WIP: device tree MVP

2026-05-27 12:50:04 +08:00 · 2022-01-06 17:20:17 -05:00
2031 changed files with 83927 additions and 22342 deletions
@@ -60,8 +60,6 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -73,8 +73,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
@@ -143,8 +145,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
@@ -213,8 +217,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
@@ -282,8 +288,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
@@ -352,8 +360,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
@@ -442,8 +452,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
@@ -524,8 +536,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
@@ -594,8 +608,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
@@ -664,8 +680,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
@@ -725,10 +743,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -762,7 +778,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -774,8 +789,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  // stop logger
@@ -797,8 +812,6 @@ void runTests() {

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -844,7 +857,7 @@ void runTests() {
 void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'

  // these are for casually inspecting the system, output failure doesn't matter
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -33,10 +33,8 @@ jobs:
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
-          holybro_kakuteh7,
          holybro_pix32v5,
          matek_h743-slim,
-          matek_gnss-m9n-f4,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "platforms/nuttx/src/px4/stm/hal_stm32"]
+	path = platforms/nuttx/src/px4/stm/hal_stm32
+	url = git@github.com:zephyrproject-rtos/hal_stm32.git
@@ -196,16 +196,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 FULL_DOCS "List of all PX4 module libraries"
                 )

-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -419,6 +413,8 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)

+include(dts)
+
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
 endif()
@@ -118,11 +118,6 @@ config BOARD_CRYPTO
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"

    config BOARD_SERIAL_URT6
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

 # Pick up specific Python path if set
@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default FW_USE_NPFG 1
-
 param set-default RWTO_TKOFF 1

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -234,7 +234,7 @@ fi

 if param greater -s MNT_MODE_IN -1
 then
-	gimbal start
+	vmount start
 fi

 if param greater -s TRIG_MODE 0
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25

 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
@@ -15,8 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -15,8 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -24,27 +24,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4

 param set-default PWM_AUX_DIS5 950

@@ -13,25 +13,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6

 param set-default PWM_MAIN_MAX 2000

@@ -31,32 +31,6 @@ param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-
-param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_TL_COUNT 4
-
 set MAV_TYPE 21

 set MIXER quad_x
@@ -23,20 +23,6 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-
 param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
@@ -23,18 +23,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50

@@ -21,16 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
@@ -16,10 +16,8 @@

 . ${R}etc/init.d/rc.mc_defaults

-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none

 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3


@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
-param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
-param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -147,31 +141,58 @@ param set-default MPC_Z_VEL_P 0.27


 # gimbal configuration
-param set-default MNT_MODE_IN 0
-param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
-param set-default MNT_RATE_PITCH 30
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+

 # RC
 param set-default RC_CHAN_CNT       12

 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX2       5
-param set-default RC_MAP_AUX3       10
-param set-default RC_MAP_AUX4       8
-param set-default RC_MAP_FLTMODE    6
-param set-default RC1_TRIM          1000
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048


 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT    4

-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -23,23 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.5
-param set-default CA_ROTOR2_PX 0.43
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.43
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR4_PX 0.43
-param set-default CA_ROTOR4_PY 0.25
-param set-default CA_ROTOR5_PX -0.43
-param set-default CA_ROTOR5_PY -0.25
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_x

 # Need to set all 8 channels
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05
+
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05
+
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05
+
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none
@@ -23,23 +23,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.43
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX 0.25
-param set-default CA_ROTOR3_PY 0.43
-param set-default CA_ROTOR4_PX 0.25
-param set-default CA_ROTOR4_PY -0.43
-param set-default CA_ROTOR5_PX -0.25
-param set-default CA_ROTOR5_PY 0.43
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_+

