feat: configurable board pwm freq from Kconfig (#24787)

* 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>

Kconfig

@@ -206,8 +206,8 @@ source "src/examples/Kconfig"
 endmenu
 
 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
+depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
-source "platforms/common/Kconfig"
+source "platforms/Kconfig"
 endmenu
 
 source "src/lib/*/Kconfig"

Tools/kconfig/merge_config.py

@@ -101,7 +101,6 @@ def main(kconfig_file, config1, config2):
     # load_config() and write_config() returns a message to print.
     print(kconf.load_config(config1, replace=False))
     print(kconf.load_config(config2, replace=False))
-
     # Modification for PX4 unset all symbols (INT,HEX etc) from 2nd config
 
     f = open(config2, 'r')
@@ -113,13 +112,16 @@ def main(kconfig_file, config1, config2):
         #pprint.pprint(line)
         if match is not None:
             sym_name = match.group(1)
-            kconf.syms[sym_name].unset_value()
+            try:
+                kconf.syms[sym_name].unset_value()
 
-            if kconf.syms[sym_name].type is BOOL:
+                if kconf.syms[sym_name].type is BOOL:
-                for default, cond in kconf.syms[sym_name].orig_defaults:
+                    for default, cond in kconf.syms[sym_name].orig_defaults:
-                    if(cond.str_value == 'y'):
+                        if(cond.str_value == 'y'):
-                        # Default is y, our diff is unset thus we've set it to no
+                            # Default is y, our diff is unset thus we've set it to no
-                        kconf.syms[sym_name].set_value(0)
+                            kconf.syms[sym_name].set_value(0)
+            except KeyError:
+                pass
 
     f.close()
 

Tools/kconfig/updateconfig.py

@@ -41,6 +41,7 @@ import glob
 import kconfiglib
 import tempfile
 import sys
+from pathlib import Path
 
 import diffconfig
 import merge_config
@@ -52,6 +53,14 @@ for name in glob.glob(px4_dir + '/boards/*/*/default.px4board'):
     kconf.load_config(name)
     print(kconf.write_min_config(name))
 
+    board_path = Path(name)
+    defconfig_path = board_path.parent / "nuttx-config" / "nsh" / "defconfig"
+
+    if os.path.exists(defconfig_path):
+        # Merge NuttX with default config
+        kconf = merge_config.main(px4_dir + "/Kconfig", name, defconfig_path)
+        print(kconf.write_min_config(name))
+
 for name in glob.glob(px4_dir + '/boards/*/*/bootloader.px4board'):
     kconf = kconfiglib.Kconfig()
     kconf.load_config(name)

boards/px4/fmu-v6x/spacecraft.px4board

@@ -0,0 +1,21 @@
+CONFIG_BOARD_PWM_FREQ=100000
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_MODULES_ROVER_ACKERMANN=n
+CONFIG_MODULES_ROVER_DIFFERENTIAL=n
+CONFIG_MODULES_ROVER_MECANUM=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=n
+CONFIG_MODULES_SPACECRAFT=y

platforms/Kconfig

@@ -0,0 +1,3 @@
+if PLATFORM_NUTTX
+rsource "nuttx/Kconfig"
+endif

platforms/nuttx/Kconfig

@@ -0,0 +1,26 @@
+choice
+	prompt "NuttX platform"
+	---help---
+		This automatically gets set by the NuttX defconfig
+	config ARCH_CHIP_UNSET
+		bool "Unset"
+	config ARCH_CHIP_STM32H7
+		bool "STM32H7"
+	config ARCH_CHIP_STM32F7
+		bool "STM32F7"
+	config ARCH_CHIP_STM32F4
+		bool "STM32F4"
+	config ARCH_CHIP_IMXRT
+		bool "IMXRT"
+	config ARCH_CHIP_S32K3XX
+		bool "S32K3XX"
+	config ARCH_CHIP_RP2040
+		bool "RP2040"
+endchoice
+
+config BOARD_PWM_FREQ
+	int "Board default PWM frequency"
+	default 160000000 if ARCH_CHIP_S32K3XX
+	default 1000000 if !ARCH_CHIP_S32K3XX
+	---help---
+		Board default PWM frequency

platforms/nuttx/cmake/init.cmake

@@ -108,3 +108,11 @@ foreach(NameAndValue ${ConfigContents})
 		set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
 	endif()
 endforeach()
+
+# Add CONFIG_ARCH_CHIP to boardconfig by merging
+execute_process(
+	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
+	${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${BOARD_CONFIG} ${PX4_BINARY_DIR}/NuttX/nuttx/.config
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE DUMMY_RESULTS
+)

platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c

@@ -71,6 +71,10 @@ static int io_timer_handler5(int irq, void *context, void *arg);
 static int io_timer_handler6(int irq, void *context, void *arg);
 static int io_timer_handler7(int irq, void *context, void *arg);
 
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif

platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c

@@ -79,6 +79,10 @@ static int io_timer_handler7(int irq, void *context, void *arg);
  * FTM0 will drive FMU_CH1-4, FTM3 will drive FMU_CH5,6, and
  * U_TRI. FTM2 will be used as input capture on U_ECH
  */
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif

platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/io_timer.c

@@ -77,6 +77,10 @@ static int io_timer_handler7(int irq, void *context, void *arg);
  * All FTM blocks have their clock sources set to the system oscillator
  * which should generate an 8 MHz clock.
  */
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif

platforms/nuttx/src/px4/nxp/s32k3xx/io_pins/io_timer.c

@@ -79,6 +79,10 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 
 #define BOARD_PWM_PRESCALER 20
 
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 160000000 / BOARD_PWM_PRESCALER
 #endif

platforms/nuttx/src/px4/rpi/rpi_common/io_pins/io_timer.c

@@ -65,6 +65,10 @@
 // Each timer also has double buffered wrap (rTOP) and level (rCC) registers so the value can
 // change while PWM is running.
 
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -91,6 +91,10 @@ static int io_timer_handler7(int irq, void *context, void *arg);
  * We also allow for overrides here but all timer register usage need to be
  * taken into account
  */
+#ifdef CONFIG_BOARD_PWM_FREQ
+#define BOARD_PWM_FREQ CONFIG_BOARD_PWM_FREQ
+#endif
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif