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Add an ioctl handler to launch built-in modules in kernel side

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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2022-02-15 09:23:38 +02:00 committed by Beat Küng
parent db3baf6c26
commit f0d9f44f45
2 changed files with 56 additions and 0 deletions
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44
platforms/nuttx/src/px4/common/board_ctrl.c
View File

@ -42,6 +42,15 @@
#include <px4_platform/board_ctrl.h>
#include "board_config.h"
#include <nuttx/lib/builtin.h>
#include <NuttX/kernel_builtin/kernel_builtin_proto.h>
FAR const struct builtin_s g_kernel_builtins[] = {
#include <NuttX/kernel_builtin/kernel_builtin_list.h>
};
const int g_n_kernel_builtins = sizeof(g_kernel_builtins) / sizeof(struct builtin_s);
static struct {
ioctl_ptr_t ioctl_func;
} ioctl_ptrs[MAX_IOCTL_PTRS];
@ -88,6 +97,39 @@ int board_ioctl(unsigned int cmd, uintptr_t arg)
return ret;
}
/************************************************************************************
* Name: launch_kernel_builtin
*
* Description:
* launches a kernel-side build-in module
*
************************************************************************************/
int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
{
builtinioclaunch_t *kcmd = (builtinioclaunch_t *)arg;
int argc = kcmd->argc;
char **argv = kcmd->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. Call the main directly */
kcmd->ret = builtin->main(argc, argv);
return OK;
}
return ENOENT;
}
/************************************************************************************
* Name: kernel_ioctl_initialize
*
@ -101,4 +143,6 @@ void kernel_ioctl_initialize(void)
for (int i = 0; i < MAX_IOCTL_PTRS; i++) {
ioctl_ptrs[i].ioctl_func = NULL;
}
px4_register_boardct_ioctl(_BUILTINIOCBASE, launch_kernel_builtin);
}

12
platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h
View File

@ -50,6 +50,18 @@
#define _BUILTINIOCBASE IOCTL_IDX_TO_BASE(3)
#define MAX_IOCTL_PTRS 4
/* The BUILTINIOCLAUNCH IOCTL is used to launch kernel side modules
* from the user side code
*/
#define BUILTINIOCLAUNCH (_PX4_IOC(_BUILTINIOCBASE, 1))
typedef struct builtinioclaunch {
int argc;
char **argv;
int ret;
} builtinioclaunch_t;
typedef int (*ioctl_ptr_t)(unsigned int, unsigned long);
__BEGIN_DECLS