fixup! Update submodules nuttx, apps

New Branch: px4/pr-fdcan-socketcan-latest Includes IRQ -> work queue updates
mro_ctrl-zero-h7-oem: Update socketcan NuttX config
2026-05-23 18:57:35 +08:00 · 2022-05-04 08:36:02 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00
189 changed files with 1319 additions and 331 deletions
@@ -24,12 +24,12 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev/stm32h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = git@github.com:JacobCrabill/incubator-nuttx-apps.git
+	branch = dev/nuttx-10.2.0
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -111,6 +111,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -124,6 +125,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -227,5 +229,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -88,6 +88,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -101,6 +102,7 @@ CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -150,5 +152,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -155,5 +157,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -156,5 +158,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -235,5 +237,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 #include <stm32_pwr.h>

@@ -141,6 +141,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -155,6 +156,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -267,5 +269,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -109,6 +109,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
@@ -121,6 +122,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -185,5 +187,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -108,6 +108,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
@@ -120,6 +121,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -184,5 +186,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -59,4 +59,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -91,6 +91,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -104,6 +105,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -152,5 +154,5 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -238,6 +240,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -237,6 +239,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -119,6 +119,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -134,6 +135,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -228,6 +230,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -0,0 +1,247 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_REBOOT is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SHUTDOWN is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CANUTILS_CANDUMP=y
+CONFIG_CANUTILS_CANSEND=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1016
+CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x2DAE
+CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FDCAN2=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -226,6 +228,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -0,0 +1,22 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -119,6 +119,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -134,6 +135,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -234,5 +236,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -61,5 +61,5 @@ CONFIG_USART3_RXBUFSIZE=64
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=64
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=1100
-CONFIG_USER_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
+CONFIG_INIT_ENTRYPOINT="user_start"
@@ -64,4 +64,4 @@ CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -103,6 +103,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -118,6 +119,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -171,5 +173,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -48,7 +48,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -91,6 +91,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -104,6 +105,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -159,5 +161,5 @@ CONFIG_USART2_RXDMA=y
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=2500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -90,5 +90,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -119,6 +119,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -134,6 +135,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -237,6 +239,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -122,6 +122,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -135,6 +136,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -216,5 +218,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -119,6 +119,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -134,6 +135,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -219,6 +221,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -239,5 +241,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -69,7 +69,7 @@ uint16_t board_get_can_interfaces(void)
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -61,4 +61,4 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=2944
@@ -109,6 +109,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -122,6 +123,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -191,5 +193,5 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -90,5 +90,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -110,6 +110,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -124,6 +125,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -224,6 +226,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -244,5 +246,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -119,6 +119,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -134,6 +135,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -240,7 +242,7 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
 CONFIG_WQUEUE_NOTIFIER=y
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -234,5 +236,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -232,5 +234,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -90,5 +90,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -53,7 +54,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="mRo"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -62,7 +62,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -85,6 +84,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -120,6 +121,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -135,11 +137,11 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -233,5 +235,3 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,246 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1024
+CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="mRo"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FDCAN2=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI5_DMA=y
+CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,12 @@
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -47,7 +47,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -90,5 +90,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -53,7 +54,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="mRo"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -62,7 +62,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -85,6 +84,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -120,6 +121,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -135,11 +137,11 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -230,5 +232,3 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -47,7 +47,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -90,5 +90,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -230,6 +232,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -234,5 +236,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -112,6 +112,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -125,6 +126,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -227,5 +229,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>

 #include "board_config.h"
@@ -183,6 +183,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
@@ -223,6 +224,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -183,6 +183,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
@@ -223,6 +224,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -51,7 +51,7 @@

 #include <chip.h>
 #include <kinetis.h>
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "board_config.h"

@@ -67,7 +67,7 @@
 #include <kinetis_lpuart.h>
 #include "board_config.h"

-#include "arm_arch.h"
+#include "arm_internal.h"
 #include <arch/board/board.h>

 #include <drivers/drv_hrt.h>
@@ -47,7 +47,7 @@
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>

-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 #include <kinetis.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <kinetis.h>
 #include <kinetis_usbotg.h>
 #include "board_config.h"
@@ -181,6 +181,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
@@ -219,6 +220,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -182,6 +182,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
@@ -220,6 +221,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -67,7 +67,7 @@
 #include <kinetis_lpuart.h>
 #include "board_config.h"