 # Need to set all 8 channels
@@ -25,28 +25,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PX 0.46
-param set-default CA_ROTOR0_PY 0.19
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PX -0.46
-param set-default CA_ROTOR1_PY -0.19
-param set-default CA_ROTOR2_PX 0.19
-param set-default CA_ROTOR2_PY 0.46
-param set-default CA_ROTOR3_PX -0.46
-param set-default CA_ROTOR3_PY 0.19
-param set-default CA_ROTOR4_PX 0.46
-param set-default CA_ROTOR4_PY -0.19
-param set-default CA_ROTOR5_PX -0.19
-param set-default CA_ROTOR5_PY -0.46
-param set-default CA_ROTOR6_KM -0.05
-param set-default CA_ROTOR6_PX 0.19
-param set-default CA_ROTOR6_PY -0.46
-param set-default CA_ROTOR7_KM -0.05
-param set-default CA_ROTOR7_PX -0.19
-param set-default CA_ROTOR7_PY 0.46
-
 set MIXER octo_x

 set PWM_OUT 12345678
@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -72,7 +71,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
-	4019_x500_v2
+	4018_s500_ctrlalloc
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -99,6 +98,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc

 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
@@ -7,10 +7,7 @@

 set VEHICLE_TYPE mc

-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800

 param set-default NAV_ACC_RAD 2

@@ -130,13 +130,6 @@ then
 	fi
 fi

-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -291,9 +291,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +415,17 @@ else
 		commander start
 	fi

+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +444,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +483,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup

-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#
@@ -486,11 +494,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal

 	#
-	# Start gimbal to control mounts such as gimbals, disabled by default.
+	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		gimbal start
+		vmount start
 	fi

 	# Check for flow sensor
@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )
@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
---------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
--------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000
@@ -21,25 +21,13 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo
-	echo
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo " Airframe: $airframe"
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo

 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-
-	# enable all mavlink instances
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
-
-	# enable all GPS
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -47,16 +35,13 @@ do

