forked from Archive/PX4-Autopilot
px4_init:Nuttx support boards without a console
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@ -39,6 +39,9 @@
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#include <lib/parameters/param.h>
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#include <systemlib/cpuload.h>
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#include <fcntl.h>
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#include "platform/cxxinitialize.h"
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int px4_platform_init(void)
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@ -56,6 +59,42 @@ int px4_platform_init(void)
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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#if !defined(CONFIG_DEV_CONSOLE) && defined(CONFIG_DEV_NULL)
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/* Support running nsh on a board with out a console
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* Without this the assumption that the fd 0..2 are
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* std{in..err} will be wrong. NSH will read/write to the
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* fd it opens for the init script or nested scripts assigned
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* to fd 0..2.
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*
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*/
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int fd = open("/dev/null", O_RDWR);
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if (fd == 0) {
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/* Successfully opened /dev/null as stdin (fd == 0) */
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(void)fs_dupfd2(0, 1);
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(void)fs_dupfd2(0, 2);
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(void)fs_fdopen(0, O_RDONLY, NULL);
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(void)fs_fdopen(1, O_WROK | O_CREAT, NULL);
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(void)fs_fdopen(2, O_WROK | O_CREAT, NULL);
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} else {
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/* We failed to open /dev/null OR for some reason, we opened
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* it and got some file descriptor other than 0.
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*/
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if (fd > 0) {
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(void)close(fd);
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}
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return -ENFILE;
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}
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#endif
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hrt_init();
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param_init();
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