (C) 2020 Technology Innovation Institute. All rights reserved. + * Author: Jukka Laitinen + * + * 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. + * + ****************************************************************************/ + +#pragma once + +/* 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 + * the low byte identiefies the actual IOCTL within the module + */ + +#define _BOARDCTLIOCBASE (0x4000) +#define IOCTL_IDX_TO_BASE(x) ((((x) & 0xF) << 8) | _BOARDCTLIOCBASE) +#define IOCTL_BASE_TO_IDX(x) (((x) & 0x0F00) >> 8) + +#define _ORBIOCDEVBASE IOCTL_IDX_TO_BASE(0) +#define _HRTIOCBASE IOCTL_IDX_TO_BASE(1) +#define _CRYPTOIOCBASE IOCTL_IDX_TO_BASE(2) +#define _BUILTINIOCBASE IOCTL_IDX_TO_BASE(3) +#define MAX_IOCTL_PTRS 4 + +typedef int (*ioctl_ptr_t)(unsigned int, unsigned long); + +__BEGIN_DECLS + +/* Function to initialize or reset the interface */ +void kernel_ioctl_initialize(void); + +/* Function to register a px4 boardctl handler */ +int px4_register_boardct_ioctl(unsigned base, ioctl_ptr_t func); + +__END_DECLS diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp index e7f0ee5723..7a18ceb7e1 100644 --- a/platforms/nuttx/src/px4/common/px4_init.cpp +++ b/platforms/nuttx/src/px4/common/px4_init.cpp @@ -56,11 +56,21 @@ #include #endif +#if !defined(CONFIG_BUILD_FLAT) +#include +#endif + extern void cdcacm_init(void); int px4_platform_init() { +#if !defined(CONFIG_BUILD_FLAT) + /* initialize userspace-kernelspace call gate interface */ + + kernel_ioctl_initialize(); +#endif + int ret = px4_console_buffer_init(); if (ret < 0) { diff --git a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake index 91edc74073..95599eba82 100644 --- a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake +++ b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake @@ -18,6 +18,13 @@ target_link_libraries(px4_layer nuttx_mm ) +# Build the interface library between user and kernel side +add_library(px4_board_ctrl + board_ctrl.c +) + +add_dependencies(px4_board_ctrl nuttx_context px4_kernel_builtin_list_target) + # Build the kernel side px4_kernel_layer add_library(px4_kernel_layer