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
-
 done
@@ -10,6 +10,7 @@ fi
 exec find boards msg src platforms test \
    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
+    -path platforms/nuttx/src/px4/stm/hal_stm32 -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
@@ -0,0 +1,32 @@
+This directory used to contain the edtlib.py and dtlib.py libraries
+and tests, alongside the gen_defines.py script that uses them for
+converting DTS to the C macros used by Zephyr.
+
+The libraries and tests have now been moved to the 'python-devicetree'
+subdirectory.
+
+We are now in the process of extracting edtlib and dtlib into a
+standalone source code library that we intend to share with other
+projects.
+
+Links related to the work making this standalone:
+
+    https://pypi.org/project/devicetree/
+    https://python-devicetree.readthedocs.io/en/latest/
+    https://github.com/zephyrproject-rtos/python-devicetree
+
+The 'python-devicetree' subdirectory you find here next to this
+README.txt matches the standalone python-devicetree repository linked
+above.
+
+For now, the 'main' copy will continue to be hosted here in the zephyr
+repository. We will mirror changes into the standalone repository as
+needed; you can just ignore it for now.
+
+Code in the zephyr repository which needs these libraries will import
+devicetree.edtlib from now on, but the code will continue to be found
+by manipulating sys.path for now.
+
+Eventually, as APIs stabilize, the python-devicetree code in this
+repository will disappear, and a standalone repository will be the
+'main' one.
@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+'''
+This script uses edtlib and the devicetree data in the build directory
+to generate a CMake file which contains devicetree data.
+
+That data can then be used in the rest of the build system.
+
+The generated CMake file looks like this:
+
+  add_custom_target(devicetree_target)
+  set_target_properties(devicetree_target PROPERTIES
+                        "DT_PROP|/soc|compatible" "vnd,soc;")
+  ...
+
+It defines a special CMake target, and saves various values in the
+devicetree as CMake target properties.
+
+Be careful:
+
+  "Property" here can refer to a CMake target property or a
+  DTS property. DTS property values are stored inside
+  CMake target properties, along with other devicetree data.
+
+The build system includes this generated file early on, so
+devicetree values can be used at CMake processing time.
+
+Accss is not done directly, but with Zephyr CMake extension APIs,
+like this:
+
+  # sets 'compat' to "vnd,soc" in CMake
+  dt_prop(compat PATH "/soc" PROPERTY compatible INDEX 0)
+
+This is analogous to how DTS values are encoded as C macros,
+which can be read in source code using C APIs like
+DT_PROP(node_id, foo) from devicetree.h.
+'''
+
+import argparse
+import os
+import pickle
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(__file__), 'python-devicetree',
+                             'src'))
+
+
+def parse_args():
+    # Returns parsed command-line arguments
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--cmake-out", required=True,
+                        help="path to write the CMake property file")
+    parser.add_argument("--edt-pickle", required=True,
+                        help="path to read the pickled edtlib.EDT object from")
+
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+
+    with open(args.edt_pickle, 'rb') as f:
+        edt = pickle.load(f)
+
+    # In what looks like an undocumented implementation detail, CMake
+    # target properties are stored in a C++ standard library map whose
+    # keys and values are each arbitrary strings, so we can use
+    # whatever we want as target property names.
+    #
+    # We therefore use '|' as a field separator character below within
+    # because it's not a valid character in DTS node paths or property
+    # names. This lets us store the "real" paths and property names
+    # without conversion to lowercase-and-underscores like we have to
+    # do in C.
+    #
+    # If CMake adds restrictions on target property names later, we
+    # can just tweak the generated file to use a more restrictive
+    # property encoding, perhaps reusing the same style documented in
+    # macros.bnf for C macros.
+
+    cmake_props = []
+    chosen_nodes = edt.chosen_nodes
+    for node in chosen_nodes:
+        path = chosen_nodes[node].path
+        cmake_props.append(f'"DT_CHOSEN|{node}" "{path}"')
+
+    # The separate loop over edt.nodes here is meant to keep
+    # all of the alias-related properties in one place.
+    for node in edt.nodes:
+        path = node.path
+        for alias in node.aliases:
+            cmake_props.append(f'"DT_ALIAS|{alias}" "{path}"')
+
+    for node in edt.nodes:
+        cmake_props.append(f'"DT_NODE|{node.path}" TRUE')
+
+        for label in node.labels:
+            cmake_props.append(f'"DT_NODELABEL|{label}" "{node.path}"')
+
+        for item in node.props:
+            # We currently do not support phandles for edt -> cmake conversion.
