Add a simple way to launch kernel side modules

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

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

src/systemcmds/launch_kmod/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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__launch_kmod
+	MAIN launch_kmod
+	COMPILE_FLAGS
+	SRCS
+		launch_kmod.cpp
+	)

src/systemcmds/launch_kmod/Kconfig

@@ -0,0 +1,9 @@
+config SYSTEMCMDS_LAUNCH_KMOD
+	bool
+	default y
+	depends on BOARD_PROTECTED
+
+config USER_LAUNCH_KMOD
+	bool
+	default y
+	depends on BOARD_PROTECTED

src/systemcmds/launch_kmod/launch_kmod.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+*
+* 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 launch_kmod.cpp
+*
+* 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[])
+{
+	platformioclaunch_t module_args = {argc, argv, PX4_ERROR};
+	boardctl(PLATFORMIOCLAUNCH, (uintptr_t)&module_args);
+	return module_args.ret;
+}