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1421 Commits

Author SHA1 Message Date
Jukka Laitinen
3a6ebe5fc1 NuttX Cmake changes to build combined kernel+userspace image in nuttx protected build 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-31 20:26:08 -05:00
Jukka Laitinen
70704ff9d6 platforms/nuttx/src/px4/common/CMakeLists.txt: Link px4_layer to nuttx_mm for gran allocators 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
4c75f1d505 platforms/nuttx/CMakeLists.txt: fixes to accommodate other linker changes 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
705171eb53 Fix linking for posix targets 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
e959fcf9d1 bootloader: link stm bootloaders to nuttx_arch for flash functions 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
fe5059b0e8 s32k1xx/led_pwm: link to arch_io_pins 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
68729e8ec0 nuttx/rpi io_pins: link to drivers_board for timer_io_channels dependency 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
d181fe0cee nuttx/stm io_pins: link to drivers_board for timer_io_channels dependency 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
76d4b6c7d0 arch_board_reset: link to nuttx_arch / nuttx_karch for up_systemreset dependency 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
7bb33e65ae Remove px4_work_queue linking to px4_platform 
Remove linking to px4_plaform in here; this breaks linking for nuttx protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
98906c224b Don't link px4_platform directly to uORB 
Since uORB is split into kernel and userspace parts, it is no longer possible to just
link uORB into px4_platform, which is used in both kernel and user side.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
54f1e12684 Link arch_spi with drivers_board 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
ff4eae2c9b Fix px4_impl_os for protected build 
For NuttX protected or kernel build, the prebuilds can't contain libraries which are
different for kernel and user-space in protected/kerenl builds

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Jukka Laitinen
d94cc1e114 Add kernel/userspace and nuttx_syscall libraries to build 
Build NuttX proxies, stubs and separate user space and kernel space libraries

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-01-27 12:42:40 -05:00
Beat Küng
92769bd2b2 dshot: remove BOARD_DSHOT_MOTOR_ASSIGNMENT & handle timer channel gaps 2022-01-21 20:41:15 -05:00
David Sidrane
a11fe60135 imxrt:ADC extend timeout 2022-01-21 13:07:44 -05:00
Beat Küng
bcd057ac3e uORB: fix copy-paste mistake in orb_print_message_internal 
Could have led to invalid memory access.
 2022-01-20 12:58:20 -05:00
Daniel Agar
446729566d platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange 
- this really shouldn't be necessary, but worst case it's harmless and
much better than potentially falling out of the sky
 2022-01-19 18:00:18 -05:00
Daniel Agar
8067207ea6 px4_work_queue: rename serial port WQs 2022-01-18 14:56:15 -05:00
Julian Oes
be9385ef06 cmake: use at least 1 core to build SITL 
If we use -j 0, ninja fails with invalid argument.
 2022-01-17 17:07:31 -05:00
Beat Küng
cd2bb14f9b stm32h7/micro_hal.h: add RCC_APB1ENR_TIM4EN 2022-01-17 10:41:33 -05:00
Julian Oes
9eda5b373c posix: add fuzz testing using MAVLink messages 
This adds the env option PX4_FUZZ which runs the LLVM libFuzzer which
throws random bytes at mavlink_receiver using MAVLink messages over UDP.

The MAVLink messages that are being sent are valid, so the CRC is
calculated but the payload and msgid, etc. are generally garbage, unless
the fuzzing gets a msgid right by chance.

As I understand it, libFuzzer watches the test coverage and will try to
execute as much of the code as possible.
 2022-01-07 10:17:12 -05:00
David Sidrane
eac92ec671 imxrt:ADC fix timeouts 2022-01-03 06:02:19 -08:00
Daniel Agar
f76aa0e772 cmake: NuttX ARMV7M_STACKCHECK skip ekf2 
- px4_fmu-v5_stackcheck switch from icm20689 -> bmi055 (lower rate)
 - this is to make performance tolerable
 2022-01-01 18:43:27 -05:00
Daniel Agar
03371f8522 NuttX with bch flush backport 2021-12-31 10:59:56 -08:00
Daniel Agar
6d0339ba0c I2CSPIDriverBase: sensor start failure ERROR if internal, WARN if external 2021-12-28 11:05:35 -05:00
Daniel Agar
d94767ef88 cmake: NuttX use cygwin friendly path for linker script 2021-12-27 12:19:12 -05:00
Beat Küng
fe1b726b62 ScheduledWorkItem: do not call ScheduleClear() if not init in destructor 
This avoids that unit tests trying to access a wq hang.
It still fails with an error currently.
 2021-12-24 20:06:13 -05:00
Beat Küng
590239dedb work_queue: increase rate_ctrl stack size by 150 B 
WARN  [load_mon] wq:rate_ctrl low on stack! (172 bytes left)
 2021-12-24 20:06:13 -05:00
Daniel Agar
38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
PX4 BuildBot
a069a47d50 Update submodule nuttx to latest Thu Dec 23 18:11:37 UTC 2021 
- nuttx in PX4/Firmware (d0ce5705359f8beeb9faf7fa0d12279e03bb7ac7): d4c06e9dfb
    - nuttx current upstream: 378032a44b
    - Changes: d4c06e9dfb...378032a44b