+            if "phandle" not in node.props[item].type:
+                if "array" in node.props[item].type:
+                    # Convert array to CMake list
+                    cmake_value = ''
+                    for val in node.props[item].val:
+                        cmake_value = f'{cmake_value}{val};'
+                else:
+                    cmake_value = node.props[item].val
+
+                # Encode node's property 'item' as a CMake target property
+                # with a name like 'DT_PROP|<path>|<property>'.
+                cmake_prop = f'DT_PROP|{node.path}|{item}'
+                cmake_props.append(f'"{cmake_prop}" "{cmake_value}"')
+
+        if node.regs is not None:
+            cmake_props.append(f'"DT_REG|{node.path}|NUM" "{len(node.regs)}"')
+            cmake_addr = ''
+            cmake_size = ''
+
+            for reg in node.regs:
+                if reg.addr is None:
+                    cmake_addr = f'{cmake_addr}NONE;'
+                else:
+                    cmake_addr = f'{cmake_addr}{hex(reg.addr)};'
+
+                if reg.size is None:
+                    cmake_size = f'{cmake_size}NONE;'
+                else:
+                    cmake_size = f'{cmake_size}{hex(reg.size)};'
+
+            cmake_props.append(f'"DT_REG|{node.path}|ADDR" "{cmake_addr}"')
+            cmake_props.append(f'"DT_REG|{node.path}|SIZE" "{cmake_size}"')
+
+    with open(args.cmake_out, "w", encoding="utf-8") as cmake_file:
+        print('add_custom_target(devicetree_target)', file=cmake_file)
+        print(file=cmake_file)
+
+        for prop in cmake_props:
+            print(
+                f'set_target_properties(devicetree_target PROPERTIES {prop})',
+                file=cmake_file
+            )
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,7 @@
+dist/
+src/devicetree.egg-info/
+build/
+devicetree.egg-info/
+__pycache__/
+.tox/
+doc/build/
@@ -0,0 +1 @@
+sphinx_rtd_theme                # docs
@@ -0,0 +1,42 @@
+# Copyright (c) 2021, Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import setuptools
+
+long_description = '''
+Placeholder
+===========
+
+This is just a placeholder for moving Zephyr's devicetree libraries
+to PyPI.
+'''
+
+version = '0.0.1'
+
+setuptools.setup(
+    # TBD, just use these for now.
+    author='Zephyr Project',
+    author_email='devel@lists.zephyrproject.org',
+
+    name='devicetree',
+    version=version,
+    description='Python libraries for devicetree',
+    long_description=long_description,
+    # http://docutils.sourceforge.net/FAQ.html#what-s-the-official-mime-type-for-restructuredtext-data
+    long_description_content_type="text/x-rst",
+    url='https://github.com/zephyrproject-rtos/python-devicetree',
+    packages=setuptools.find_packages(where='src'),
+    package_dir={'': 'src'},
+    classifiers=[
+        'Programming Language :: Python :: 3 :: Only',
+        'License :: OSI Approved :: Apache Software License',
+        'Operating System :: POSIX :: Linux',
+        'Operating System :: MacOS :: MacOS X',
+        'Operating System :: Microsoft :: Windows',
+    ],
+    install_requires=[
+        'PyYAML>=5.1',
+    ],
+    python_requires='>=3.6',
+)
@@ -0,0 +1,4 @@
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+__all__ = ['edtlib', 'dtlib']
@@ -0,0 +1,161 @@
+# Copyright 2009-2013, 2019 Peter A. Bigot
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# This implementation is derived from the one in
+# [PyXB](https://github.com/pabigot/pyxb), stripped down and modified
+# specifically to manage edtlib Node instances.
+
+import collections
+
+class Graph:
+    """
+    Represent a directed graph with edtlib Node objects as nodes.
+
+    This is used to determine order dependencies among nodes in a
+    devicetree.  An edge from C{source} to C{target} indicates that
+    some aspect of C{source} requires that some aspect of C{target}
+    already be available.
+    """
+
+    def __init__(self, root=None):
+        self.__roots = None
+        if root is not None:
+            self.__roots = {root}
+        self.__edge_map = collections.defaultdict(set)
+        self.__reverse_map = collections.defaultdict(set)
+        self.__nodes = set()
+
+    def add_edge(self, source, target):
+        """
+        Add a directed edge from the C{source} to the C{target}.
+
+        The nodes are added to the graph if necessary.
+        """
+        self.__edge_map[source].add(target)
+        if source != target:
+            self.__reverse_map[target].add(source)
+        self.__nodes.add(source)
+        self.__nodes.add(target)
+
+    def roots(self):
+        """
+        Return the set of nodes calculated to be roots (i.e., those
+        that have no incoming edges).
+
+        This caches the roots calculated in a previous invocation.
+
+        @rtype: C{set}
+        """
+        if not self.__roots:
+            self.__roots = set()
+            for n in self.__nodes:
+                if n not in self.__reverse_map:
+                    self.__roots.add(n)
