fix(ci): lint test files on PRs without breaking push-to-main

The pr-review-poster was flagging `gtest/gtest.h file not found` on any
PR that added or modified a test file, because clang-tidy-diff-18.py
ran against files that weren't in the compilation database. PR #27004
and PR #26233 both hit this. The root cause is that test TUs only
enter compile_commands.json when BUILD_TESTING is ON, which the
historical clang-tidy build does not enable.

This PR fixes both halves of the problem:

1. Add a second make target `px4_sitl_default-clang-test` that configures
   a separate build dir with -DCMAKE_TESTING=ON. Test TUs land in its
   compile_commands.json with resolved gtest/fuzztest include paths.

2. Add an umbrella `clang-ci` target that depends on both
   `px4_sitl_default-clang` and `px4_sitl_default-clang-test` so the PR
   job prepares both build dirs with one make invocation.

3. On PR events the workflow uses `make clang-ci`, installs
   libclang-rt-18-dev (needed so fuzztest's FUZZTEST_FUZZING_MODE flags
   do not fail the abseil try_compile with a misleading "pthreads not
   found" error), and routes the clang-tidy-diff producer at the
   test-enabled build dir.

4. Push-to-main is left entirely alone: same single build dir, same
   `make px4_sitl_default-clang`, same `make clang-tidy`. Test files
   are not in that DB so run-clang-tidy.py keeps ignoring them exactly
   as before. This preserves green main while ~189 pre-existing
   clang-tidy issues in test files remain untouched; fixing those is
   out of scope for this change.

5. Replace the fragile `:!*/test/*` pathspec filter (which missed flat
   `*Test.cpp` files in module roots) with
   `Tools/ci/clang-tidy-diff-filter.py`, which reads the compilation
   database and drops any changed source file that is not a TU.
   Headers always pass through. Production code that happens to use
   test-like names (src/systemcmds/actuator_test, src/drivers/test_ppm,
   etc.) stays analyzed because those are real px4_add_module targets.

Verified in the ghcr.io/px4/px4-dev:v1.17.0-rc2 container and on the
real CI runner:
- cmake configure with CMAKE_TESTING=ON succeeds after installing
  libclang-rt-18-dev (Found Threads: TRUE)
- compile_commands.json grows from 1333 to 1521 TUs
- Modifying HysteresisTest.cpp with a new `const char *p = NULL`
  correctly flags hicpp-use-nullptr and
  clang-diagnostic-unused-variable on the new line, while pre-existing
  issues on other lines of the same file stay suppressed by
  clang-tidy-diff-18.py's line filter ("Suppressed ... 1 due to line
  filter")
- No gtest/gtest.h false positives
- Push-to-main path unchanged, still green

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.github/actions/build-deb/action.yml

@@ -20,7 +20,7 @@ runs:
   steps:
     - name: Restore ccache
       id: ccache-restore
-      uses: actions/cache/restore@v4
+      uses: actions/cache/restore@v5
       with:
         path: ~/.ccache
         key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
@@ -52,7 +52,7 @@ runs:
       run: ccache -s
 
     - name: Save ccache
-      uses: actions/cache/save@v4
+      uses: actions/cache/save@v5
       if: always()
       with:
         path: ~/.ccache
@@ -108,7 +108,7 @@ runs:
         echo "PASS: gazebo package validation successful"
 
     - name: Upload .deb artifacts
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: ${{ inputs.artifact-name }}
         path: build/px4_sitl_${{ inputs.target }}/*.deb

.github/actions/build-gazebo-sitl/action.yml

@@ -0,0 +1,21 @@
+name: Build Gazebo Classic SITL
+description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
+
+runs:
+  using: composite
+  steps:
+    - name: Build - PX4 Firmware (SITL)
+      shell: bash
+      run: make px4_sitl_default
+
+    - name: Cache - Stats after PX4 Firmware
+      shell: bash
+      run: ccache -s
+
+    - name: Build - Gazebo Classic Plugins
+      shell: bash
+      run: make px4_sitl_default sitl_gazebo-classic
+
+    - name: Cache - Stats after Gazebo Plugins
+      shell: bash
+      run: ccache -s

.github/actions/save-ccache/action.yml

@@ -0,0 +1,22 @@
+name: Save ccache
+description: Print ccache stats and save to cache
+
+inputs:
+  cache-primary-key:
+    description: Primary cache key from setup-ccache output
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Stats
+      if: always()
+      shell: bash
+      run: ccache -s
+
+    - name: Cache - Save ccache
+      if: always()
+      uses: actions/cache/save@v5
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-primary-key }}

.github/actions/setup-ccache/action.yml

@@ -0,0 +1,56 @@
+name: Setup ccache
+description: Restore ccache from cache and configure ccache.conf
+
+inputs:
+  cache-key-prefix:
+    description: Cache key prefix (e.g. ccache-sitl)
+    required: true
+  max-size:
+    description: Max ccache size (e.g. 300M)
+    required: false
+    default: '300M'
+  base-dir:
+    description: ccache base_dir value
+    required: false
+    default: '${GITHUB_WORKSPACE}'
+  install-ccache:
+    description: Install ccache via apt before configuring
+    required: false
+    default: 'false'
+
+outputs:
+  cache-primary-key:
+    description: Primary cache key (pass to save-ccache)
+    value: ${{ steps.restore.outputs.cache-primary-key }}
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Install ccache
+      if: inputs.install-ccache == 'true'
+      shell: bash
+      run: apt-get update && apt-get install -y ccache
+
+    - name: Cache - Restore ccache
+      id: restore
+      uses: actions/cache/restore@v5
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
+          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
+          ${{ inputs.cache-key-prefix }}-
+
+    - name: Cache - Configure ccache
+      shell: bash
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z

.github/workflows/build_all_targets.yml

@@ -69,32 +69,31 @@ jobs:
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
+      seeders: ${{ steps.set-seeders.outputs.seeders }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
       branchname: ${{ steps.set-branch.outputs.branchname }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - name: Cache Python pip
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: ~/.cache/pip
           key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
           restore-keys: |
             ${{ runner.os }}-pip-
 
-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
       - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
+        run: pip3 install -U packaging -r ./Tools/setup/requirements.txt
 
       - id: set-matrix
         name: Generate Build Matrix
         run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
 
+      - id: set-seeders
+        name: Generate Seeder Matrix
+        run: echo "seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)" >> $GITHUB_OUTPUT
+
       - id: set-timestamp
         name: Save Current Timestamp
         run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
@@ -116,11 +115,52 @@ jobs:
           echo "${{ steps.set-branch.outputs.branchname }}"
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
+  # ===========================================================================
+  # CACHE SEEDER JOBS
+  # ===========================================================================
+  # Build one representative target per chip family to warm the ccache.
+  # Matrix jobs fall back to these caches via restore-keys when no
+  # group-specific cache exists yet. If any seeder fails, the build matrix
+  # does not start, catching common build errors early.
+  # ===========================================================================
+
+  seed:
+    name: Seed [${{ matrix.chip_family }}]
+    needs: group_targets
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.seeders) }}
+      fail-fast: false
+    container:
+      image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-seeder
+          max-size: 400M
+      - name: Build seed target
+        run: make ${{ matrix.target }}
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
   setup:
     name: Build [${{ matrix.runner }}][${{ matrix.group }}]
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [group_targets, seed]
+    if: "!failure() && !cancelled()"
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
       fail-fast: false
@@ -131,41 +171,35 @@ jobs:
         password: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Cache - Restore ccache
+        id: ccache-restore
+        uses: actions/cache/restore@v5
         with:
           path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          key: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-${{ github.sha }}
           restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.base_ref || 'main' }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-
 
-      - name: Cache Config and Stats
+      - name: Cache - Configure ccache
         run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = ${{ matrix.cache_size }}" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
 
       - name: Building Artifacts for [${{ matrix.targets }}]
         run: |
@@ -176,23 +210,15 @@ jobs:
           ./Tools/ci/package_build_artifacts.sh
 
       - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
-      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
+      - uses: ./.github/actions/save-ccache
+        if: success()
         with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+          cache-primary-key: ${{ steps.ccache-restore.outputs.cache-primary-key }}
 
   # ===========================================================================
   # ARTIFACT UPLOAD JOB
@@ -211,7 +237,7 @@ jobs:
       uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
       - name: Download Artifacts
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           path: artifacts/
           merge-multiple: true

.github/workflows/build_deb_package.yml

@@ -40,11 +40,10 @@ jobs:
       should_push: ${{ steps.push.outputs.should_push }}
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
-          fetch-tags: true
-          submodules: false
           fetch-depth: 0
+          fetch-tags: true
 
       - name: Set PX4 version
         id: version
@@ -93,7 +92,7 @@ jobs:
           apt-get update && apt-get install -y git
           git config --global --add safe.directory $(realpath .)
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
           fetch-tags: true
@@ -103,7 +102,7 @@ jobs:
         run: ./Tools/ci/use_aws_apt_mirror.sh
 
       - name: Cache apt packages
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: /var/cache/apt/archives
           key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
@@ -136,13 +135,12 @@ jobs:
           - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
-          submodules: false
           fetch-depth: 1
 
       - name: Download Noble .deb artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
           path: docker-context
@@ -157,13 +155,13 @@ jobs:
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
 
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@v4
         with:
           driver: docker-container
           platforms: ${{ matrix.platform }}
 
       - name: Build and push container image
-        uses: docker/build-push-action@v6
+        uses: docker/build-push-action@v7
         with:
           context: docker-context
           file: Tools/packaging/${{ matrix.dockerfile }}

.github/workflows/checks.yml

@@ -12,51 +12,88 @@ on:
     paths-ignore:
       - 'docs/**'
 
+permissions:
+  contents: read
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  build:
-    runs-on: ubuntu-latest
-
+  gate_checks:
+    name: Gate Checks [${{ matrix.check }}]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
         check: [
           "check_format",
           "check_newlines",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
           "module_documentation",
         ]
-
     steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
-          fetch-depth: 0
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
 
       - name: Building [${{ matrix.check }}]
         env:
           PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        run: make ${{ matrix.check }}
 
-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
+  tests:
+    name: Unit Tests
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: write
+    env:
+      GIT_COMMITTER_EMAIL: bot@px4.io
+      GIT_COMMITTER_NAME: PX4BuildBot
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl
+          max-size: 300M
+
+      - name: Build and run unit tests
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: make tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+      - name: Auto-update EKF change indication baselines
+        if: github.event_name == 'push'
+        uses: stefanzweifel/git-auto-commit-action@v7
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update EKF change indication
+
+            See .github/workflows/checks.yml for more details
+
+      - name: Check for EKF functional changes
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/clang-tidy.yml

@@ -16,14 +16,21 @@ permissions:
   contents: read
 
 jobs:
-  clang_tidy:
+  # Push-to-main: unchanged historical behavior. Single clang build dir
+  # with BUILD_TESTING=OFF. `make clang-tidy` builds and analyzes every
+  # TU in compile_commands.json. Test files are not in the DB and
+  # therefore never analyzed.
+  clang_tidy_push:
     name: Clang-Tidy
+    if: github.event_name != 'pull_request'
     runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
     container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
     steps:
     - uses: runs-on/action@v2
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
         fetch-tags: true
@@ -31,39 +38,124 @@ jobs:
     - name: Configure Git Safe Directory
       run: git config --system --add safe.directory '*'
 
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
       with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M
 
-    - name: Configure Compiler Cache
+    - name: Build and Analyze - Clang-Tidy
+      run: make -j$(nproc) clang-tidy
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+  # Pull request: diff-based analysis with a second BUILD_TESTING=ON
+  # build dir so test files in the PR diff can be linted by
+  # clang-tidy-diff-18.py with resolved gtest/fuzztest includes.
+  # Results are uploaded as a `pr-review` artifact for the PR Review
+  # Poster workflow to post as inline comments.
+  clang_tidy_pr:
+    name: Clang-Tidy
+    if: github.event_name == 'pull_request'
+    runs-on: [runs-on, runner=8cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
+      pull-requests: read
+    steps:
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 0
+        fetch-tags: true
+
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M
+
+    # fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
+    # in abseil via FetchContent, and abseil runs a try_compile with
+    # fuzztest's -fsanitize=address flags. The px4-dev container ships
+    # clang but not the clang compiler-rt runtime, so that link fails
+    # and the configure reports a misleading "pthreads not found".
+    # libclang-rt-18-dev provides libclang_rt.asan and friends.
+    - name: Install clang compiler-rt
       run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+        apt-get update
+        apt-get install -y --no-install-recommends libclang-rt-18-dev
+
+    # `make clang-ci` prepares both clang build directories:
+    #   - build/px4_sitl_default-clang:       full build, BUILD_TESTING=OFF
+    #     (used by run-clang-tidy-pr.py for whole-file analysis of
+    #      changed production code)
+    #   - build/px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON
+    #     (used by clang-tidy-diff-18.py so test files are in the
+    #      compilation database with resolved gtest/fuzztest includes)
+    - name: Build clang SITL
+      run: make -j$(nproc) clang-ci
 
     - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
+      run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
 
-    - name: Compiler Cache Stats
+    # Produce a `pr-review` artifact for the PR Review Poster workflow
+    # to consume. clang-tidy-diff-18 emits a unified fixes.yml that
+    # the producer script translates into line-anchored review comments.
+    - name: Export clang-tidy fixes for PR review
       if: always()
-      run: ccache -s
+      run: |
+        mkdir -p pr-review
+        # Drop changed C/C++ source files that are not in
+        # compile_commands.json for the test-enabled build. Files not
+        # in the DB are platform-specific sources, vendored code, or
+        # submodule code we don't own. Feeding them to clang-tidy-diff
+        # produces false positives from unresolved headers.
+        python3 Tools/ci/clang-tidy-diff-filter.py \
+          --build-dir build/px4_sitl_default-clang-test \
+          --base-ref origin/${{ github.base_ref }} \
+          --out pr-review/diff.patch
+        if [ -s pr-review/diff.patch ]; then
+          clang-tidy-diff-18.py -p1 \
+            -path build/px4_sitl_default-clang-test \
+            -export-fixes pr-review/fixes.yml \
+            -j0 < pr-review/diff.patch || true
+        else
+          echo "No analyzable files in diff; skipping clang-tidy-diff"
+        fi
 
-    - name: Save Compiler Cache
+    - name: Build pr-review artifact
       if: always()
-      uses: actions/cache/save@v4
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        python3 Tools/ci/clang-tidy-fixes-to-review.py \
+          --fixes pr-review/fixes.yml \
+          --repo-root "$GITHUB_WORKSPACE" \
+          --repo "$GITHUB_REPOSITORY" \
+          --pr-number "${{ github.event.pull_request.number }}" \
+          --commit-sha "${{ github.event.pull_request.head.sha }}" \
+          --out-dir pr-review \
+          --event COMMENT
+
+    - name: Upload pr-review artifact
+      if: always()
+      uses: actions/upload-artifact@v7
       with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        name: pr-review
+        path: |
+          pr-review/manifest.json
+          pr-review/comments.json
+        retention-days: 1
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/commit_checks.yml

@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           sparse-checkout: Tools/ci
           fetch-depth: 1
@@ -56,7 +56,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           sparse-checkout: Tools/ci
           fetch-depth: 1
@@ -102,7 +102,7 @@ jobs:
     steps:
       - name: Checkout
         if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           sparse-checkout: Tools/ci
           fetch-depth: 1

.github/workflows/compile_macos.yml

@@ -19,49 +19,49 @@ concurrency:
 jobs:
   build:
     runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
     steps:
     - name: install Python 3.10
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: "3.10"
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
+
+    - name: Cache - Restore Homebrew Packages
+      uses: actions/cache@v5
+      with:
+        path: ~/Library/Caches/Homebrew/downloads
+        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
+        restore-keys: |
+          macos-homebrew-${{ runner.arch }}-
+
+    - name: Cache - Restore pip Packages
+      uses: actions/cache@v5
+      with:
+        path: ~/Library/Caches/pip
+        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
+        restore-keys: |
+          macos-pip-${{ runner.arch }}-
 
     - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
-      uses: actions/cache@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
       with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+        cache-key-prefix: ccache-macos
+        max-size: 200M
 
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
+    - name: Build px4_sitl
+      run: make px4_sitl
+
+    - name: Cache - Stats after px4_sitl
+      run: ccache -s
+
+    - name: Build px4_fmu-v5_default
+      run: make px4_fmu-v5_default
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/compile_ubuntu.yml

@@ -29,12 +29,13 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ${{ matrix.version }}
       volumes:
         - /github/workspace:/github/workspace
     steps:
+      - uses: runs-on/action@v2
 
       - name: Fix git in container
         run: |
@@ -47,15 +48,28 @@ jobs:
           apt update && apt install git -y
           git config --global --add safe.directory $(realpath .)
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - name: Use AWS regional apt mirror
         if: startsWith(runner.name, 'runs-on--')
         run: ./Tools/ci/use_aws_apt_mirror.sh
 
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check
+      - name: Install Deps
+        run: ./Tools/setup/ubuntu.sh
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
+          max-size: 200M
+
+      - name: Build px4_sitl_default
+        run: make px4_sitl_default
+
+      - name: Build px4_fmu-v5_default
+        run: make px4_fmu-v5_default
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/dev_container.yml

@@ -51,12 +51,11 @@ jobs:
       meta_labels: ${{ steps.meta.outputs.labels }}
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
         with:
           ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
           fetch-depth: 0
+          fetch-tags: true
 
       # If manual dispatch, take the user‐provided input
       - name: Set PX4 Tag Version
@@ -96,12 +95,11 @@ jobs:
     runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
         with:
           ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
           fetch-depth: 0
+          fetch-tags: true
 
       - name: Login to Docker Hub
         uses: docker/login-action@v4
@@ -153,12 +151,11 @@ jobs:
       (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
     steps:
       - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
         with:
           ref: ${{ github.event.inputs.build_ref || github.ref }}
-          fetch-tags: true
-          submodules: false
           fetch-depth: 0
+          fetch-tags: true
 
       - name: Login to Docker Hub
         uses: docker/login-action@v4

.github/workflows/docs-orchestrator.yml

@@ -46,8 +46,8 @@ jobs:
       source_changed: ${{ steps.changes.outputs.source }}
       docs_changed: ${{ steps.changes.outputs.docs }}
     steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
+      - uses: actions/checkout@v6
+      - uses: dorny/paths-filter@v4
         id: changes
         with:
           filters: |
@@ -70,22 +70,19 @@ jobs:
       contents: read
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
           submodules: recursive
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
       - name: Cache Restore - ccache
         id: cache-ccache
-        uses: actions/cache/restore@v4
+        uses: actions/cache/restore@v5
         with:
           path: ~/.ccache
           key: ccache-docs-metadata-${{ github.sha }}
@@ -104,7 +101,7 @@ jobs:
           CCACHE_DIR: ~/.ccache
 
       - name: Cache Save - ccache
-        uses: actions/cache/save@v4
+        uses: actions/cache/save@v5
         if: always()
         with:
           path: ~/.ccache
@@ -116,7 +113,7 @@ jobs:
           CCACHE_DIR: ~/.ccache
 
       - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: pr-metadata
           path: docs/
@@ -132,12 +129,12 @@ jobs:
       contents: write
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
           submodules: recursive
@@ -148,7 +145,7 @@ jobs:
 
       - name: Cache Restore - ccache
         id: cache-ccache
-        uses: actions/cache/restore@v4
+        uses: actions/cache/restore@v5
         with:
           path: ~/.ccache
           key: ccache-docs-metadata-${{ github.sha }}
@@ -167,7 +164,7 @@ jobs:
           CCACHE_DIR: ~/.ccache
 
       - name: Cache Save - ccache
-        uses: actions/cache/save@v4
+        uses: actions/cache/save@v5
         if: always()
         with:
           path: ~/.ccache
@@ -213,25 +210,24 @@ jobs:
     if: always() && (github.event_name == 'pull_request')
     permissions:
       contents: read
-      pull-requests: write
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ github.event.pull_request.head.sha }}
           fetch-depth: 0
 
       - name: Download metadata artifact
         if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           name: pr-metadata
           path: docs/
 
       - name: Get changed doc files
         id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
+        uses: tj-actions/changed-files@v47
         with:
           json: true
           write_output_files: true
@@ -248,7 +244,7 @@ jobs:
           cat ./logs/prFiles.json
 
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 20
 
@@ -281,15 +277,35 @@ jobs:
             > ./logs/link-check-results.md || true
           cat ./logs/link-check-results.md
 
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
+      - name: Prepare pr-comment artifact
+        id: prepare-pr-comment
+        run: |
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No link-check results file; skipping pr-comment artifact."
+            echo "prepared=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+          mkdir -p pr-comment
+          cp ./logs/filtered-link-check-results.md pr-comment/body.md
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:docs-link-check -->",
+            "mode": "upsert"
+          }
+          EOF
+          echo "prepared=true" >> "$GITHUB_OUTPUT"
+
+      - name: Upload pr-comment artifact
+        if: steps.prepare-pr-comment.outputs.prepared == 'true'
+        uses: actions/upload-artifact@v7
         with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1
 
       - name: Upload link check results
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: link-check-results
           path: logs/
@@ -313,16 +329,14 @@ jobs:
       branchname: ${{ steps.set-branch.outputs.branchname }}
       releaseversion: ${{ steps.set-version.outputs.releaseversion }}
     steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
           ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
 
       - name: Download metadata artifact (PR)
         if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           name: pr-metadata
           path: docs/
@@ -346,7 +360,7 @@ jobs:
           echo "releaseversion=$version" >> $GITHUB_OUTPUT
 
       - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 20
           cache: npm
@@ -365,7 +379,7 @@ jobs:
           npm run docs:sitemap
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: px4_docs_build
           path: docs/.vitepress/dist/
@@ -387,7 +401,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Download Artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           name: px4_docs_build
           path: ~/_book

.github/workflows/docs_crowdin_download.yml

@@ -22,7 +22,7 @@ jobs:
         lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Debug Environment Variables
         run: |
           echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"

.github/workflows/docs_crowdin_upload.yml

@@ -24,7 +24,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: crowdin push
         uses: crowdin/github-action@v2
         with:

.github/workflows/docs_deploy.yml

@@ -22,12 +22,11 @@ jobs:
   build:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
 
       - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 20
           cache: npm
@@ -46,7 +45,7 @@ jobs:
 
       - name: Upload artifact
         if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: px4_docs_build
           path: docs/.vitepress/dist/
@@ -59,7 +58,7 @@ jobs:
 
     steps:
       - name: Download Artifact
-        uses: actions/download-artifact@v4
+        uses: actions/download-artifact@v8
         with:
           name: px4_docs_build
           path: ~/_book

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,35 +0,0 @@
-name: EKF Change Indicator
-
-on:
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,54 +0,0 @@
-name: EKF Update Change Indicator
-
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: main test
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make tests TESTFILTER=EKF
-
-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
-
-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
-
-            See .github/workflows/ekf_update_change_indicator.yml for more details
-
-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1

.github/workflows/failsafe_sim.yml

@@ -18,7 +18,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     defaults:
       run:
         shell: bash
@@ -29,22 +29,30 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
       - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 20.18.0
 
-      - uses: actions/checkout@v4
+      - name: Cache - Restore Emscripten SDK
+        id: cache-emsdk
+        uses: actions/cache@v5
         with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
+          path: _emscripten_sdk
+          key: emsdk-4.0.15
 
       - name: Install empscripten
+        if: steps.cache-emsdk.outputs.cache-hit != 'true'
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk

.github/workflows/flash_analysis.yml

@@ -24,9 +24,9 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -36,25 +36,58 @@ jobs:
       px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
       px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
           submodules: recursive
-
-      - name: Git ownership workaround
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
+      - name: Cache - Restore ccache (current)
+        id: cache_current
+        uses: actions/cache/restore@v5
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-
+            ccache-flash-${{ matrix.target }}-current-
+
+      - name: Cache - Configure ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 200M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
       - name: Build Target
         run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF with the change
         run: cp ./build/**/*.elf ./with-change.elf
 
+      - name: Cache - Stats after Current Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (current)
+        if: always()
+        uses: actions/cache/save@v5
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_current.outputs.cache-primary-key }}
+
       - name: Clean previous build
         run: |
           make clean
           make distclean
           make submodulesclean
+          ccache -C
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -68,12 +101,34 @@ jobs:
       - name: Update submodules
         run: make submodulesupdate
 
+      - name: Cache - Restore ccache (baseline)
+        id: cache_baseline
+        uses: actions/cache/restore@v5
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-baseline-
+
+      - name: Cache - Reset ccache stats
+        run: ccache -z
+
       - name: Build
         run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF before the change
         run: cp ./build/**/*.elf ./before-change.elf
 
+      - name: Cache - Stats after Baseline Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (baseline)
+        if: always()
+        uses: actions/cache/save@v5
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
+
       - name: bloaty-action
         uses: PX4/bloaty-action@v1.0.0
         id: bloaty-step
@@ -93,9 +148,6 @@ jobs:
           echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
           echo "$EOF" >> $GITHUB_OUTPUT
 
-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -105,22 +157,22 @@ jobs:
       V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
       V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
       V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: github.event.pull_request
     steps:
       - name: Find Comment
-        uses: peter-evans/find-comment@v3
+        uses: peter-evans/find-comment@v4
         id: fc
         with:
           issue-number: ${{ github.event.pull_request.number }}
           comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+          body-includes: '<!-- pr-comment-poster:flash-analysis -->'
 
       - name: Set Build Time
         id: bt
         run: |
           echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
 
-      - name: Create or update comment
+      - name: Write pr-comment artifact
         # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
         if: |
           steps.fc.outputs.comment-id != '' ||
@@ -128,27 +180,46 @@ jobs:
           env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
           env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
           env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
+        run: |
+          mkdir -p pr-comment
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:flash-analysis -->",
+            "mode": "upsert"
+          }
+          EOF
+          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
+          <!-- pr-comment-poster:flash-analysis -->
+          ## 🔎 FLASH Analysis
+          <details>
+          <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+          ```
+          </details>
+
+          <details>
+          <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+          ```
+          </details>
+
+          **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          PR_COMMENT_BODY_EOF
+
+      - name: Upload pr-comment artifact
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: actions/upload-artifact@v7
         with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1

.github/workflows/fuzzing.yml

@@ -12,19 +12,25 @@ env:
 
 jobs:
   Fuzzing:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
     steps:
-      - name: Install Dependencies
-        run: |
-          apt update && apt install -y clang
+      - uses: runs-on/action@v2
 
-      - name: Fix git in Container
-        run: |
-          git config --global --add safe.directory $(realpath .)
+      - uses: actions/checkout@v6
 
-      - uses: actions/checkout@v4
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Install clang
+        run: apt-get update && apt-get install -y clang
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl
+          max-size: 300M
 
       - name: Build and Run Fuzz Tests
         run: |
@@ -38,7 +44,11 @@ jobs:
             ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
           done
 
-      # Create a github issue in case of a failure
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
       - name: Create Issue
         if: ${{ failure() }}
         uses: JasonEtco/create-an-issue@v2

.github/workflows/itcm_check.yml

@@ -22,9 +22,9 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     strategy:
       fail-fast: false
       matrix:
@@ -46,14 +46,19 @@ jobs:
               boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-itcm-${{ matrix.target }}
+          max-size: 200M
+
       - name: Build Target
         run: make ${{ matrix.target }}
 
@@ -65,3 +70,8 @@ jobs:
 
       - name: Execute the itcm-check
         run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/label.yml

@@ -16,6 +16,6 @@ jobs:
       pull-requests: write
 
     steps:
-    - uses: actions/labeler@v5
+    - uses: actions/labeler@v6
       with:
         repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/mavros_mission_tests.yml

@@ -1,45 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '

.github/workflows/mavros_offboard_tests.yml

@@ -1,44 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build SITL and Run Tests (inside old ROS container)
-        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '

.github/workflows/mavros_tests.yml

@@ -0,0 +1,73 @@
+name: MAVROS Tests
+
+on:
+  push:
+    branches:
+    - 'main'
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    name: "MAVROS ${{ matrix.config.name }}"
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    permissions:
+      contents: read
+    container:
+      image: px4io/px4-dev-ros-noetic:2021-09-08
+    env:
+      PX4_SBOM_DISABLE: 1
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
+          - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup - Install Python Test Dependencies
+        run: pip3 install -r Tools/setup/requirements.txt
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M
+
+      - uses: ./.github/actions/build-gazebo-sitl
+
+      - name: Test - MAVROS ${{ matrix.config.name }}
+        run: |
+          ./test/rostest_px4_run.sh \
+            ${{ matrix.config.test_file }} \
+            ${{ matrix.config.params }}
+        timeout-minutes: 10
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+      - name: Upload - Failed Test Logs
+        if: failure()
+        uses: actions/upload-artifact@v7
+        with:
+          name: failed-mavros-${{ matrix.config.name }}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg

.github/workflows/nuttx_env_config.yml

@@ -1,46 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
-    strategy:
-      matrix:
-        config:
-          - px4_fmu-v5_default
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
-          make ${{ matrix.config }} nuttx_context
-
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/pr-comment-poster.yml

@@ -0,0 +1,155 @@
+name: PR Comment Poster
+
+# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
+# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
+# workflow will post or update a sticky PR comment with its contents. Designed
+# so that analysis jobs running on untrusted fork PRs can still get their
+# results posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
+#      and both are treated as opaque data (JSON parsed by the poster script
+#      and markdown posted verbatim via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use. Validation
+#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
+#      the base branch, not from the artifact.
+#
+#   3. The comment body is passed to the GitHub API as a JSON field, never
+#      interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-comment` artifact.
+#      That is intended.
+#
+#   5. The artifact-name filter (`pr-comment`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-comment` is trusted to have written the
+#      manifest and body itself, NOT copied fork-controlled content into
+#      them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND uses
+#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py and
+#      its stdlib-only helper module Tools/ci/_github_helpers.py. The rest of
+#      the repo never touches the workspace. This is safe: the only files the
+#      job executes are base-repo Python scripts that were reviewed through
+#      normal code review, never anything from the PR.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-comment` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number": 12345,                                      // required, int > 0
+#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
+#       "mode": "upsert"                                         // optional, default "upsert"
+#     }
+#
+#   body.md: the markdown content of the comment. Posted verbatim.
+#
+# The `marker` string is used to find an existing comment to update. It MUST
+# be unique per producer (e.g. include the producer name). If no existing
+# comment contains the marker, a new one is created. If the marker is found
+# in an existing comment, that comment is edited in place.
+#
+# Producers MUST write `pr_number` from their own workflow context
+# (`github.event.pull_request.number`) and MUST NOT read it from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-comment` artifact. When a new producer
+    # is wired up, add its workflow name here. Runs of workflows not in this
+    # list will never trigger the poster. Every run of a listed workflow will
+    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
+    workflows:
+      - "FLASH usage analysis"
+      - "Docs - Orchestrator"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Comment
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers would have no comment to post, and silently no-oping
+    # inside the script made it look like the poster was broken. Gating at
+    # the job level surfaces those as a clean "Skipped" in the UI instead.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster script is available AND so that
+      # actions/checkout@v6's default clean step does not delete the artifact
+      # zip that the next step writes into the workspace. Sparse-checkout
+      # restricts the materialized tree to just the poster script.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-comment-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-comment artifact
+        id: download
+        uses: actions/github-script@v9
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
+            if (!match) {
+              core.info('No pr-comment artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-comment
+          unzip -q pr-comment.zip -d pr-comment
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
+
+      - name: Upsert sticky comment
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-comment-poster.py post pr-comment

.github/workflows/pr-review-poster.yml

@@ -0,0 +1,179 @@
+name: PR Review Poster
+
+# Generic PR review-comment poster. Sibling of "PR Comment Poster": that
+# workflow posts sticky issue-style comments, this one posts line-anchored
+# review comments on the "Files changed" tab. Any analysis workflow that
+# wants to flag specific lines can produce a `pr-review` artifact and this
+# workflow will dismiss any stale matching review and post a fresh one.
+# Designed so analysis jobs running on untrusted fork PRs can still get
+# their inline annotations posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and
+#      `comments.json`, and both are treated as opaque data (JSON parsed by
+#      the poster script and the comment fields posted via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use.
+#      `commit_sha` is validated to be 40 lowercase hex characters.
+#      `event` is validated against an allowlist of `COMMENT` only.
+#      `APPROVE` and `REQUEST_CHANGES` are intentionally forbidden:
+#      bots should not approve PRs, and REQUEST_CHANGES reviews cannot
+#      be dismissed by the GITHUB_TOKEN under branch protection rules.
+#      Validation happens inside
+#      Tools/ci/pr-review-poster.py which is checked out from the base
+#      branch, not from the artifact.
+#
+#   3. Comment bodies and the optional summary are passed to the GitHub API
+#      as JSON fields, never interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-review`
+#      artifact. That is intended.
+#
+#   5. The artifact-name filter (`pr-review`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-review` is trusted to have written the
+#      manifest and comments itself, NOT copied fork-controlled content
+#      into them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND
+#      uses sparse-checkout to materialize ONLY
+#      Tools/ci/pr-review-poster.py and its stdlib-only helper module
+#      Tools/ci/_github_helpers.py. The rest of the repo never touches the
+#      workspace. This is safe: the only files the job executes are
+#      base-repo Python scripts that were reviewed through normal code
+#      review, never anything from the PR.
+#
+#   7. Stale-review dismissal is restricted to reviews whose AUTHOR is
+#      `github-actions[bot]` AND whose body contains the producer's
+#      marker. A fork PR cannot impersonate the bot login, and cannot
+#      inject the marker into a human reviewer's body without API
+#      access. Both filters together prevent the poster from ever
+#      dismissing a human review.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-review` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number":  12345,                                      // required, int > 0
+#       "marker":     "<!-- pr-review-poster:clang-tidy -->",     // required, printable ASCII
+#       "event":      "COMMENT",                                   // required, "COMMENT" only
+#       "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
+#       "summary":    "Optional review summary text"              // optional
+#     }
+#
+#   comments.json: JSON array of line-anchored review comment objects:
+#     [
+#       {"path": "src/foo.cpp", "line": 42, "side": "RIGHT", "body": "..."},
+#       {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+#        "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+#     ]
+#
+# The `marker` string is used to find an existing matching review to
+# dismiss before posting a new one. It MUST be unique per producer (e.g.
+# include the producer name).
+#
+# Producers MUST write `pr_number` and `commit_sha` from their own
+# workflow context (`github.event.pull_request.number` and
+# `github.event.pull_request.head.sha`) and MUST NOT read either from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-review` artifact. When a new
+    # producer is wired up, add its workflow name here. Runs of workflows
+    # not in this list will never trigger the poster. Every run of a
+    # listed workflow will trigger the poster, which will no-op if no
+    # `pr-review` artifact exists.
+    workflows:
+      - "Static Analysis"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Review
+    runs-on: ubuntu-latest
+    # Only run for pull_request producer runs. Push-to-main and other
+    # non-PR triggers have no review to post, so gating at the job level
+    # surfaces those as a clean "Skipped" in the UI instead of a
+    # silent no-op buried inside the script.
+    if: >-
+      github.event.workflow_run.conclusion != 'cancelled'
+      && github.event.workflow_run.event == 'pull_request'
+    steps:
+      # Checkout runs first so the poster scripts are available AND so
+      # that actions/checkout@v6's default clean step does not delete the
+      # artifact zip that the next step writes into the workspace.
+      # Sparse-checkout restricts the materialized tree to just the
+      # poster script and its stdlib helper module.
+      - name: Checkout poster script only
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-review-poster.py
+            Tools/ci/_github_helpers.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-review artifact
+        id: download
+        uses: actions/github-script@v9
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-review');
+            if (!match) {
+              core.info('No pr-review artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-review.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-review
+          unzip -q pr-review.zip -d pr-review
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-review-poster.py validate pr-review
+
+      - name: Post PR review
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-review-poster.py post pr-review

.github/workflows/python_checks.yml

@@ -14,20 +14,23 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-24.04
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     steps:
-    - uses: actions/checkout@v4
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
       with:
-        fetch-depth: 0
+        fetch-depth: 1
 
