forked from Archive/PX4-Autopilot
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>
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@ -9,6 +9,7 @@ add_library(px4_layer
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
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${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
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usr_hrt.cpp
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usr_hrt.cpp
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px4_userspace_init.cpp
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)
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)
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target_link_libraries(px4_layer
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target_link_libraries(px4_layer
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@ -0,0 +1,59 @@
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/****************************************************************************
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*
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* Copyright (C) 2022 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_userspace_init.cpp
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*
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* Initialize px4 userspace in NuttX protected build
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*/
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#include <drivers/drv_hrt.h>
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#include <lib/parameters/param.h>
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#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
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#include <uORB/uORB.h>
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#include <sys/boardctl.h>
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extern void cdcacm_init(void);
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extern "C" void px4_userspace_init(void)
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{
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hrt_init();
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px4::WorkQueueManagerStart();
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uorb_start();
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#if defined(CONFIG_SYSTEM_CDCACM)
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cdcacm_init();
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#endif
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}
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