    378032a44b 2021-12-15 David Sidrane - [BACKPORT] stm32f7:sdmmc invalidate before DMA to avoid eviction overwrite
 2021-12-23 14:50:47 -05:00
Daniel Agar
a4040f7afd px4io_serial: always perform full abort DMA on error 
- enable DMA error perf count
 2021-12-23 12:48:42 -05:00
Beat Küng
e29759d877 WorkQueueManager: explicitly convert PTHREAD_STACK_MIN to int 
fixes a compiler error on GCC 11.2.1:
error: no matching function for call to ‘max(long int, int)’
 2021-12-22 08:47:33 -05:00
Igor Mišić
298a8c4637 boards/fmu-v5x: allocating PPS pin 
- start pps_capture before pwm_out
 2021-12-17 07:56:08 +01:00
Igor Mišić
60a212f717 px4_arch: add PX4_MAKE_GPIO_EXTI 2021-12-17 07:56:08 +01:00
Jukka Laitinen
ce6147f570 uORB: Remove transfer of memory allocation ownership to CDev 
- Allocate and free the node name in uORBDeviceNode.
- Add protected build support by de-allocating the name with kmm_free, when
  running in kernel side. strdup allocates from the kernel heap in NuttX kernel
  space.
- Remove the CDev::unregister_driver_and_memory(), it is no longer used

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-13 22:52:36 -05:00
Jukka Laitinen
77af102cab px4_work_queue: Use px4_task_spawn_cmd for WorkQueueRunner in NuttX protected 
In NuttX protected build there are separate work queues in kernel and user sides.

pthreads are only available in user side, so use tasks and kthreads for
memory protected builds.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-09 20:42:28 -05:00
Jukka Laitinen
3aab4d2daf px4_task_spawn_cmd: launch kernel thread in protected/kernel build on kernel side 
Also task name is accessible only in kernel side for protected/kernel build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-09 20:42:28 -05:00
Jukka Laitinen
d0d7f29422 platforms/common/shutdown.cpp: Enable boardctl functions for shutdown and poweroff 
Shutdown and poweroff must go through boardctl in NuttX protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-12-07 09:24:53 -05:00
Daniel Agar
9db5bc0755 px4_mtd: increase retries, wait inbetween, try decreasing frequency 2021-12-06 09:37:08 -05:00
Daniel Agar
f63a7642d6 NuttX debug helper improvements 
- use NuttX gdb script for nxthreads and thread backtrace
 - update jlink_gdb_backtrace and jlink_debug_gdb helper targets to use
NuttX gdb script
 - Debug/PX4 fix "perf" divide by zero
 - Debug/PX4 add "dmesg"
 2021-12-05 19:18:56 -05:00
Beat Küng
cbd6e735ad fix console_buffer: avoid potential deadlock when using dmesg over MAVLink shell 
dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.
 2021-11-30 08:49:52 -05:00
Daniel Agar
bc7001ba49 NuttX apps with [REJECTED] mkfatfs DMA memory change 2021-11-29 21:49:35 -05:00
Jukka Laitinen
929820136a Move sw_crypto and stub_keystore under src/drivers 
This is more logical place for the "backend" implementation than
directly under platform.

This also allows making other implementations as "real" drivers, as well as proper configuration via Kconfigs

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-29 11:09:51 -05:00
David Sidrane
7393a68e28 NuttX with ramtron and BCH backports 2021-11-26 19:27:29 -05:00
Daniel Agar
51da169ccb cmake: nuttx apps build depend .c and .h files 2021-11-25 17:24:23 -05:00
Daniel Agar
7d985ec7c5 NuttX with Backports for SD fixes 2021-11-25 13:11:45 -05:00
David Sidrane
3cf901b29c NuttX Apps with backport CONFIG_MKFATFS_BUFFER_ALIGMENT 2021-11-24 09:46:23 -05:00
Jukka Laitinen
b66270f8a8 Inline uORBDeviceNode::copy for performance improvement 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen
3f884c5d24 Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster 
This gives a small performance improvement

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00