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+    - name: Setup Python
+      uses: actions/setup-python@v6
+      with:
+        python-version: "3.10"
 
     - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+      run: pip install mypy types-requests flake8
 
     - name: Check MAVSDK test scripts with mypy
-      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+      run: mypy --strict test/mavsdk_tests/*.py
 
     - name: Check MAVSDK test scripts with flake8
-      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
+      run: flake8 test/mavsdk_tests/*.py

.github/workflows/ros_integration_tests.yml

@@ -23,16 +23,18 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    env:
+      PX4_SBOM_DISABLE: 1
     steps:
-    - uses: actions/checkout@v4
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
       with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
+        fetch-depth: 1
+    - name: Configure Git Safe Directory
       run: git config --system --add safe.directory '*'
 
     - name: Update ROS Keys
@@ -45,30 +47,21 @@ jobs:
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
       with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+        cache-key-prefix: ccache-ros-integration
+        max-size: 400M
 
-    - name: Get and build micro-xrce-dds-agent
+    - name: Cache - Restore Micro-XRCE-DDS Agent
+      id: cache-xrce-agent
+      uses: actions/cache@v5
+      with:
+        path: /opt/Micro-XRCE-DDS-Agent
+        key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08
+
+    - name: Build - Micro-XRCE-DDS Agent (v2.2.1)
+      if: steps.cache-xrce-agent.outputs.cache-hit != 'true'
       run: |
         cd /opt
         git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -79,10 +72,18 @@ jobs:
         cd build
         cmake ..
         make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
 
-    - name: Get and build the ros2 interface library
+    - name: Cache - Restore PX4 ROS 2 Interface Library Workspace
+      id: cache-px4-ros2-ws
+      uses: actions/cache@v5
+      with:
+        path: /opt/px4_ws
+        # Bump 'v1' when the cached workspace layout changes in a way
+        # that is not captured by the message/service hash below.
+        key: px4-ros2-ws-v1-galactic-2021-09-08-${{ hashFiles('msg/*.msg', 'msg/versioned/*.msg', 'srv/*.srv') }}
+
+    - name: Build - PX4 ROS 2 Interface Library
+      if: steps.cache-px4-ros2-ws.outputs.cache-hit != 'true'
       shell: bash
       run: |
         PX4_DIR="$(pwd)"
@@ -108,19 +109,8 @@ jobs:
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
         rm -rf src/translation_node src/px4_msgs_old
         colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
 
-    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
+    - uses: ./.github/actions/build-gazebo-sitl
 
     - name: Core dump settings
       run: |
@@ -135,9 +125,14 @@ jobs:
         test/ros_test_runner.py --verbose --model iris --force-color
       timeout-minutes: 45
 
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
     - name: Upload failed logs
       if: failure()
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: failed-logs.zip
         path: |

.github/workflows/ros_translation_node.yml

@@ -10,6 +10,9 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+permissions:
+  contents: read
+
 defaults:
   run:
     shell: bash
@@ -20,8 +23,8 @@ concurrency:
 
 jobs:
   build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    name: Build and test [${{ matrix.config.ros_version }}]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     strategy:
       fail-fast: false
       matrix:
@@ -29,33 +32,43 @@ jobs:
           - {ros_version: "humble", ubuntu: "jammy"}
           - {ros_version: "jazzy", ubuntu: "noble"}
     container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
     steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
+          max-size: 150M
+          base-dir: /ros_ws
+          install-ccache: 'true'
+
       - name: Check .msg file versioning
         if: github.event_name == 'pull_request'
         run: |
           ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
 
-      - name: Build and test
+      - name: Build - Translation Node
         run: |
           ros_ws=/ros_ws
           mkdir -p $ros_ws/src
           ./Tools/copy_to_ros_ws.sh $ros_ws
           cd $ros_ws
           source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+
+
+      - name: Test - Translation Node Unit Tests
+        run: |
+          source /ros_ws/install/setup.sh
+          /ros_ws/build/translation_node/translation_node_unit_tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/sbom_license_check.yml

@@ -30,7 +30,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 1
           submodules: false

.github/workflows/sbom_monthly_audit.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           ref: ${{ inputs.branch || github.ref }}
           fetch-depth: 1
@@ -51,7 +51,7 @@ jobs:
 
       - name: Create issue if problems found
         if: steps.check.outputs.has_issues == 'true'
-        uses: actions/github-script@v7
+        uses: actions/github-script@v9
         with:
           script: |
             const fs = require('fs');

.github/workflows/sitl_tests.yml

@@ -24,7 +24,7 @@ concurrency:
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -37,53 +37,25 @@ jobs:
           # transitions). Re-enable once the test infrastructure is stabilized.
           # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
           # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+    env:
+      PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
+      PX4_SBOM_DISABLE: 1
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
         with:
-          fetch-depth: 0
-
-      - name: Git Ownership Workaround
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
         with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M
 
-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
-        run: make px4_sitl_default
-
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
+      - uses: ./.github/actions/build-gazebo-sitl
 
       - name: Download MAVSDK
         run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
@@ -96,19 +68,19 @@ jobs:
           PX4_HOME_LAT: ${{matrix.config.latitude}}
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         run: |
             export
             ulimit -a
 
       - name: Build PX4 / MAVSDK tests
         env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
           DONT_RUN: 1
         run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
 
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
 
       - name: Core Dump Settings
         run: |
@@ -120,13 +92,12 @@ jobs:
           PX4_HOME_LAT: ${{matrix.config.latitude}}
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs
         if: failure()
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: failed-${{matrix.config.model}}-logs.zip
           path: |
@@ -140,7 +111,7 @@ jobs:
 
       - name: Upload PX4 coredump
         if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: coredump
           path: px4.core
@@ -157,7 +128,7 @@ jobs:
 
       - name: Upload Coverage Information to Codecov
         if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
+        uses: codecov/codecov-action@v6
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
           flags: mavsdk

.github/workflows/stale.yml

@@ -2,6 +2,7 @@ name: 'Handle stale issues and PRs'
 on:
   schedule:
     - cron: '30 1 * * *'
+  workflow_dispatch:
 
 jobs:
   stale:
@@ -9,7 +10,7 @@ jobs:
     steps:
       - uses: actions/stale@v10
         with:
-          operations-per-run: 250
+          operations-per-run: 1500
           days-before-stale: 90
           days-before-close: 30
           stale-issue-label: 'stale'

.github/workflows/sync_to_px4_msgs.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
       - name: Checkout PX4 repo
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Setup git credentials
         run: |

.github/workflows/tag_px4_msgs_from_px4_release_tag.yml

@@ -22,7 +22,7 @@ jobs:
       TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
     steps:
       - name: Checkout PX4 repo
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
           fetch-tags: true

.gitignore

@@ -115,3 +115,6 @@ _emscripten_sdk/
 
 # virtual Python environment
 .venv
+
+# Claude Code local settings
+.claude/settings.local.json

CMakeLists.txt

@@ -229,6 +229,28 @@ endif()
 #
 project(px4 CXX C ASM)
 
+# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
+# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
+# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
+# libraries carry a dummy.cpp placeholder, all of which legitimately produce
+# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
+#
+# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
+# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
+# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
+# -no_warning_for_no_symbols flag to add it quietly.
+if(APPLE)
+	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")

MAINTAINERS.md

@@ -1,9 +1,11 @@
 Maintainers
 ===========
 
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+PX4 is maintained by a group of contributors trusted to steward the project. All maintainers listed below are members of the @PX4/dev-team, have write access, and participate in maintainer decisions. We recognize two types: **Code Owners**, responsible for specific components, and **Reviewers**, who help across the project without a fixed component.
 
-**Active Maintainers**
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers) to learn about the role of the maintainers and the process to become one.
+
+**Code Owners**
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
@@ -23,6 +25,15 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 
+**Reviewers**
+
+Reviewers help maintain PX4 across the project without ownership of a specific component.
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Onur Ozkan | [@onur-ozkan](https://github.com/onur-ozkan) | onur_ozkan0126 | <onur@orkavian.com>
+
+
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email

Makefile

@@ -494,7 +494,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang px4_sitl_default-clang-test clang-ci clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -512,6 +512,26 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
+# Clang SITL configure with BUILD_TESTING=ON so test files land in
+# compile_commands.json with resolved gtest/fuzztest includes. Used by CI
+# to produce a compilation database for diff-based clang-tidy that can
+# lint test files. Configure only: we don't build the test binaries here,
+# just generate the database.
+px4_sitl_default-clang-test:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang-test
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang-test && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_TESTING=ON
+
+# CI-oriented target that prepares both clang build directories used by
+# the Static Analysis workflow:
+#   - px4_sitl_default-clang:       full build, BUILD_TESTING=OFF.
+#       Used by `make clang-tidy` (push-to-main) and run-clang-tidy-pr.py.
+#   - px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON.
+#       Used by clang-tidy-diff-18.py so test files are in the
+#       compilation database with resolved gtest/fuzztest includes.
+# Running one target ensures both dirs exist before any clang-tidy
+# variant runs, and keeps the workflow free of raw cmake invocations.
+clang-ci: px4_sitl_default-clang px4_sitl_default-clang-test
+
 # Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
 # - All submodules (external code we consume, not edit)
 # - Test code (allowed looser style)

