platform: restructure (NuttX) architecture-specific code

updated: tone_alarm, px4io_serial, px4_micro_hal
2026-10-21 16:33:33 +08:00 · 2019-08-30 07:59:44 +02:00
parent 2fa3ee9336
commit ab43a83bed
111 changed files with 1640 additions and 404 deletions
@@ -0,0 +1,127 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. 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_init.h"
+
+#include <px4_config.h>
+#include <px4_console_buffer.h>
+#include <px4_defines.h>
+#include <drivers/drv_hrt.h>
+#include <lib/parameters/param.h>
+#include <px4_work_queue/WorkQueueManager.hpp>
+#include <systemlib/cpuload.h>
+
+#include <fcntl.h>
+
+
+#include "platform/cxxinitialize.h"
+
+int px4_platform_init(void)
+{
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+	/* run C++ ctors before we go any further */
+	up_cxxinitialize();
+
+#	if defined(CONFIG_SYSTEM_NSH_CXXINITIALIZE)
+#  		error CONFIG_SYSTEM_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+
+#if !defined(CONFIG_DEV_CONSOLE) && defined(CONFIG_DEV_NULL)
+
+	/* Support running nsh on a board with out a console
+	 * Without this the assumption that the fd 0..2 are
+	 * std{in..err} will be wrong. NSH will read/write to the
+	 * fd it opens for the init script or nested scripts assigned
+	 * to fd 0..2.
+	 *
+	 */
+
+	int fd = open("/dev/null", O_RDWR);
+
+	if (fd == 0) {
+		/* Successfully opened /dev/null as stdin (fd == 0) */
+
+		(void)fs_dupfd2(0, 1);
+		(void)fs_dupfd2(0, 2);
+		(void)fs_fdopen(0, O_RDONLY,         NULL);
+		(void)fs_fdopen(1, O_WROK | O_CREAT, NULL);
+		(void)fs_fdopen(2, O_WROK | O_CREAT, NULL);
+
+	} else {
+		/* We failed to open /dev/null OR for some reason, we opened
+		 * it and got some file descriptor other than 0.
+		 */
+
+		if (fd > 0) {
+			(void)close(fd);
+		}
+
+		return -ENFILE;
+	}
+
+#endif
+
+	int ret = px4_console_buffer_init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	// replace stdout with our buffered console
+	int fd_buf = open(CONSOLE_BUFFER_DEVICE, O_WRONLY);
+
+	if (fd_buf >= 0) {
+		dup2(fd_buf, 1);
+		// keep stderr(2) untouched: the buffered console will use it to output to the original console
+		close(fd_buf);
+	}
+
+	hrt_init();
+
+	param_init();
+
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
+
+	px4::WorkQueueManagerStart();
+
+	return PX4_OK;
+}