* fix(ci): wipe NuttX submodule state between boards in build_all_runner
NuttX .o and lib*.a live in the shared submodule trees under
platforms/nuttx/NuttX/{nuttx,apps}, not in per-board build/<board>/.
NuttX's recursive make doesn't treat PX4's per-board defconfig changes
as a reason to recompile, so consecutive board builds in one workspace
were linking stale objects from an earlier board (e.g. stm32_spi.o from
fmu-v2 linked into fmu-v4pro, which doesn't enable SPI4).
Run git clean -dXf on both NuttX submodules between iterations to drop
gitignored build state. This mirrors what make clean already does for
submodules and preserves the incremental-build wins for single-board
use.
* fix(cmake): isolate kernel mm/libc objects with BINDIR=kbin
mm and libs/libc compile the same sources for both the kernel and user
passes in protected builds. Without separate output dirs the kernel
objects clobber bin/*.o and the user-mode libmm.a/libc.a end up pulling
in kernel-only symbols (nxsem_wait, g_current_regs, nx_read, nx_write,
g_mmheap, ...) at link time. Matches NuttX's own tools/LibTargets.mk.
* fix(cmake): use Python3 module; cache PYTHON_EXECUTABLE properly
The legacy `find_package(PythonInterp 3)` is deprecated (warned with
noisy CMP0148 by cmake 3.27+, currently visible on Ubuntu 24.04 CI
runs).
It also stores its result as PYTHON_EXECUTABLE without a proper CACHE
type, which interacts badly with the Makefile's `cmake-cache-check`.
`cmake -L` skips UNINITIALIZED entries, so the
`-DPYTHON_EXECUTABLE=...` passed by the top-level Makefile is never
matched in the cache and every invocation forces a full reconfigure.
Switch to `find_package(Python3 COMPONENTS Interpreter REQUIRED)`,
then bridge to the legacy `PYTHON_EXECUTABLE` name that the rest of
the codebase still references.
Promote it to a CACHE FILEPATH entry so cmake -L lists it, preserving
any user-supplied value verbatim (find_package(Python3) canonicalises
e.g. bin/python3 to bin/python3.13, defeating a string-based cache
match).
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): promote CONFIG to CACHE STRING for incremental builds
When CONFIG is passed via `-DCONFIG=...` on the cmake command line, it
is stored as an UNINITIALIZED cache entry. `cmake -L` skips
UNINITIALIZED entries by design, so the Makefile's
`cmake-cache-check` (which uses `cmake -L` to diff desired vs cached
options) never finds CONFIG in the output, concludes the cache is
stale, and triggers a full reconfigure on every `make <target>`
invocation.
If a config identifier is given, we force promote it to CACHE
STRING. This preserves the user supplied value as it was, while making
it visible to `cmake -L`, so the cache-check succeeds when nothing has
changed.
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): track default.px4board as a configure dependency
Non-default labels merge `default.px4board` + `{label}.px4board` via
`merge_config.py`, but only the label file was listed as a configure
dependency. Changes to `default.px4board` were silently ignored until
a clean build, which is surprising and easy to debug for hours.
Register `default.px4board` as a CMAKE_CONFIGURE_DEPENDS in the
non-default-label branch so edits trigger reconfigure as expected.
Signed-off-by: Daniel Fanache <dan@rts.ro>
* fix(cmake): correct NuttX apps/library build dependency tracking
Three dependency graph defects in the libapps.a and per NuttX library
custom_commands caused either spurious full rebuilds or stale outputs
on incremental builds.
(1) `builtin_list.h` and `builtin_proto.h` are regenerated by the apps
build from `px4.bdat`/`px4.pdat` on every invocation. They were
included in `nuttx_apps_files`, so on each build we saw them as
changed inputs and re-triggered the apps target perpetually. Exclude
them with a `list(FILTER)`.
(2) libapps.a's custom_command lacked `px4.bdat`/`px4.pdat` as
dependencies, so module additions or renames (which regenerate those
registries) did not propagate to a rebuild of the builtin command
table. Add them to DEPENDS.
(3) NuttX's recursive make does not always notice that
`builtin_list.h` has been regenerated and that `builtin_list.c`
therefore needs recompiling. Touch `builtin_list.c` so NuttX's make
picks up the indirect change.
