px4_init.cpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. 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.
*
****************************************************************************/
#include <px4_platform_common/init.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/console_buffer.h>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
#include <px4_platform/cpuload.h>
#include <uORB/uORB.h>
#include <fcntl.h>
int px4_platform_console_init(void)
{
#if !defined(CONFIG_DEV_CONSOLE) && defined(CONFIG_DEV_NULL)
/* Support running nsh on a board with out a console
* Without this the assumption that the fd 0..2 are
* std{in..err} will be wrong. NSH will read/write to the
* fd it opens for the init script or nested scripts assigned
* to fd 0..2.
*
*/
int fd = open("/dev/null", O_RDWR);
if (fd == 0) {
/* Successfully opened /dev/null as stdin (fd == 0) */
(void)fs_dupfd2(0, 1);
(void)fs_dupfd2(0, 2);
(void)fs_fdopen(0, O_RDONLY, NULL, NULL);
(void)fs_fdopen(1, O_WROK | O_CREAT, NULL, NULL);
(void)fs_fdopen(2, O_WROK | O_CREAT, NULL, NULL);
} else {
/* We failed to open /dev/null OR for some reason, we opened
* it and got some file descriptor other than 0.
*/
if (fd > 0) {
(void)close(fd);
}
return -ENFILE;
}
#endif
return OK;
}
int px4_platform_init(void)
{
int ret = px4_platform_console_init();
if (ret < 0) {
return ret;
}
ret = px4_console_buffer_init();
if (ret < 0) {
return ret;
}
// replace stdout with our buffered console
int fd_buf = open(CONSOLE_BUFFER_DEVICE, O_WRONLY);
if (fd_buf >= 0) {
dup2(fd_buf, 1);
// keep stderr(2) untouched: the buffered console will use it to output to the original console
close(fd_buf);
}
hrt_init();
param_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
px4::WorkQueueManagerStart();
uorb_start();
px4_log_initialize();
return PX4_OK;
}
int px4_platform_configure(void)
{
return px4_mft_configure(board_get_manifest());
}