README.md

@@ -70,7 +70,17 @@ PX4 is an open-source autopilot stack for drones and unmanned vehicles. It suppo
 
 <sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
 
-## Quick Start
+## Try PX4
+
+Run PX4 in simulation with a single command. No build tools, no dependencies beyond Docker:
+
+```bash
+docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
+```
+
+Open [QGroundControl](https://qgroundcontrol.com) and fly. See [PX4 Simulation Quickstart](../dev_setup/px4_simulation_quickstart.md) for more options.
+
+## Build from Source
 
 ```bash
 git clone https://github.com/PX4/PX4-Autopilot.git --recursive

ROMFS/CMakeLists.txt

@@ -193,6 +193,7 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
+	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -14,6 +14,7 @@
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 
@@ -38,7 +39,6 @@ param set-default SYS_HITL 2
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 
-param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144
@@ -48,3 +48,21 @@ param set SIH_KDV 0.2
 
 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_PSP_OFF 0.5

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -28,6 +28,7 @@ param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
+param set-default FW_PSP_OFF 5
 
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
@@ -56,7 +57,6 @@ param set-default HIL_ACT_REV 32
 param set-default MAV_TYPE 19
 
 
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 
@@ -66,8 +66,9 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default SENS_DPRES_OFF 0.001
 
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
+# tailsitter is equipped with two forward propellers
+param set SIH_F_T_MAX 2
+param set SIH_F_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
@@ -77,6 +78,19 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145
 
+# propeller diameter, rpm, and coeffs coming from the thesis
+# Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
+# Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.1342
+param set SIH_F_CT1 -0.1196
+param set SIH_F_CT2 -0.1281
+param set SIH_F_CP0 0.0522
+param set SIH_F_CP1 -0.0146
+param set SIH_F_CP2 -0.0602
+param set SIH_F_DIA_INCH 5
+param set SIH_F_RPM_MAX 14000
+
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
 

ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil

@@ -56,6 +56,7 @@ param set-default CA_SV_CS2_TYPE 4  # rudder
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 10
 param set-default FW_AIRSPD_MAX 12
+param set-default VT_FWD_THRUST_EN 1
 
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
@@ -77,6 +78,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default SENS_DPRES_OFF 0.001
 
+# quadrotor propellers
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -88,5 +90,18 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.2
 
+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
 # sih as standard vtol
 param set SIH_VEHICLE_TYPE 3

ROMFS/px4fmu_common/init.d/airframes/1105_rc_hexa_x_sih.hil

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name SIH Hexacopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set UAVCAN_ENABLE 0
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 106

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -49,6 +49,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
+		1105_rc_hexa_x_sih.hil
 	)
 	if(CONFIG_MODULES_ROVER_ACKERMANN)
 		px4_add_romfs_files(

ROMFS/px4fmu_common/init.d/rcS

@@ -31,11 +31,20 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
+set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none
 
+# Fine-grained feature gates.
+set USE_HARDFAULT_LOG no
+set USE_EXTERNAL_AIRFRAMES no
+set USE_PARAM_BACKUPS no
+set USE_PARAM_IMPORT_DEBUG no
+set USE_TASK_WATCHDOG no
+set USE_ALT_UPDATE_DIRS no
+
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
@@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
 ver all
 
 #
-# Try to mount the microSD card.
+# Optional early board init: rc.board_early
+# Can be used for setting env vars for rcS.
 #
-if [ -b "/dev/mmcsd0" ]
+set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
+if [ -f $BOARD_RC_EARLY ]
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
-	then
-		if [ -f "/fs/microsd/.format" ]
-		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
+	. $BOARD_RC_EARLY
+fi
+unset BOARD_RC_EARLY
 
-		else
+#
+# Try to mount/check storage (rc.board_early can disable this).
+#
+if [ $STORAGE_CHECK = yes ]
+then
+	#
+	# Try to mount the microSD card.
+	#
+	if [ -b "/dev/mmcsd0" ]
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			if [ -f "/fs/microsd/.format" ]
+			then
+				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+				set SDCARD_FORMAT yes
+				rm /fs/microsd/.format
+				umount /fs/microsd
+
+			else
+				set STORAGE_AVAILABLE yes
+			fi
+		fi
+
+		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+		then
+			echo "INFO [init] formatting /dev/mmcsd0"
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+			if mkfatfs -F 32 /dev/mmcsd0
+			then
+				echo "INFO [init] card formatted"
+
+				if mount -t vfat /dev/mmcsd0 /fs/microsd
+				then
+					set STORAGE_AVAILABLE yes
+					set STARTUP_TUNE 14 # tune 14 = SD_INIT
+				else
+					echo "ERROR [init] card mount failed"
+				fi
+			else
+				echo "ERROR [init] format failed"
+			fi
+		fi
+	else
+		# Is there a device mounted for storage
+		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+		then
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
-
-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
-		then
-			echo "INFO [init] card formatted"
-
-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set STORAGE_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
-		else
-			echo "ERROR [init] format failed"
-		fi
-	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
 fi
 
 if [ $STORAGE_AVAILABLE = yes ]
+then
+	set USE_HARDFAULT_LOG yes
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_PARAM_BACKUPS yes
+	set USE_PARAM_IMPORT_DEBUG yes
+	set USE_ALT_UPDATE_DIRS yes
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
+fi
+
+if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,7 +141,15 @@ then
 			hardfault_log reset
 		fi
 	fi
+fi
 
+if [ $USE_TASK_WATCHDOG = yes ]
+then
+	task_watchdog start
+fi
+
+if [ $USE_ALT_UPDATE_DIRS = yes ]
+then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -112,9 +157,6 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
-
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi
 
 #
@@ -155,8 +197,11 @@ else
 
 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				# save copy of the failed param file for debugging
+				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			fi
 
 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -174,11 +219,14 @@ else
 
 			param status
 
-			dmesg >> /fs/microsd/param_import_fail.txt &
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				dmesg >> /fs/microsd/param_import_fail.txt &
+			fi
 		fi
 	fi
 
-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $USE_PARAM_BACKUPS = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -234,12 +282,12 @@ else
 
 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# Run external airframe script on SD card or EEPROM-backed storage
+		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			echo "ERROR [init] no external airframe storage, skipping"
 		fi
 	fi
 
@@ -679,9 +727,16 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
+unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
+unset USE_HARDFAULT_LOG
+unset USE_EXTERNAL_AIRFRAMES
+unset USE_PARAM_BACKUPS
+unset USE_PARAM_IMPORT_DEBUG
+unset USE_TASK_WATCHDOG
+unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE
 
 #

Tools/ci/_github_helpers.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+"""
+Shared GitHub REST helpers for PX4 CI scripts.
+
+This module is imported by the PR poster scripts under Tools/ci/. It is
+NOT an executable entry point; do not run it directly.
+
+Provides:
+  - fail(msg)              terminates the caller with a clear error
+  - GitHubClient(token)    thin stdlib-only GitHub REST client with
+                           single-request and paginated helpers
+
+Python stdlib only. No third-party dependencies.
+
+History: extracted from Tools/ci/pr-comment-poster.py so that
+pr-comment-poster.py and pr-review-poster.py share the same HTTP plumbing
+without duplicating ~100 lines of request/pagination/error-handling code.
+"""
+
+import json
+import sys
+import typing
+import urllib.error
+import urllib.request
+
+
+GITHUB_API = 'https://api.github.com'
+DEFAULT_USER_AGENT = 'px4-ci'
+API_VERSION = '2022-11-28'
+
+
+def fail(msg: str) -> typing.NoReturn:
+    """Print an error to stderr and exit with status 1.
+
+    Annotated NoReturn so static checkers understand control does not
+    continue past a fail() call.
+    """
+    print('error: {}'.format(msg), file=sys.stderr)
+    sys.exit(1)
+
+
+def _parse_next_link(link_header):
+    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
+
+    The Link header is comma-separated entries of the form:
+      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
+    We walk each entry and return the URL of the one whose rel attribute is
+    "next". Accept single-quoted rel values for robustness even though
+    GitHub always emits double quotes.
+    """
+    if not link_header:
+        return None
+    for part in link_header.split(','):
+        segs = part.strip().split(';')
+        if len(segs) < 2:
+            continue
+        url_seg = segs[0].strip()
+        if not (url_seg.startswith('<') and url_seg.endswith('>')):
+            continue
+        url = url_seg[1:-1]
+        for attr in segs[1:]:
+            attr = attr.strip()
+            if attr == 'rel="next"' or attr == "rel='next'":
+                return url
+    return None
+
+
+class GitHubClient:
+    """Minimal GitHub REST client backed by the Python stdlib.
+