Additionally, drop the destructive cleanup COMMANDs that ran at the
start of libapps.a and each per-library custom_command (`remove
-f *.a`, `find ... -delete *.o`). These were workarounds for the now
fixed dependency tracking; without them removed, they would also force
unnecessary full rebuilds every time.
Signed-off-by: Daniel Fanache <dan@rts.ro>
---------
Signed-off-by: Daniel Fanache <dan@rts.ro>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
The bootloader boot-delay feature has been mechanically broken on
every modern FMU board since the STM32F7/H7 transition. It has three
independent bugs that prevent it from ever working:
1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the
NuttX vector table is 504 B (F76x) to 664 B (H743) long. The
linker places _bootdelay_signature at ALIGN(32) past end of
vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader
reads random exception_common pointers in place of the magic and
never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with
objdump of cubepilot_cubeorange_default.elf.
2. Flash cache never flushes: fc_write() stores arbitrary writes in
cache line 1 and only flushes on a very specific condition tied
to the sequential firmware upload flow. A standalone write during
PROTO_SET_DELAY is cached forever. fc_read() then returns the
cached value, so the post-write verify lies and the bootloader
reports success. Nothing ever reaches flash.
3. H7 write granularity: the STM32H7 flash controller requires a
full 32-byte program cycle per write. Single 32-bit writes from
flash_func_write_word() would not be accepted by the controller
even if they reached it.
The feature has been silently dead on every H7/F7 FMU board for
years and no one noticed, which is strong evidence nothing actually
depends on it. Rather than fix it (which would mean rewriting
PROTO_SET_DELAY, the flash cache path, and the H7 flash programming
path), remove it.
Changes:
- bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad)
so clients that still send the command get a clear rejection
instead of the previous silent fake-success. The opcode stays in
the protocol enum for backwards compatibility.
- bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX.
- stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the
startup boot-delay sig check block.
- image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS.
BOARD_IMAGE_TOC_OFFSET is now the required define when
BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef
BOOTLOADER_USE_TOC and falls back to a stub returning false when
the TOC is not in use (no upstream board currently enables it).
- Linker scripts: strip EXTERN(_bootdelay_signature) and the
FILL/. += 8 block from all 142 affected .ld files across boards/.
- hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment
block entry from all 48 affected boards.
- Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay,
set_boot_delay(), and SET_BOOT_DELAY client-side counterpart.
Smoke-built on cubepilot_cubeorange_default and
cubepilot_cubeorange_bootloader; no link errors, no unresolved
symbols, flash usage unchanged.
Tested:
- New BL, new FW
- Old BL, old FW
- Old BL, new FW
- New BL, old FW
* refactor: make timer_io_channels[].timer_channel 0-indexed
timer_channel was 1-indexed (1-4) to mirror STM32 hardware naming
(TIM_CH1-CH4), but this was purely cosmetic — the ccr_offset field
already handles register mapping. Every consumer did timer_channel - 1
to get a 0-based index, creating underflow bugs when the guard was
missing (e.g. dshot.c capture_complete_callback,
output_channel_from_timer_channel, up_bdshot_get_erpm).
Changes:
- STM32: Timer::Channel enum starts at 0, initIOTimerChannel assigns
directly, removed all timer_channel - 1 in dshot.c and io_timer.c
- NXP (kinetis, s32k1xx, s32k3xx): removed the + 1 in
initIOTimerChannel, removed timer_channel - 1 in io_timer.c,
led_pwm.cpp, and input_capture.c
- RPI: Channel enum starts at 0, removed timer_channel - 1 in
io_timer.c
- Validity checks updated from timer_channel <= 0 || >= 5 to
timer_channel >= 4
Closes#26747
Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com>
* fix: complete 0-indexed timer_channel migration across all platforms
Address review feedback for incomplete migration:
1. STM32H7 io_timer_hw_description.h: update standalone
initIOTimerChannel() to assign timer_channel from enum
(0-based) instead of hardcoded 1/2/3/4
2. Switch case labels: update all switch(timer_channel) blocks
from 1/2/3/4 to 0/1/2/3 in:
- stm32_common: input_capture.c (4 blocks), led_pwm.cpp (3),
io_timer.c DMA base register switch
- kinetis: input_capture.c (2 filter blocks)
- s32k1xx: input_capture.c (2 filter blocks)
- spix_sync.c (ark/fpv + ark/pi6x, 3 blocks each)
3. Sentinel checks: replace timer_channel != 0 / == 0 (which
now conflicts with valid channel 0) with gpio_out-based
checks in:
- io_timer_validate_channel_index() across all 5 platforms
- led_pwm_channel_init() and led_pwm_servo_get() in all
led_pwm.cpp variants (STM32 + 4 NXP)
- spix_sync_channel_init() and spix_sync_servo_get()
Tested: px4_fmu-v6x_default (H7) build OK, px4_sitl_default
build OK, 154/154 unit tests pass, ASan build clean.
