usr_state_ctrl: moved under platform common

platforms/common/include/px4_platform_common/state_ctrl.h

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2024, Technology Innovation Institute
+ *
+ * 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 of the copyright holder 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 HOLDER 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 state_ctrl.h
+ */
+
+#ifndef STATE_CTRL_H
+#define STATE_CTRL_H
+
+#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
+
+#include <px4_platform/board_ctrl.h>
+#include <px4_platform_common/defines.h>
+
+#define _STATECTRLIOC(_n) (_PX4_IOC(_STATECTRLIOCBASE, _n))
+
+#define STATECTRLIOCREADMOISTATE    _STATECTRLIOC(1)
+typedef struct statectrliocreadmoistate {
+	uint8_t *state;
+	int ret;
+} statectrliocreadmoistate_t;
+
+#define STATECTRLIOCWRITEMOISTATE   _STATECTRLIOC(2)
+typedef struct statectrliocwritemoistate {
+	uint8_t state;
+	int ret;
+} statectrliocwritemoistate_t;
+
+#define STATECTRLIOCREADFWUPD       _STATECTRLIOC(3)
+typedef struct statectrliocreadfwupd {
+	uint8_t *fwupd;
+	int ret;
+} statectrliocreadfwupd_t;
+
+#define STATECTRLIOCWRITEFWUPD      _STATECTRLIOC(4)
+typedef struct statectrliocwritefwupd {
+	uint8_t *fwupd;
+	int ret;
+} statectrliocwritefwupd_t;
+
+#endif // __PX4_NUTTX && !CONFIG_BUILD_FLAT
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
+int statectrl_ioctl(unsigned int cmd, unsigned long arg);
+#endif // __PX4_NUTTX && !CONFIG_BUILD_FLAT
+
+int statectrl_get_moi_state(uint8_t *state);
+int statectrl_set_moi_state(uint8_t state);
+int statectrl_get_fwupd(uint8_t *fwupd);
+int statectrl_set_fwupd(uint8_t *fwupd);
+
+void statectrl_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // STATE_CTRL_H

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -15,6 +15,7 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
+	usr_state_ctrl.c
 )
 
 target_link_libraries(px4_layer

platforms/nuttx/src/px4/common/usr_state_ctrl.c

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdbool.h>
+#include <px4_platform/board_ctrl.h>
+#include <sys/boardctl.h>
+#include <px4_platform_common/state_ctrl.h>
+
+int statectrl_get_moi_state(uint8_t *state)
+{
+	statectrliocreadmoistate_t data = {state, 0};
+	boardctl(STATECTRLIOCREADMOISTATE, (uintptr_t)&data);
+	return data.ret;
+}
+
+int statectrl_set_moi_state(uint8_t state)
+{
+	statectrliocwritemoistate_t data = {state, 0};
+	boardctl(STATECTRLIOCWRITEMOISTATE, (uintptr_t)&data);
+	return data.ret;
+
+}
+
+int statectrl_get_fwupd(uint8_t *fwupd)
+{
+	statectrliocreadfwupd_t data = {fwupd, 0};
+	boardctl(STATECTRLIOCREADFWUPD, (uintptr_t)&data);
+	return data.ret;
+}
+
+int statectrl_set_fwupd(uint8_t *fwupd)
+{
+	statectrliocwritefwupd_t data = {fwupd, 0};
+	boardctl(STATECTRLIOCWRITEFWUPD, (uintptr_t)&data);
+	return data.ret;
+}