-#include "arm_arch.h"
+#include "arm_internal.h"
 #include <arch/board/board.h>

 #include <drivers/drv_hrt.h>
@@ -47,7 +47,7 @@
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>

-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 #include <kinetis.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <kinetis.h>
 #include <kinetis_usbotg.h>
 #include "board_config.h"
@@ -199,6 +199,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1800
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -227,6 +228,6 @@ CONFIG_USBDEV_DMA=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JacobCrabill	05a2a32150	fixup! Update submodules nuttx, apps New Branch: px4/pr-fdcan-socketcan-latest Includes IRQ -> work queue updates	2022-05-04 08:36:02 -07:00
JacobCrabill	5d63091d35	mro_ctrl-zero-h7-oem: Update socketcan NuttX config	2022-04-12 15:57:21 -07:00
JacobCrabill	7092e1074c	fmu-v4: Add SocketCAN board config	2022-04-12 15:57:21 -07:00
JacobCrabill	02891125fd	boards: Fix CONFIG_DISABLE_PTHREAD Previously, the default was 'n'. Now, the default is based on CONFIG_DEFAULT_SMALL, so to re-enable, it must be set to 'n' in defconfig.	2022-04-12 15:57:21 -07:00
JacobCrabill	d6c505ad96	boards: Fix cpuload breakage from nuttx-10.3.0 Add CONFIG_SCHED_INTSTRUMENTATION_SWITCH=y to all boards with CONFIG_SCHED_INTSTRUMENTATION=y	2022-04-12 15:57:21 -07:00
JacobCrabill	88100f516d	boards: Changes for nuttx-10.3.0 sed -i 's/arm_arch.h/arm_internal.h/g'	2022-04-12 15:57:21 -07:00
JacobCrabill	e37382edcb	boards: Update NuttX configs for NuttX 10.3.0 Rename USER_ENTRYPOINT -> INIT_ENTRYPOINT Rename USERMAIN_STACKSIZE -> INIT_STACKSIZE	2022-04-12 15:57:21 -07:00
JacobCrabill	093abc42fb	nuttx/px4/common: Rename MTDIOC_XIPBASE -> BIOC_XIPBASE Reuired by nuttx-10.2.0	2022-04-12 15:57:21 -07:00
JacobCrabill	6230f72ce7	uavcan_v1: Fix UavcanEscController / MixingOutput + Fix bug: lack of use of CONFIG_UAVCAN_V1_ESC_CONTROLLER + Properly initialize _esc_controller and _mixing_output	2022-04-12 15:57:21 -07:00
JacobCrabill	369f7e9e85	boards: update SocketCAN / UAVCANv1 board configs	2022-04-12 15:57:21 -07:00
JacobCrabill	1dfb98714d	uavcan_v1: Publishers now SubscriptionCallbackWorkItems Publishers now register the UavcanNode WorkItem for callback upon update to uORB topics, triggering Publisher updates and immediate transmission This should resolve transmission latency issues	2022-04-12 15:57:21 -07:00
JacobCrabill	2096e3ebf2	uavcan_v1: Add Publishers dir to includes	2022-04-12 15:57:21 -07:00
JacobCrabill	d3ac2a0869	uavcan_v1: SocketCAN set 'can_fd' based on CONFIG	2022-04-12 15:57:21 -07:00
JacobCrabill	aba7e592c3	uavcan_v1: Immediate transmit() from Publishers Add 'do_transmit()' to UavcanNode Add 'transmit()' to Publisher base class to call do_transmit() Call transmit() after canardTxPush from Publishers	2022-04-12 15:57:21 -07:00
JacobCrabill	8cd4055da9	mro/ctrl-zero-h7-oem: Start adding socketcan support	2022-04-12 15:57:21 -07:00
JacobCrabill	03ab57d80c	cubeorange: Add TX_DEADLINE support	2022-04-12 15:57:21 -07:00
JacobCrabill	e128227293	HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-04-12 15:57:21 -07:00
JacobCrabill	0a77f87715	mavlink: Replace CONFIG_NET with CONFIG_NET_UDP Allows use of SocketCAN w/o also enabling UDP support in NuttX	2022-04-12 15:57:21 -07:00
JacobCrabill	8662dd83ab	Orange Cube: Add socketcan target	2022-04-12 15:57:14 -07:00
JacobCrabill	99cad3ea9f	Update submodules nuttx, apps	2022-04-12 15:55:57 -07:00