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Split px4_layer into kernel and userspace parts for nuttx protected build

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Split the px4_layer into user and kernel space libraries. Add some stubs for
user-space (e.g. version) where an interface to the kernel needs to be added

Use posix-versions for cpuload.cpp and print_load.cpp for userspace; these link to nuttx internals. This functinality could be built on top of posix (e.g. procfs) interfaces

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2020-10-06 15:43:27 +03:00 committed by Daniel Agar
parent 3a6ebe5fc1
commit 70872d94c8
5 changed files with 264 additions and 18 deletions
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40
platforms/nuttx/src/px4/common/CMakeLists.txt
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@ -33,8 +33,8 @@
# skip for px4_layer support on an IO board
if(NOT PX4_BOARD MATCHES "io-v2")
add_library(px4_layer
# Kernel side & nuttx flat build common sources
set(KERNEL_SRCS
board_crashdump.c
board_dma_alloc.c
board_fat_dma_alloc.c
@ -51,32 +51,36 @@ if(NOT PX4_BOARD MATCHES "io-v2")
px4_24xxxx_mtd.c
px4_crypto.cpp
)
target_link_libraries(px4_layer
PRIVATE
arch_board_reset
arch_board_critmon
arch_version
nuttx_apps
nuttx_sched
nuttx_mm
px4_work_queue
uORB
# Kernel side & nuttx flat build common libraries
set(KERNEL_LIBS
arch_board_reset
arch_board_critmon
arch_version
nuttx_sched
)
if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
# Build the NuttX user and kernel space px4 layers
include(${CMAKE_CURRENT_SOURCE_DIR}/px4_protected_layers.cmake)
else()
# Build the flat build px4_layer
include(${CMAKE_CURRENT_SOURCE_DIR}/px4_layer.cmake)
endif()
else()
# Build the px4 layer for io_v2
add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)
endif()
add_dependencies(px4_layer prebuild_targets)
add_subdirectory(gpio)
add_subdirectory(srgbled)
# Build px4_random
if (DEFINED PX4_CRYPTO)
add_library(px4_random nuttx_random.c)
add_dependencies(px4_random nuttx_context)
target_link_libraries(px4_random PRIVATE nuttx_crypto)
target_link_libraries(px4_layer
PUBLIC
crypto_backend
)
endif()

65
platforms/nuttx/src/px4/common/console_buffer_usr.cpp Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/console_buffer.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/sem.h>
#include <pthread.h>
#include <string.h>
#include <fcntl.h>
#ifdef BOARD_ENABLE_CONSOLE_BUFFER
#ifndef BOARD_CONSOLE_BUFFER_SIZE
# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
#endif
// TODO: User side implementation of px4_console_buffer
int px4_console_buffer_init()
{
return 0;
}
int px4_console_buffer_size()
{
return 0;
}
int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
{
return 0;
}
#endif /* BOARD_ENABLE_CONSOLE_BUFFER */

22
platforms/nuttx/src/px4/common/px4_layer.cmake Normal file
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@ -0,0 +1,22 @@
# Build the px4 layer for nuttx flat build
add_library(px4_layer
${KERNEL_SRCS}
cdc_acm_check.cpp
)
target_link_libraries(px4_layer
PRIVATE
${KERNEL_LIBS}
nuttx_c
nuttx_arch
nuttx_mm
)
if (DEFINED PX4_CRYPTO)
target_link_libraries(px4_layer
PUBLIC
crypto_backend
)
endif()

41
platforms/nuttx/src/px4/common/px4_protected_layers.cmake Normal file
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@ -0,0 +1,41 @@
# Build the user side px4_layer
add_library(px4_layer
tasks.cpp
console_buffer_usr.cpp
usr_mcu_version.cpp
cdc_acm_check.cpp
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
)
target_link_libraries(px4_layer
PRIVATE
m
nuttx_c
nuttx_xx
nuttx_mm
)
# Build the kernel side px4_kernel_layer
add_library(px4_kernel_layer
${KERNEL_SRCS}
)
target_link_libraries(px4_kernel_layer
PRIVATE
${KERNEL_LIBS}
nuttx_kc
nuttx_karch
nuttx_kmm
)
if (DEFINED PX4_CRYPTO)
target_link_libraries(px4_kernel_layer PUBLIC crypto_backend)
endif()
target_compile_options(px4_kernel_layer PRIVATE -D__KERNEL__)
add_dependencies(px4_kernel_layer prebuild_targets)

114
platforms/nuttx/src/px4/common/usr_mcu_version.cpp Normal file
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@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (C) 2020 Technology Innovation Institute. All rights reserved.
* Author: @author Jukka Laitinen <jukkax@ssrc.tii.ae>
*
* 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 usr_mcu_version.c
* Implementation of generic user-space version API
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include "board_config.h"
static int hw_version = 0;
static int hw_revision = 0;
static char hw_info[] = HW_INFO_INIT;
__EXPORT const char *board_get_hw_type_name(void)
{
return (const char *) hw_info;
}
__EXPORT int board_get_hw_version(void)
{
return hw_version;
}
__EXPORT int board_get_hw_revision()
{
return hw_revision;
}
__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words)
{
/* TODO: This is a stub for userspace build. Use some proper interface
* to fetch the uuid32 from the kernel
*/
uint32_t chip_uuid[PX4_CPU_UUID_WORD32_LENGTH];
memset((uint8_t *)chip_uuid, 0, PX4_CPU_UUID_WORD32_LENGTH * 4);
for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
uuid_words[i] = chip_uuid[i];
}
}
int board_mcu_version(char *rev, const char **revstr, const char **errata)
{
/* TODO: This is a stub for userspace build. Use some proper interface
* to fetch the version from the kernel
*/
return -1;
}
int board_get_px4_guid(px4_guid_t px4_guid)
{
/* TODO: This is a stub for userspace build. Use some proper interface
* to fetch the guid from the kernel
*/
uint8_t *pb = (uint8_t *) &px4_guid[0];
memset(pb, 0, PX4_GUID_BYTE_LENGTH);
return PX4_GUID_BYTE_LENGTH;
}
int board_get_px4_guid_formated(char *format_buffer, int size)
{
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
int offset = 0;
/* size should be 2 per byte + 1 for termination
* So it needs to be odd
*/
size = size & 1 ? size : size - 1;
/* Discard from MSD */
for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
}
return offset;
}