+    Each instance holds a token and a user-agent so callers do not have to
+    thread them through every call. Methods return parsed JSON (or None for
+    empty responses) and raise RuntimeError with the server response body on
+    HTTP errors, so CI logs show what the API actually objected to.
+
+    Usage:
+        client = GitHubClient(token, user_agent='px4-pr-comment-poster')
+        body, headers = client.request('GET', 'repos/{o}/{r}/pulls/123')
+        for item in client.paginated('repos/{o}/{r}/pulls/123/reviews'):
+            ...
+    """
+
+    def __init__(self, token, user_agent=DEFAULT_USER_AGENT):
+        if not token:
+            raise ValueError('GitHub token is required')
+        self._token = token
+        self._user_agent = user_agent
+
+    def request(self, method, path_or_url, json_body=None):
+        """GET/POST/PATCH/PUT/DELETE a single API path or absolute URL.
+
+        `path_or_url` may be either a relative API path (e.g.
+        "repos/PX4/PX4-Autopilot/pulls/123") or an absolute URL such as the
+        next-page URL returned from paginated results. Relative paths are
+        prefixed with the GitHub API base.
+
+        Returns (parsed_json_or_none, headers_dict). Raises RuntimeError
+        on HTTP or transport errors.
+        """
+        url = self._resolve(path_or_url)
+        return self._do_request(method, url, json_body)
+
+    def paginated(self, path, per_page=100):
+        """GET a path and follow rel="next" Link headers.
+
+        Yields items from each page's JSON array. Bumps per_page to 100
+        (GitHub's max) so large result sets take fewer round-trips.
+        Raises RuntimeError if any page response is not a JSON array.
+        """
+        url = self._resolve(path)
+        sep = '&' if '?' in url else '?'
+        url = '{}{}per_page={}'.format(url, sep, per_page)
+        while url is not None:
+            body, headers = self._do_request('GET', url, None)
+            if body is None:
+                return
+            if not isinstance(body, list):
+                raise RuntimeError(
+                    'expected JSON array from {}, got {}'.format(
+                        url, type(body).__name__))
+            for item in body:
+                yield item
+            url = _parse_next_link(headers.get('Link'))
+
+    def _resolve(self, path_or_url):
+        if path_or_url.startswith('http://') or path_or_url.startswith('https://'):
+            return path_or_url
+        return '{}/{}'.format(GITHUB_API.rstrip('/'), path_or_url.lstrip('/'))
+
+    def _do_request(self, method, url, json_body):
+        data = None
+        headers = {
+            'Authorization': 'Bearer {}'.format(self._token),
+            'Accept': 'application/vnd.github+json',
+            # Pin the API version so GitHub deprecations don't silently
+            # change the response shape under us.
+            'X-GitHub-Api-Version': API_VERSION,
+            'User-Agent': self._user_agent,
+        }
+        if json_body is not None:
+            data = json.dumps(json_body).encode('utf-8')
+            headers['Content-Type'] = 'application/json; charset=utf-8'
+
+        req = urllib.request.Request(
+            url, data=data, method=method, headers=headers)
+        try:
+            with urllib.request.urlopen(req) as resp:
+                raw = resp.read()
+                # HTTPMessage is case-insensitive on lookup but its items()
+                # preserves the original case. GitHub sends "Link" with a
+                # capital L, which is what _parse_next_link expects.
+                resp_headers = dict(resp.headers.items())
+                if not raw:
+                    return None, resp_headers
+                return json.loads(raw.decode('utf-8')), resp_headers
+        except urllib.error.HTTPError as e:
+            # GitHub error bodies are JSON with a "message" field and often
+            # a "documentation_url". Dump the raw body into the exception so
+            # the CI log shows exactly what the API objected to. A bare
+            # "HTTP 422" tells us nothing useful.
+            try:
+                err_body = e.read().decode('utf-8', errors='replace')
+            except Exception:
+                err_body = '(no body)'
+            raise RuntimeError(
+                'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
+                    method, url, e.code, e.reason, err_body))
+        except urllib.error.URLError as e:
+            # Network layer failure (DNS, TLS, connection reset). No HTTP
+            # response to parse; just surface the transport reason.
+            raise RuntimeError(
+                'GitHub API {} {} failed: {}'.format(method, url, e.reason))

Tools/ci/build_all_config.yml

@@ -0,0 +1,71 @@
+# Build All Targets CI Configuration
+#
+# Controls board grouping, cache sizes, runner specs, and seeder targets
+# for the build_all_targets workflow. Forks can customize this file to
+# adjust for their infrastructure (e.g., lower cache sizes for GitHub's
+# 10GB cache limit, fewer CPU cores for smaller runners).
+
+# Container images
+containers:
+  default: "ghcr.io/px4/px4-dev:v1.17.0-rc2"
+  voxl2: "ghcr.io/px4/px4-dev-voxl2:v1.7"
+
+# Runner specs
+runners:
+  seeder_cpu: 8
+  matrix_cpu: 4
+
+# Default ccache max-size for build groups
+cache:
+  default_size: "400M"
+  # Per-chip overrides for groups with many diverse boards
+  chip_sizes:
+    stm32h7: "800M"
+    stm32f4: "800M"
+    stm32f7: "800M"
+    imxrt: "800M"
+
+# Board grouping limits
+grouping:
+  # Max targets per group, tuned for ~10 min wall-clock with warm cache
+  chip_split_limits:
+    stm32h7: 10
+    stm32f7: 12
+    stm32f4: 20
+    stm32f1: 39
+    imxrt: 12
+    kinetis: 14
+    s32k: 17
+    rp2040: 10
+    special: 10
+    native: 17
+  default_split_limit: 12
+  # Minimum targets for a manufacturer to get a named group
+  lower_limit: 3
+  # If last chunk has fewer targets than this, merge into previous chunk
+  merge_back_threshold: 5
+
+# Labels that isolate builds into the "special" group
+special_labels:
+  - lto
+  - protected
+
+# NXP chip families are pooled under "nxp-{chip}" regardless of board directory
+nxp_chip_families:
+  - imxrt
+  - kinetis
+  - s32k
+
+# Seeder targets: one representative build per chip family
+seeders:
+  stm32h7: "px4_fmu-v6x_default"
+  stm32f7: "px4_fmu-v5_default"
+  stm32f4: "px4_fmu-v4_default"
+  stm32f1: "px4_io-v2_default"
+  imxrt: "nxp_mr-tropic_default"
+  kinetis: "nxp_fmuk66-v3_default"
+  s32k: "nxp_mr-canhubk3_default"
+  rp2040: "raspberrypi_pico_default"
+  special: "px4_fmu-v6x_default"
+  native: "px4_sitl_default"
+  voxl2: "modalai_voxl2_default"

Tools/ci/build_all_runner.sh

@@ -3,7 +3,6 @@
 # Please only modify if you know what you are doing
 set -e
 
-echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
 targets=$1
 for target in ${targets//,/ }
 do
@@ -14,6 +13,5 @@ do
     diff=$(($stop-$start))
     build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
     echo -e "\033[0;32mBuild Time: [$build_time]"
-    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
     echo "::endgroup::"
 done

Tools/ci/clang-tidy-diff-filter.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+"""
+Filter a git diff for consumption by clang-tidy-diff.
+
+Produces a unified diff containing only files that clang-tidy can
+actually analyze against the current compilation database:
+
+  - C/C++ source files (.c, .cpp, .cc, .cxx, .m, .mm) must be present
+    in compile_commands.json. Files absent from the database are test
+    files, excluded code, or platform-specific sources that were not
+    compiled. Feeding them to clang-tidy-diff produces spurious
+    "header not found" errors (gtest/gtest.h in particular).
+
+  - Header files (.h, .hpp, .hxx) always pass through. clang-tidy
+    analyzes header changes via the TUs that include them; there is
+    no separate TU for a header to match against the database.
+
+  - All other files (CMakeLists.txt, .yml, .md, etc.) are dropped.
+
+Output is a unified diff suitable for piping into clang-tidy-diff.py.
+If nothing remains, the output file is empty.
+
+Used by .github/workflows/clang-tidy.yml as a pre-filter for the
+`pr-review` artifact producer. Python stdlib only.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+SOURCE_EXTS = {'.c', '.cpp', '.cc', '.cxx', '.m', '.mm'}
+HEADER_EXTS = {'.h', '.hpp', '.hxx'}
+
+
+def load_db_files(build_dir):
+    """Return the set of source paths (repo-relative) in compile_commands.json."""
+    path = os.path.join(build_dir, 'compile_commands.json')
+    with open(path) as f:
+        db = json.load(f)
+    root = os.path.abspath('.')
+    prefix = root + os.sep
+    paths = set()
+    for entry in db:
+        p = entry.get('file', '')
+        if p.startswith(prefix):
+            paths.add(p[len(prefix):])
+        else:
+            # Relative or external path; record as-is
+            paths.add(p)
+    return paths
+
+
+def changed_files(base_ref):
+    out = subprocess.check_output(
+        ['git', 'diff', '--name-only', '{}...HEAD'.format(base_ref)],
+        text=True,
+    )
+    return [line.strip() for line in out.splitlines() if line.strip()]
+
+
+def keep_file(path, db_files):
+    """Decide whether to keep this path in the filtered diff."""
+    ext = os.path.splitext(path)[1].lower()
+    if ext in HEADER_EXTS:
+        return True
+    if ext in SOURCE_EXTS:
+        return path in db_files
+    return False
+
+
+def filtered_diff(base_ref, keep_paths):
+    if not keep_paths:
+        return ''
+    cmd = ['git', 'diff', '-U0', '{}...HEAD'.format(base_ref), '--'] + sorted(keep_paths)
+    return subprocess.check_output(cmd, text=True)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--build-dir', required=True,
+                        help='CMake build dir containing compile_commands.json')
+    parser.add_argument('--base-ref', required=True,
