From 000765e9f02d04ce41df02cff3c013e196b87dce Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 25 Aug 2021 20:00:14 -0400
Subject: [PATCH] NuttX mount procfs and binfs in px4 init

---
 .ci/Jenkinsfile-hardware                    |  1 +
 ROMFS/cannode/init.d/rcS                    |  4 ----
 ROMFS/px4fmu_common/init.d/rcS              |  5 -----
 platforms/nuttx/src/px4/common/px4_init.cpp | 23 ++++++++++++++++++++-
 4 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 8f223b52d0..6cd7430787 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -862,6 +862,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS
index fea50019df..50ad4ff15b 100644
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@@ -15,10 +15,6 @@ set +e
 #
 #------------------------------------------------------------------------------
 set R /
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
 
 #
 # Start CDC/ACM serial driver.
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index d58c78c2fa..c11307d616 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -51,11 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
-#
-# Mount the procfs.
-#
-mount -t procfs /proc
-
 #
 # Start CDC/ACM serial driver.
 #
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
index a8fdc83c06..ef0538bdb7 100644
--- a/platforms/nuttx/src/px4/common/px4_init.cpp
+++ b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -44,12 +44,15 @@
 
 #include <fcntl.h>
 
+#include <sys/mount.h>
+#include <syslog.h>
+
 #if defined(CONFIG_I2C)
 # include <px4_platform_common/i2c.h>
 # include <nuttx/i2c/i2c_master.h>
 #endif // CONFIG_I2C
 
-int px4_platform_init(void)
+int px4_platform_init()
 {
 
 	int ret = px4_console_buffer_init();
@@ -104,6 +107,24 @@ int px4_platform_init(void)
 
 #endif // CONFIG_I2C
 
+#if defined(CONFIG_FS_PROCFS)
+	int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr);
+
+	if (ret < 0) {
+		syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret_mount_procfs);
+	}
+
+#endif // CONFIG_FS_PROCFS
+
+#if defined(CONFIG_FS_BINFS)
+	int ret_mount_binfs = nx_mount(nullptr, "/bin", "binfs", 0, nullptr);
+
+	if (ret_mount_binfs < 0) {
+		syslog(LOG_ERR, "ERROR: Failed to mount binfs at /bin: %d\n", ret_mount_binfs);
+	}
+
+#endif // CONFIG_FS_BINFS
+
 
 	px4::WorkQueueManagerStart();