+        return self.__roots
+
+    def _tarjan(self):
+        # Execute Tarjan's algorithm on the graph.
+        #
+        # Tarjan's algorithm
+        # (http://en.wikipedia.org/wiki/Tarjan%27s_strongly_connected_components_algorithm)
+        # computes the strongly-connected components
+        # (http://en.wikipedia.org/wiki/Strongly_connected_component)
+        # of the graph: i.e., the sets of nodes that form a minimal
+        # closed set under edge transition.  In essence, the loops.
+        # We use this to detect groups of components that have a
+        # dependency cycle, and to impose a total order on components
+        # based on dependencies.
+
+        self.__stack = []
+        self.__scc_order = []
+        self.__index = 0
+        self.__tarjan_index = {}
+        self.__tarjan_low_link = {}
+        for v in self.__nodes:
+            self.__tarjan_index[v] = None
+        roots = sorted(self.roots(), key=node_key)
+        if self.__nodes and not roots:
+            raise Exception('TARJAN: No roots found in graph with {} nodes'.format(len(self.__nodes)))
+
+        for r in roots:
+            self._tarjan_root(r)
+
+        # Assign ordinals for edtlib
+        ordinal = 0
+        for scc in self.__scc_order:
+            # Zephyr customization: devicetree Node graphs should have
+            # no loops, so all SCCs should be singletons.  That may
+            # change in the future, but for now we only give an
+            # ordinal to singletons.
+            if len(scc) == 1:
+                scc[0].dep_ordinal = ordinal
+                ordinal += 1
+
+    def _tarjan_root(self, v):
+        # Do the work of Tarjan's algorithm for a given root node.
+
+        if self.__tarjan_index.get(v) is not None:
+            # "Root" was already reached.
+            return
+        self.__tarjan_index[v] = self.__tarjan_low_link[v] = self.__index
+        self.__index += 1
+        self.__stack.append(v)
+        source = v
+        for target in sorted(self.__edge_map[source], key=node_key):
+            if self.__tarjan_index[target] is None:
+                self._tarjan_root(target)
+                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
+            elif target in self.__stack:
+                self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
+
+        if self.__tarjan_low_link[v] == self.__tarjan_index[v]:
+            scc = []
+            while True:
+                scc.append(self.__stack.pop())
+                if v == scc[-1]:
+                    break
+            self.__scc_order.append(scc)
+
+    def scc_order(self):
+        """Return the strongly-connected components in order.
+
+        The data structure is a list, in dependency order, of strongly
+        connected components (which can be single nodes).  Appearance
+        of a node in a set earlier in the list indicates that it has
+        no dependencies on any node that appears in a subsequent set.
+        This order is preferred over a depth-first-search order for
+        code generation, since it detects loops.
+        """
+        if not self.__scc_order:
+            self._tarjan()
+        return self.__scc_order
+    __scc_order = None
+
+    def depends_on(self, node):
+        """Get the nodes that 'node' directly depends on."""
+        return sorted(self.__edge_map[node], key=node_key)
+
+    def required_by(self, node):
+        """Get the nodes that directly depend on 'node'."""
+        return sorted(self.__reverse_map[node], key=node_key)
+
+def node_key(node):
+    # This sort key ensures that sibling nodes with the same name will
+    # use unit addresses as tiebreakers. That in turn ensures ordinals
+    # for otherwise indistinguishable siblings are in increasing order
+    # by unit address, which is convenient for displaying output.
+
+    if node.parent:
+        parent_path = node.parent.path
+    else:
+        parent_path = '/'
+
+    if node.unit_addr is not None:
+        name = node.name.rsplit('@', 1)[0]
+        unit_addr = node.unit_addr
+    else:
+        name = node.name
+        unit_addr = -1
+
+    return (parent_path, name, unit_addr)
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Binding in test-bindings-2/
+
+compatible: "in-dir-2"
@@ -0,0 +1 @@
+This directory contains bindings used to test the 'include:' feature.
@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  An include must not give both an allowlist and a blocklist in a
+  child binding. This binding should cause an error.
+compatible: allow-and-blocklist-child
+include:
+  - name: include.yaml
+    child-binding:
+      property-blocklist: [x]
+      property-allowlist: [y]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  An include must not give both an allowlist and a blocklist.
+  This binding should cause an error.
+compatible: allow-and-blocklist
+include:
+  - name: include.yaml
+    property-blocklist: [x]
+    property-allowlist: [y]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  A property-allowlist, if given, must be a list. This binding should