* fix: update NXP board led_pwm_channels to 0-indexed timer_channel
These 4 board files manually specify led_pwm_channels[] with
1-indexed timer_channel values. Since the platform code no longer
subtracts 1, decrement all values to match the new 0-indexed
convention.
* fix: correct FTM CH3 filter mask in kinetis and s32k1xx input capture
Case 3 in up_input_capture_set_filter() was using CH2FVAL_MASK/SHIFT
instead of CH3FVAL_MASK/SHIFT due to a copy-paste error, causing
channel 3 filter writes to modify channel 2's filter register instead.
---------
Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
- Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1
- Update Airmind Development Team to Saam Drones Development Team in copyright headers
- Update PX4 copyright year range to 2020-2026 on all C/C++ files
- Rename bootloader binary to match board version (v1_1)
- Remove untracked backup files
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
This cherry-picks upstream commits adding NAND flash support for the
Winbond W25N specifically W25N01GV chip.
NAND flash is used together with littlefs, hence I updated that to 2.5.1
to match upstream NuttX.
* Tools: rewrite uploader script
This adds a script called px4_uploader.py which is a complete rewrite
using Claude Code of px_uploader.py.
The main improvements over the previous px_uploader.py script are:
- Separate smaller classes instead of one big uploader class.
- Easier debugging with --verbose or --debug flags.
- Nicer progress animation.
- No more hard to debug Exception swallowing over multiple levels.
- Auto-detection and looping of devices, removing the functionality from
cmake.
- Auto-detection of PX4 devices by USB VID/PID.
- Add noninteractive mode
- Add JSON output mode
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* basic working implementation
* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)
* removed unused imports
* changed module name from MCP to MCP230XX
* removed debug print statements
* adjusted auto start command of driver
* removed comments
* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)
* compile common functions as shared library in src/lib/drivers
* fixed cleanup of modules
* ->unclean working version with shared common library
* used make format
* working & cleaned version
* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES
* ->removed unused imports
->used make format
* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x
* Fix: enabled platform_mcp_gpio in px4/fmu-v5x
* added depency to fmu-v5x
* Fix: removed new lines
* Fix: fixed linker errors
* removed unused linkage against mcp-library
* Made mcp start calls consistent for fmu-v5x and fmu-v6x
* moved logging of comm errors to read/write function directly
* added perf_count for sanity_check
* removed error message
* ensured member variables follow naming convention
* added retries to probe function
* simplyfied state-logic
* add break to terminate loop early
* ensured clean state when register_gpios() fails
* add registered-flag to pins
* used path from top dir instead of relative path in CMakeLists
* used constexpr to set parameters instead of calculating them at runtime
* style: used make format
* fix: corrected i2c_bus assignment
* style: init input of callbackhandler to 0
* fix: mark pin as registered if successful
* style: made arguments const type
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
AM32 bdshot doesn't do clock compensation like BLHeli32 did.
Instead we traing BDSHOT timing on known zero value to lock on
best bdshot baudrate to receive.
Reduces CRC and frame errors on AM32 a lot
* rt106x: Use platform SPI hal layer
* rt106x: Add romapi support and reboot to isp/bootloader
* bootloader: imxrt_common: Add rt106x support
* NXP MR-Tropic initial commit
* Add missing file for mr-tropic bootloader
* nxp-mr-tropic:Bootloader Alow Assertion debugging & Keep Ram Vectors
* nxp-mr-tropic: Firmware Boot from bootloader
* nxp-mr-tropic:Add Bootloader bin file
* mr-tropic: Update config and linker
Fixes enet issues with write-back and some code cleanup.
