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>
This adds a nuttx userspace interface for hrt driver, communicating with
the actual hrt driver upper half 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>
Add interface functions for fetching latency buckets and counters and use
those in perf_counter.cpp. This cleans up the usage of perf counters and
enables implementing kernel-userspace interface for those for
nuttx protected/kernel build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Add functions for reset and reboot, which can be called
from user space in nuttx kernel and protected build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
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>
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>
For NuttX protected or kernel build, the prebuilds can't contain libraries which are
different for kernel and user-space in protected/kerenl builds
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This is to avoid potential race conditions during startup.
All startup code runs sequentially atm, so this is just for robustness
for later (e.g. concurrent pwm_out and dshot start).
This allows modules to do a first-come-first-serve pin/timer reservation
on bootup.
E.g. camera trigger reserves any of the pins, and then PWM/DShot output
will just use the rest of the available pins.
Reduces CPU load by almost 1.5% @ 2khz on F4 and F7.
This changes the motor ordering on boards where the timer ordering does
not match the order of the timer usage in the channels defintion.
Only omnibus f4sd is affected.
This also simplifies the API a bit, since we anyway have to change the
drivers to pass additional information (the bus device index).
The orientation flag is merged with the rotation.
Jukka Laitinen