From c3992634f15a8cc363d6227a33d843c84e3f3d3f Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukkax@ssrc.tii.ae>
Date: Wed, 8 Sep 2021 12:21:20 +0300
Subject: [PATCH] Add a separate library for initializing px4 userspace in
 protected build

The px4_userspace_init function in this library is called from userspace
entrypoint before starting NSH

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
---
 platforms/nuttx/src/px4/common/CMakeLists.txt    |  7 +++++++
 .../nuttx/src/px4/common/px4_userspace_init.cpp  | 16 ++++++++++++++++
 2 files changed, 23 insertions(+)
 create mode 100644 platforms/nuttx/src/px4/common/px4_userspace_init.cpp

diff --git a/platforms/nuttx/src/px4/common/CMakeLists.txt b/platforms/nuttx/src/px4/common/CMakeLists.txt
index f34765cad1..1a72d340aa 100644
--- a/platforms/nuttx/src/px4/common/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/common/CMakeLists.txt
@@ -110,6 +110,13 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
 	)
 
 	add_dependencies(px4_board_ctrl nuttx_context nuttx_kernel_builtin_list_target)
+
+	add_library(px4_userspace_init
+		px4_userspace_init.cpp
+	)
+
+	add_dependencies(px4_userspace_init nuttx_context)
+
 	add_dependencies(px4_kernel_layer prebuild_targets)
 else()
 	list(APPEND LIBS
diff --git a/platforms/nuttx/src/px4/common/px4_userspace_init.cpp b/platforms/nuttx/src/px4/common/px4_userspace_init.cpp
new file mode 100644
index 0000000000..cacf47e0d9
--- /dev/null
+++ b/platforms/nuttx/src/px4/common/px4_userspace_init.cpp
@@ -0,0 +1,16 @@
+#include <drivers/drv_hrt.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
+#include <uORB/uORB.h>
+#include <sys/boardctl.h>
+
+extern "C" void px4_userspace_init(void)
+{
+	hrt_init();
+
+	param_init();
+
+	px4::WorkQueueManagerStart();
+
+	uorb_start();
+}