Furthermore increase NOR LittleFS to 256kB to reflect on linker
* Update NuttX
* mr-tropic: fix itcm apping and add mr-tropic to itcm check
---------
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
* s32k3xx: EMIOS allow independent frequencies for each channel
* mr-canhubk3: update config
* mr-canhubk344: Fix adap board detect
* mr-canhubk344: Use LPSPI1 (Port P1A) for SD card
* airframes: Add B3RB Ackermann rover config
See https://nxp.gitbook.io/mr-b3rb for more information about the NXP
B3RB platform. PX4 Support basic control for now
- removed the bug where some overflow would occur on the PWM signal when
changing the duty cycle of the signal after power up. (PWM_MAIN_DIS,
PWM_MAIN_MIN or PWM_MAIN_MAX)
removed commented code
cleanup of previous cherry-pick
Co-authored-by: henrykotze <henry@autonosky.com>
* platforms: Serial new dedicated writeBlocking method
* finish writeBlocking()
* add back fsync
* updated posix, added string constant for port not open error
* format
* fix build
* remove fsync
* actually remove fsync
* remove fsync from write
* review feedback
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
nsh console running on USB
param module running
working with i2c and common drivers
provided implementation for drv_pwm_output.h
i2cdetect working as expected with no device
mavlink started succesfully
mounts sd card and logger runs
logger to file succesfully
pwm_servo implemented without using Nuttx lib
pwm_out outputs expected waveforms
- however currently if the frequency is higher than what the pwm_out
driver runs, there will be aliasing, based on how the registers gets
resets
wifi softap working
- Seeing wifi hotspot
- cant connect due to wrong password
- problems with adjusting ssid and password
wifi ssid and password being set accordinglu
connected to wifi hotspot with dhpcd
- made some changes to nuttx to only build for SoftAP mode, however this
was effectivelyy removing the ifdef for STATION mode. Should investigate
the coexist option again
added ifdef to not use timer 0 when wifi enabled
- reverted esp32 rt_timer to make use of timer 0 by default
fix setting incorrect bit in hrt timer register
- hrt running as expected, but on startup the pwm_out driver starts up
at about 200Hz and then rises over a minute or so 250Hz. Not sure if
this was present previously, and could be due to Wifi running at time
priority on timer 0
pull xtensa compilers in setup.ubuntu.sh
revert logger stacksize and cmake argument
esp32 chip revision and PX4 UUID implemented
spi board reset implemented, formatting checked
devkit acts on startup as a wifi bridge for comms
- the most usefull setting for the general developer when buying a esp32 devkit
- testing Mavlink shell using ./Tools/mavlink_shell.py
- todo: Test mavlink messages being forward
improve wifi telemetry by increasing prio
- Remove power save mode on wifi
- increased daemon thread schedule priority to 50
compiles without Nuttx changes
- updated compiler settings to match those of nuttx on px4 side
add espressif_esp32 to excluded boards
ci: allow docker to find xtensa compilers
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* feat: configurable board pwm freq from Kconfig
* feat: add board_pwm_config to submenu
* fix: define sequence correction
* fix: revert Tools/simulation/gz
* fix: track upstream gz
* fix: track upstream mavlink
* feat: adjustable pwm for multiple board types
* feat: add conditional check for CONFIG_ for correct fallback
* add: spacecraft board with correct BOARD_PWM_FREQ supporting 10Hz actuation rate
* fix: set dependencies for submenu arch chips
* fix: keep only upper arch level
* fix: proper checking - still not showing up for board config
* feat: add hidden kconfig for platforms
* Merge Nuttx config into px4board
Allows to expose nuttx into PX4 if needed
* Kconfig: Include nuttx symbols in updateconfig
Only if applicable i.e. defined in the kconfig
* fix: merged config with previously generated boardconfig
* doc: updated code comment
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem
* hrt: Fix PPM input on channel 2
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.
Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.
This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"
Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
* rc_input: enable sharing serial and PPM pin
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
* boards: Add support for Holybro KakuteH7-Wing
