NuttX 10.3+ upgrade (#20190)

Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
Co-authored-by: alexklimaj <alex@arkelectron.com>

platforms/common/shutdown.cpp

@@ -100,7 +100,7 @@ int px4_shutdown_unlock()
 	return ret;
 }
 
-#if defined(CONFIG_SCHED_WORKQUEUE) || (!defined(CONFIG_BUILD_FLAT) && defined(CONFIG_LIB_USRWORK))
+#if defined(CONFIG_SCHED_WORKQUEUE) || (!defined(CONFIG_BUILD_FLAT) && defined(CONFIG_LIBC_USRWORK))
 
 static struct work_s shutdown_work = {};
 static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed

platforms/common/uORB/CMakeLists.txt

@@ -72,7 +72,7 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
 		${SRCS_COMMON}
 		${SRCS_KERNEL}
 		)
-	target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs)
+	target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs nuttx_mm)
 	target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
 
 	# User side library in nuttx kernel/protected build
@@ -80,9 +80,17 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
 		${SRCS_COMMON}
 		${SRCS_USER}
 		)
+elseif("${PX4_PLATFORM}" MATCHES "nuttx")
+
+	# Library for NuttX (flat build, posix...)
+	px4_add_library(uORB
+		${SRCS_COMMON}
+		${SRCS_KERNEL}
+		)
+	target_link_libraries(uORB PRIVATE cdev nuttx_mm)
 else()
 
-	# Library for all other targets (flat build, posix...)
+	# Library for all other targets (posix...)
 	px4_add_library(uORB
 		${SRCS_COMMON}
 		${SRCS_KERNEL}

platforms/nuttx/NuttX/Make.defs.in

@@ -102,7 +102,6 @@ FLAGS = $(MAXOPTIMIZATION) -g2 \
 	-fno-strict-aliasing \
 	-fomit-frame-pointer \
 	-Wall \
-	-Werror \
 	-Wextra \
 	-Wlogical-op \
 	-Wno-cpp \

platforms/nuttx/src/bootloader/stm/stm32_common/systick.c

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "lib/systick.h"
 #include <nvic.h>
 

platforms/nuttx/src/px4/common/cdc_acm_check.cpp

@@ -286,7 +286,7 @@ static void mavlink_usb_check(void *arg)
 #if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
 								speed_t baudrate = cfgetspeed(&uart_config);
 								char baudstring[16];
-								snprintf(baudstring, sizeof(baudstring), "%d", baudrate);
+								snprintf(baudstring, sizeof(baudstring), "%ld", baudrate);
 								static const char *gps_argv[] {"gps", "stop", nullptr};
 
 								static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV,   nullptr};

platforms/nuttx/src/px4/common/px4_24xxxx_mtd.c

@@ -514,7 +514,6 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
 		ret = at24c_eraseall(priv);
 		break;
 
-	case MTDIOC_XIPBASE:
 	default:
 		ret = -ENOTTY; /* Bad command */
 		break;

platforms/nuttx/src/px4/nxp/imxrt/board_critmon/board_critmon.c

@@ -42,7 +42,7 @@
 #include <fixedmath.h>
 
 #include "dwt.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include <nuttx/clock.h>
 

platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp

@@ -40,7 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <errno.h>
 #include <nuttx/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <hardware/imxrt_snvs.h>
 
 #define PX4_IMXRT_RTC_REBOOT_REG 3 // Must be common with bootloader and:

platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c

@@ -41,7 +41,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <hardware/imxrt_ocotp.h>
 
 #define CPU_UUID_BYTE_FORMAT_ORDER          {3, 2, 1, 0, 7, 6, 5, 4}

platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c

@@ -42,7 +42,7 @@
 
 #include <chip.h>
 #include <hardware/imxrt_usb_analog.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #define DIGPROG_MINOR_SHIFT           0
 #define DIGPROG_MINOR_MASK            (0xff << DIGPROG_MINOR_SHIFT)

platforms/nuttx/src/px4/nxp/kinetis/version/board_mcu_version.c

@@ -40,7 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "hardware/kinetis_sim.h"
 
 #define CHIP_TAG     "Kinetis K??"

platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c

@@ -41,7 +41,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "hardware/s32k1xx_sim.h"
 
 #define CHIP_TAG     "S32KXXX"

platforms/nuttx/src/px4/nxp/s32k1xx/watchdog/iwdg.c

@@ -34,7 +34,6 @@
 
 #include <nuttx/config.h>
 #include "arm_internal.h"
-#include "arm_arch.h"
 #include "chip.h"
 
 #include "nvic.h"

platforms/nuttx/src/px4/rpi/rpi_common/spi/spi.cpp

@@ -43,7 +43,7 @@
 
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 
 static const px4_spi_bus_t *_spi_bus0;

platforms/nuttx/src/px4/stm/stm32_common/board_critmon/board_critmon.c

@@ -42,7 +42,7 @@
 #include <fixedmath.h>
 
 #include "dwt.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include <nuttx/clock.h>
 

platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp

@@ -42,7 +42,7 @@
 
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 

platforms/nuttx/src/px4/stm/stm32f7/watchdog/iwdg.c

@@ -34,7 +34,7 @@
 
 #include <nuttx/config.h>
 #include "arm_internal.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 
 #include "nvic.h"