+  cause an error.
+compatible: allow-not-list
+include:
+  - name: include.yaml
+    property-allowlist:
+      foo:
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Valid property-allowlist.
+compatible: allowlist
+include:
+  - name: include.yaml
+    property-allowlist: [x]
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  A property-blocklist, if given, must be a list. This binding should
+  cause an error.
+compatible: block-not-list
+include:
+  - name: include.yaml
+    property-blocklist:
+      foo:
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Valid property-blocklist.
+compatible: blocklist
+include:
+  - name: include.yaml
+    property-blocklist: [x]
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: An empty property-allowlist is valid.
+compatible: empty-allowlist
+include:
+  - name: include.yaml
+    property-allowlist: []
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: An empty property-blocklist is valid.
+compatible: empty-blocklist
+include:
+  - name: include.yaml
+    property-blocklist: []
@@ -0,0 +1,11 @@
+description: Test binding for filtering 'child-binding' properties
+
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+    child-binding:
+      property-blocklist: [child-prop-1]
+      child-binding:
+        property-allowlist: [grandchild-prop-1]
+
+compatible: filter-child-bindings
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Second file for testing "intermixed" includes.
+compatible: include-2
+properties:
+  a:
+    type: int
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  Invalid include element: invalid keys are present.
+compatible: include-invalid-keys
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+    bad-key-1: 3
+    bad-key-2: 3
@@ -0,0 +1,5 @@
+description: |
+  Invalid include: wrong top level type.
+compatible: include-invalid-type
+include:
+  a-map-is-not-allowed-here: 3
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: A map element with just a name is valid, and has no filters.
+compatible: include-no-list
+include:
+  - name: include.yaml
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: |
+  Invalid include element: no name key is present.
+compatible: include-no-name
+include:
+  - property-allowlist: [x]
@@ -0,0 +1,24 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Test file for including other bindings
+compatible: include
+properties:
+  x:
+    type: int
+  y:
+    type: int
+  z:
+    type: int
+child-binding:
+  properties:
+    child-prop-1:
+      type: int
+    child-prop-2:
+      type: int
+
+  child-binding:
+    properties:
+      grandchild-prop-1:
+        type: int
+      grandchild-prop-2:
+        type: int
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Including intermixed file names and maps is valid.
+compatible: intermixed
+include:
+  - name: include.yaml
+    property-allowlist: [x]
+  - include-2.yaml
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Bar bus controller
+
+compatible: "bar-bus"
+
+bus: "bar"
@@ -0,0 +1,20 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: child-binding with separate compatible than the parent
+
+compatible: "top-binding-with-compat"
+
+child-binding:
+    compatible: child-compat
+    description: child node
+    properties:
+        child-prop:
+            type: int
+            required: true
+
+    child-binding:
+        description: grandchild node
+        properties:
+            grandchild-prop:
+                type: int
+                required: true
@@ -0,0 +1,19 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: child-binding test
+
+compatible: "top-binding"
+
+child-binding:
+    description: child node
+    properties:
+        child-prop:
+            type: int
+            required: true
+
+    child-binding:
+        description: grandchild node
+        properties:
+            grandchild-prop:
+                type: int
+                required: true
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+include: [grandchild-1.yaml, grandchild-2.yaml, grandchild-3.yaml]
+
+properties:
+    bar:
+        required: true
+        type: int
@@ -0,0 +1,36 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property default value test
+
+compatible: "defaults"
+
+properties:
+    int:
+        type: int
+        required: false
+        default: 123
+
+    array:
+        type: array
+        required: false
+        default: [1, 2, 3]
+
+    uint8-array:
+        type: uint8-array
+        required: false
+        default: [0x89, 0xAB, 0xCD]
+
+    string:
+        type: string
+        required: false
+        default: "hello"
+
+    string-array:
+        type: string-array
+        required: false
+        default: ["hello", "there"]
+
+    default-not-used:
+        type: int
+        required: false
+        default: 123
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property deprecated value test
+
+compatible: "test-deprecated"
+
+properties:
+    oldprop:
+        type: int
+        deprecated: true
