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Add a px4 userspace initialization in protected build 

The px4_userspace_init function is called from userspace
entrypoint before starting NSH

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2021-09-08 12:21:20 +03:00 committed by Beat Küng
parent f3f09c1344
commit c1a7b8df1d
2 changed files with 60 additions and 0 deletions
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1
platforms/nuttx/src/px4/common/px4_protected_layers.cmake
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@ -9,6 +9,7 @@ add_library(px4_layer
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
usr_hrt.cpp
px4_userspace_init.cpp
)
target_link_libraries(px4_layer

59
platforms/nuttx/src/px4/common/px4_userspace_init.cpp Normal file
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@ -0,0 +1,59 @@
/****************************************************************************
*
* Copyright (C) 2022 Technology Innovation Institute. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_userspace_init.cpp
*
* Initialize px4 userspace in NuttX protected build
*/
#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 void cdcacm_init(void);
extern "C" void px4_userspace_init(void)
{
hrt_init();
px4::WorkQueueManagerStart();
uorb_start();
#if defined(CONFIG_SYSTEM_CDCACM)
cdcacm_init();
#endif
}