diff --git a/platforms/nuttx/src/px4/common/CMakeLists.txt b/platforms/nuttx/src/px4/common/CMakeLists.txt index 45cb4afba6..ca5de70b72 100644 --- a/platforms/nuttx/src/px4/common/CMakeLists.txt +++ b/platforms/nuttx/src/px4/common/CMakeLists.txt @@ -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) diff --git a/platforms/nuttx/src/px4/common/kernel_modules.c b/platforms/nuttx/src/px4/common/kernel_modules.c new file mode 100644 index 0000000000..f4ee81b207 --- /dev/null +++ b/platforms/nuttx/src/px4/common/kernel_modules.c @@ -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 +#include +#include +#include +#include "board_config.h" + +#include +#include + +#include + +#include + +FAR const struct builtin_s g_kernel_builtins[] = { +#include +}; + +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; +} diff --git a/src/systemcmds/px4_insmod/CMakeLists.txt b/src/systemcmds/px4_insmod/CMakeLists.txt new file mode 100644 index 0000000000..843c9d8985 --- /dev/null +++ b/src/systemcmds/px4_insmod/CMakeLists.txt @@ -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 + ) diff --git a/src/systemcmds/px4_insmod/px4_insmod.cpp b/src/systemcmds/px4_insmod/px4_insmod.cpp new file mode 100644 index 0000000000..553261b3d7 --- /dev/null +++ b/src/systemcmds/px4_insmod/px4_insmod.cpp @@ -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 +*/ + +#include +#include +#include +#include + +/* 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; +}