- Include board_config.h for BOARD_GET_EXTERNAL_LOCKOUT_STATE etc. macros
- Include fcntl.h for "open"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
For targets that define the SPI buses via px4_spi_buses_all_hw, a call
to px4_set_spi_buses_from_hw_version() is needed. Otherwise a NULL
de-reference will occur when trying to access px4_spi_buses.
Fixes a system crash in px4_fmu-v5_protected:
up_assert: Assertion failed at file:armv7-m/arm_memfault.c line: 101 task: wq:lp_default
Move logic implemented in the header files to source files, this way
it will be simpler to define which is compiled to kernel space and
which to user space
Also allows to remove some headers that pull in half the universe
from the board definitions (which should just be pin definitions and
no functionality)
- 4096 of 3 hex digits each for rev and ver is enough.
#defines used in SPI versions do not be long format, use use the macro
- Board provides a prefix and the formatting is sized and built in
- No need for funky board_get_base_eeprom_mtd_manifest interface
Original mft is used where the abstraction is done with the MFT interface
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
This is needed for DMA capable memory for fat also in the user side;
the file system doesn't seem to work reliably without.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
For protected/kernel builds the cxx static initializations
needs to be done also in kernel side, since px4 creates
c++ objects in kernel
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This adds a nuttx userspace interface for hrt driver, communicating with
the actual px4 hrt driver via BOARDCTL IOCTLs
This is be used when running PX4 in NuttX protected or kernel builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
If the hardware support RESET lockout that has nArmed ANDed with VBUS
vbus_sense may drop during a param save which uses
BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
while writing the params. If we are not armed and nARMRED is low
we are in such a lock out so ignore changes on VBUS_SENSE during this
time.
This adds an ioctl interface for NuttX protected build, allowing
system calls from user space to kernel for uORB, HRT and crypto
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
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>
dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.
In protected build, this needs to go to user-space initialization as it
calls apps (sercon) and launches mavlink.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- no longer start sercon or mavlink usb by default
- on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
- the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
- skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
Add common functions, implemented for nuttx, and link to architecture specific libraries
Make a separate library to wrap nuttx random number generator as "os_random".
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Beat Küng