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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-16 19:08:23 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-16 19:08:23 +0000 |
commit | a568e1e63afed4a9a1fb075568eec16ab76c158d (patch) | |
tree | f5ccbefcedc52e86e0b48f906c6b2167ec2128d2 /nuttx/binfmt | |
parent | 38efdf0ce37cc3413acee30d966f242aa8a77acd (diff) | |
download | px4-firmware-a568e1e63afed4a9a1fb075568eec16ab76c158d.tar.gz px4-firmware-a568e1e63afed4a9a1fb075568eec16ab76c158d.tar.bz2 px4-firmware-a568e1e63afed4a9a1fb075568eec16ab76c158d.zip |
Add a binary 'loader' so that builtin applications can be executed from the BINFS file system
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5525 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/binfmt')
-rw-r--r-- | nuttx/binfmt/builtin.c | 195 | ||||
-rw-r--r-- | nuttx/binfmt/elf.c | 2 | ||||
-rw-r--r-- | nuttx/binfmt/libbuiltin/Make.defs | 9 |
3 files changed, 202 insertions, 4 deletions
diff --git a/nuttx/binfmt/builtin.c b/nuttx/binfmt/builtin.c new file mode 100644 index 000000000..e591ebea8 --- /dev/null +++ b/nuttx/binfmt/builtin.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * binfmt/builtin.c + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <sys/ioctl.h> + +#include <stdint.h> +#include <string.h> +#include <fcntl.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/fs/ioctl.h> +#include <nuttx/binfmt/binfmt.h> +#include <nuttx/binfmt/builtin.h> + +#ifdef CONFIG_BUILTIN + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int builtin_loadbinary(FAR struct binary_s *binp); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct binfmt_s g_builtin_binfmt = +{ + NULL, /* next */ + builtin_loadbinary, /* load */ +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: builtin_loadbinary + * + * Description: + * Verify that the file is an builtin binary. + * + ****************************************************************************/ + +static int builtin_loadbinary(struct binary_s *binp) +{ + FAR const char *filename; + int fd; + int index; + int ret; + + bvdbg("Loading file: %s\n", binp->filename); + + /* Open the binary file for reading (only) */ + + fd = open(filename, O_RDONLY); + if (fd < 0) + { + int errval = errno; + bdbg("ERROR: Failed to open binary %s: %d\n", filename, errval); + return -errval; + } + + /* If this file is a BINFS file system, then we can recover the name of + * the file using the FIOC_FILENAME ioctl() call. + */ + + ret = ioctl(fd, FIOC_FILENAME, (unsigned long)((uintptr_t)&filename)); + if (ret < 0) + { + int errval = errno; + bdbg("ERROR: FIOC_FILENAME ioctl failed: %d\n", errval); + return -errval; + } + + /* Other file systems may also support FIOC_FILENAME, so the real proof + * is that we can look up the index to this name in g_builtins[]. + */ + + index = builtin_isavail(filename); + if (index < 0) + { + int errval = errno; + bdbg("ERROR: %s is not a builtin application\n", filename); + return -errval; + + } + + /* Return the load information. NOTE: that there is no way to configure + * the priority. That is a bug and needs to be fixed. + */ + + binp->entrypt = g_builtins[index].main; + binp->stacksize = g_builtins[index].stacksize; + return OK; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: builtin_initialize + * + * Description: + * Builtin support is built unconditionally. However, it order to + * use this binary format, this function must be called during system + * format in order to register the builtin binary format. + * + * Returned Value: + * This is a NuttX internal function so it follows the convention that + * 0 (OK) is returned on success and a negated errno is returned on + * failure. + * + ****************************************************************************/ + +int builtin_initialize(void) +{ + int ret; + + /* Register ourselves as a binfmt loader */ + + bvdbg("Registering Builtin Loader\n"); + + ret = register_binfmt(&g_builtin_binfmt); + if (ret != 0) + { + bdbg("Failed to register binfmt: %d\n", ret); + } + + return ret; +} + +/**************************************************************************** + * Name: builtin_uninitialize + * + * Description: + * Unregister the builtin binary loader + * + * Returned Value: + * None + * + ****************************************************************************/ + +void builtin_uninitialize(void) +{ + unregister_binfmt(&g_builtin_binfmt); +} + +#endif /* CONFIG_BUILTIN */ + diff --git a/nuttx/binfmt/elf.c b/nuttx/binfmt/elf.c index bcebf13ca..9dc59fbdd 100644 --- a/nuttx/binfmt/elf.c +++ b/nuttx/binfmt/elf.c @@ -183,7 +183,7 @@ static int elf_loadbinary(struct binary_s *binp) bvdbg("Loading file: %s\n", binp->filename); - /* Initialize the xflat library to load the program binary. */ + /* Initialize the ELF library to load the program binary. */ ret = elf_init(binp->filename, &loadinfo); elf_dumploadinfo(&loadinfo); diff --git a/nuttx/binfmt/libbuiltin/Make.defs b/nuttx/binfmt/libbuiltin/Make.defs index 1d129294c..96e8b6c37 100644 --- a/nuttx/binfmt/libbuiltin/Make.defs +++ b/nuttx/binfmt/libbuiltin/Make.defs @@ -33,11 +33,14 @@ # ############################################################################ -# Legacy configurations don't set CONFIG_BUILTIN -# ifeq ($(CONFIG_BUILTIN),y) +ifeq ($(CONFIG_BUILTIN),y) # Builtin application interfaces +BINFMT_CSRCS += builtin.c + +# Builtin library interfaces + BINFMT_CSRCS += libbuiltin_utils.c # Hook the libelf subdirectory into the build @@ -46,4 +49,4 @@ VPATH += libbuiltin SUBDIRS += libbuiltin DEPPATH += --dep-path libbuiltin -# endif +endif |