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Add a simple way to launch kernel side modules

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Add px4_insmod command to start/execute px4 modules in kenel space
in NuttX protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2021-01-22 16:16:17 +02:00
parent 5a3ecb0094
commit 1d79f5d134
4 changed files with 206 additions and 0 deletions
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platforms/nuttx/src/px4/common/CMakeLists.txt
+1
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@@ -107,6 +107,7 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
add_library(px4_board_ctrl
board_ctrl.c
kernel_modules.c
)
add_dependencies(px4_board_ctrl nuttx_context nuttx_kernel_builtin_list_target)
platforms/nuttx/src/px4/common/kernel_modules.c
+82
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@@ -0,0 +1,82 @@
/****************************************************************************
*
* 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 kernel_modules.c
*
* Provide the kernel side module loading interface
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/sem.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#include "board_config.h"
#include <stdint.h>
#include <errno.h>
#include <nuttx/lib/builtin.h>
#include <NuttX/kernel_builtin/kernel_builtin_prototypes.h>
FAR const struct builtin_s g_kernel_builtins[] = {
#include <NuttX/kernel_builtin/kernel_builtins.h>
};
const int g_n_kernel_builtins = sizeof(g_kernel_builtins) / sizeof(struct builtin_s);
/* internal functions */
__EXPORT int launch_builtin_module(int argc, char *argv[])
{
int i;
FAR const struct builtin_s *builtin = NULL;
for (i = 0; i < g_n_kernel_builtins; i++) {
if (!strcmp(g_kernel_builtins[i].name, argv[0])) {
builtin = &g_kernel_builtins[i];
break;
}
}
if (builtin) {
/* This is running in the userspace thread, created by nsh, and
called via boardctl. Just call the main directly */
builtin->main(argc, argv);
return OK;
}
return ENOENT;
}
src/systemcmds/px4_insmod/CMakeLists.txt
+46
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@@ -0,0 +1,46 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_module(
MODULE systemcmds__px4_insmod
MAIN px4_insmod
COMPILE_FLAGS
SRCS
px4_insmod.cpp
)
px4_add_module(
MODULE systemcmds__launch_kmod
MAIN launch_kmod
COMPILE_FLAGS
SRCS
px4_insmod.cpp
)
src/systemcmds/px4_insmod/px4_insmod.cpp
+77
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@@ -0,0 +1,77 @@
/****************************************************************************
*
* 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 px4_insmod.c
*
* px4_insmod command. Used to launch kernel modules
*
* @author Jukka Laitinen <jukkax@ssrc.tii.ae>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform/board_ctrl.h>
#include <sys/boardctl.h>
/* This function is not intended to be called from
command line, it is only used in builtin_list.h
to implicitly launch a module in kenel side.
See builtin_list.h for details.
*/
extern "C" int launch_kmod_main(int argc, char *argv[])
{
px4_boardctl_t module_args = {argc, argv, PX4_ERROR};
boardctl(PX4_KERNEL_CMD, (uintptr_t)&module_args);
return module_args.ret;
}
/* This function is used to explicitly launch a kernel
side module from nsh shell
*/
extern "C" int px4_insmod_main(int argc, char *argv[])
{
/* defaults to an error */
int ret = 1;
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
if (argc > 1) {
ret = launch_kmod_main(argc - 1, argv + 1);
}
#endif
return ret;
}