+        required: false
+
+    curprop:
+        type: int
+        required: false
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on any bus
+
+compatible: "on-any-bus"
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on bar bus
+
+compatible: "on-bus"
+
+on-bus: "bar"
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device on foo bus
+
+compatible: "on-bus"
+
+on-bus: "foo"
@@ -0,0 +1,36 @@
+# Copyright (c) 2020 Nordic Semiconductor ASA
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Property enum test
+
+compatible: "enums"
+
+properties:
+  int-enum:
+    type: int
+    enum:
+      - 1
+      - 2
+      - 3
+
+  string-enum:                  # not tokenizable
+    type: string
+    enum:
+      - foo bar
+      - foo_bar
+
+  tokenizable-lower-enum:       # tokenizable in lowercase only
+    type: string
+    enum:
+      - bar
+      - BAR
+
+  tokenizable-enum:             # tokenizable in lower and uppercase
+    type: string
+    enum:
+      - bar
+      - whitespace is ok
+      - 123 is ok
+
+  no-enum:
+    type: string
@@ -0,0 +1,4 @@
+# A file that mentions a 'compatible' string without actually implementing it.
+# Used to check for issues with how we optimize binding loading.
+
+# props
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Foo bus controller
+
+compatible: "foo-bus"
+
+bus: "foo"
@@ -0,0 +1,4 @@
+properties:
+    foo:
+        type: int
+        required: false
@@ -0,0 +1,4 @@
+properties:
+    foo:
+        type: int
+        required: true
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: GPIO destination for mapping test
+
+compatible: "gpio-dst"
+
+gpio-cells:
+    - val
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: GPIO source for mapping test
+
+compatible: "gpio-src"
+
+properties:
+    foo-gpios:
+        type: phandle-array
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+properties:
+    foo:
+        required: false
+        type: int
+
+    baz:
+        required: true
+        type: int
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+properties:
+    baz:
+        required: true
+        type: int
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+properties:
+    qaz:
+        required: true
+        type: int
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Interrupt controller with one cell
+
+compatible: "interrupt-one-cell"
+
+interrupt-cells:
+    - one
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Interrupt controller with two cells
+
+compatible: "interrupt-two-cell"
+
+interrupt-cells:
+    - one
+    - two
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Interrupt controller with three cells
+
+compatible: "interrupt-three-cell"
+
+interrupt-cells:
+    - one
+    - two
+    - three
@@ -0,0 +1,5 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Binding in test-bindings/
+
+compatible: "in-dir-1"
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Include ordering test
+
+compatible: "order-1"
+
+include: ["foo-required.yaml", "foo-optional.yaml"]
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Include ordering test
+
+compatible: "order-2"
+
+include: ["foo-optional.yaml", "foo-required.yaml"]
@@ -0,0 +1,13 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Parent binding
+
+compatible: "binding-include-test"
+
+include: child.yaml
+
+properties:
+    foo:
+        # Changed from not being required in grandchild-1.yaml
+        required: true
+        # Type set in grandchild
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Controller with zero data values
+
+compatible: "phandle-array-controller-0"
+
+phandle-array-foo-cells: []
@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Controller with one data value
+
+compatible: "phandle-array-controller-1"
+
+phandle-array-foo-cells:
+    - one
+
+gpio-cells:
+    - gpio-one
@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Controller with two data values
+
+compatible: "phandle-array-controller-2"
+
+phandle-array-foo-cells:
+    - one
+    - two
@@ -0,0 +1,50 @@
+# SPDX-License-Identifier: BSD-3-Clause
+
+description: Device.props test
+
+compatible: "props"
+
+properties:
+    nonexistent-boolean:
+        type: boolean
+
+    existent-boolean:
+        type: boolean
+
+    int:
+        type: int
+        const: 1
+
+    array:
+        type: array
+
+    uint8-array:
+        type: uint8-array
+
+    string:
+        type: string
+        const: "foo"
+
+    string-array:
+        type: string-array
+
+    phandle-ref:
+        type: phandle
+
+    phandle-refs:
+        type: phandles
+
+    phandle-array-foos:
+        type: phandle-array
+
+    phandle-array-foo-names:
+        type: string-array
+
+    # There's some slight special-casing for GPIOs in that 'foo-gpios = ...'
+    # gets resolved to #gpio-cells rather than #foo-gpio-cells, so test that
+    # too
+    foo-gpios:
+        type: phandle-array
+
+    path:
+        type: path
--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`This directory contains bindings used to test the 'include:' feature.`