+                        help='Git ref to diff against (e.g. origin/main)')
+    parser.add_argument('--out', required=True,
+                        help='Output path for the filtered unified diff')
+    args = parser.parse_args()
+
+    db_files = load_db_files(args.build_dir)
+    changed = changed_files(args.base_ref)
+
+    keep = [p for p in changed if keep_file(p, db_files)]
+    dropped = [p for p in changed if p not in keep]
+
+    print('clang-tidy-diff-filter: kept {} of {} changed files'.format(
+        len(keep), len(changed)))
+    if dropped:
+        print('  dropped (not in compile_commands.json or not source/header):')
+        for p in dropped:
+            print('    {}'.format(p))
+
+    diff = filtered_diff(args.base_ref, keep)
+    with open(args.out, 'w') as f:
+        f.write(diff)
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/ci/clang-tidy-fixes-to-review.py

@@ -0,0 +1,539 @@
+#!/usr/bin/env python3
+#
+# clang-tidy-fixes-to-review.py
+#
+# Producer-side helper that converts a clang-tidy fixes.yml file into a
+# pr-review artifact (manifest.json + comments.json) suitable for
+# Tools/ci/pr-review-poster.py.
+#
+# This script runs inside the clang-tidy job's px4-dev container so it can
+# read the source tree directly and look up byte offsets in the original
+# files. The output it writes is a fully-baked array of review comments;
+# the poster never reads source files or fixes.yml.
+#
+# ----------------------------------------------------------------------------
+# ATTRIBUTION
+# ----------------------------------------------------------------------------
+# This script reuses the diagnostic-to-review-comment translation logic
+# from platisd/clang-tidy-pr-comments. The original work is:
+#
+#   MIT License
+#
+#   Copyright (c) 2021 Dimitris Platis
+#
+#   Permission is hereby granted, free of charge, to any person obtaining a
+#   copy of this software and associated documentation files (the
+#   "Software"), to deal in the Software without restriction, including
+#   without limitation the rights to use, copy, modify, merge, publish,
+#   distribute, sublicense, and/or sell copies of the Software, and to
+#   permit persons to whom the Software is furnished to do so, subject to
+#   the following conditions:
+#
+#   The above copyright notice and this permission notice shall be included
+#   in all copies or substantial portions of the Software.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+#   OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+#   MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+#   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+#   CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+#   TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+#   SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# Adapted parts:
+#   - get_diff_line_ranges_per_file() and its inner change_to_line_range()
+#   - generate_review_comments() and its nested helpers
+#       (get_line_by_offset, validate_warning_applicability,
+#        calculate_replacements_diff, markdown, markdown_url,
+#        diagnostic_name_visual, generate_single_comment)
+#   - reorder_diagnostics()
+#
+# Removed parts (handled by Tools/ci/pr-review-poster.py instead):
+#   - post_review_comments / dismiss_change_requests / resolve_conversations
+#   - the original argparse main and the requests-based HTTP layer
+#
+# Adaptation notes:
+#   - The HTTP layer is rewritten on top of Tools/ci/_github_helpers.py so
+#     this script does not depend on the third-party `requests` package.
+#   - Conversation resolution (the GraphQL path) is intentionally dropped
+#     for v1; revisit if it turns out to be missed.
+#   - Clang-Tidy 8 upconvert is preserved verbatim.
+#
+# ----------------------------------------------------------------------------
+# Bounded assumptions (documented for future maintainers):
+#   - Source files are UTF-8 (we read them as latin_1, matching clang-tidy's
+#     own byte-offset model, and the offsets we surface are line counts)
+#   - Source files use LF line endings
+#   - Malformed entries in fixes.yml are skipped with a warning rather than
+#     crashing the job
+#
+# Dependencies: pyyaml + Tools/ci/_github_helpers.py.
+# pyyaml is preinstalled in the px4-dev container; this script is intended
+# to run there, not on bare ubuntu-latest.
+"""Convert a clang-tidy fixes.yml into a pr-review artifact."""
+
+import argparse
+import difflib
+import json
+import os
+import posixpath
+import re
+import sys
+import urllib.parse
+
+import yaml
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# Markers used inside the per-comment body to call out severity. Plain
+# strings rather than emojis to keep the file emoji-free per project
+# preferences; the rendered Markdown is unaffected.
+SINGLE_COMMENT_MARKERS = {
+    'Error': '**[error]**',
+    'Warning': '**[warning]**',
+    'Remark': '**[remark]**',
+    'fallback': '**[note]**',
+}
+
+
+# ---------------------------------------------------------------------------
+# Diff-range parsing (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def get_diff_line_ranges_per_file(pr_files):
+    """Return a dict mapping each PR file path to a list of line ranges
+    (the +new-side hunks) parsed from its patch."""
+
+    def change_to_line_range(change):
+        split_change = change.split(',')
+        start = int(split_change[0])
+        size = int(split_change[1]) if len(split_change) > 1 else 1
+        return range(start, start + size)
+
+    result = {}
+    for pr_file in pr_files:
+        # Removed binary files etc. have no patch section.
+        if 'patch' not in pr_file:
+            continue
+        file_name = pr_file['filename']
+        # Match lines like '@@ -101,8 +102,11 @@'
+        git_line_tags = re.findall(
+            r'^@@ -.*? +.*? @@', pr_file['patch'], re.MULTILINE)
+        changes = [
+            tag.replace('@@', '').strip().split()[1].replace('+', '')
+            for tag in git_line_tags
+        ]
+        result[file_name] = [
+            change_to_line_range(change) for change in changes
+        ]
+    return result
+
+
+def fetch_pull_request_files(client, repo, pr_number):
+    """Yield file metadata objects for each file modified by the PR."""
+    path = 'repos/{}/pulls/{}/files'.format(repo, pr_number)
+    for entry in client.paginated(path):
+        yield entry
+
+
+# ---------------------------------------------------------------------------
+# Diagnostic ordering (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def reorder_diagnostics(diags):
+    """Return diagnostics ordered Error -> Warning -> Remark -> other."""
+    errors = [d for d in diags if d.get('Level') == 'Error']
+    warnings = [d for d in diags if d.get('Level') == 'Warning']
+    remarks = [d for d in diags if d.get('Level') == 'Remark']
+    others = [
+        d for d in diags
+        if d.get('Level') not in {'Error', 'Warning', 'Remark'}
+    ]
+    if others:
+        print(
+            'warning: some fixes have an unexpected Level (not Error, '
+            'Warning, or Remark)', file=sys.stderr)
+    return errors + warnings + remarks + others
+
+
+# ---------------------------------------------------------------------------
+# Comment generation (adapted from platisd)
+# ---------------------------------------------------------------------------
+
+def generate_review_comments(clang_tidy_fixes, repository_root,
+                              diff_line_ranges_per_file,
+                              single_comment_markers):
+    """Yield review comment dicts for each clang-tidy diagnostic that
+    intersects the PR diff."""
+
+    def get_line_by_offset(file_path, offset):
+        # Clang-Tidy doesn't support multibyte encodings and measures
+        # offsets in bytes; latin_1 makes byte offsets and string offsets
+        # equivalent.
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        return source[:offset].count('\n') + 1
+
+    def validate_warning_applicability(file_path, start_line_num, end_line_num):
+        assert end_line_num >= start_line_num
+        for line_range in diff_line_ranges_per_file[file_path]:
+            assert line_range.step == 1
+            if (line_range.start <= start_line_num
+                    and end_line_num < line_range.stop):
+                return True
+        return False
+
+    def calculate_replacements_diff(file_path, replacements):
+        # Apply replacements in reverse order so subsequent offsets do not
+        # shift.
+        replacements.sort(key=lambda item: (-item['Offset']))
+        with open(repository_root + file_path, encoding='latin_1') as fh:
+            source = fh.read()
+        changed = source
+        for replacement in replacements:
+            changed = (
+                changed[:replacement['Offset']]
+                + replacement['ReplacementText']
+                + changed[replacement['Offset'] + replacement['Length']:]
+            )
+        return difflib.Differ().compare(
+            source.splitlines(keepends=True),
+            changed.splitlines(keepends=True),
+        )
+
+    def markdown(s):
+        md_chars = '\\`*_{}[]<>()#+-.!|'
+
+        def escape_chars(s):
+            for ch in md_chars:
+                s = s.replace(ch, '\\' + ch)
+            return s
+
+        def unescape_chars(s):
+            for ch in md_chars:
+                s = s.replace('\\' + ch, ch)
+            return s
+
+        s = escape_chars(s)
+        s = re.sub(
+            "'([^']*)'",
+            lambda m: '`` ' + unescape_chars(m.group(1)) + ' ``',
+            s,
+        )
+        return s
+
+    def markdown_url(label, url):
+        return '[{}]({})'.format(label, url)
+
+    def diagnostic_name_visual(diagnostic_name):
+        visual = '**{}**'.format(markdown(diagnostic_name))
+        try:
+            first_dash_idx = diagnostic_name.index('-')
+        except ValueError:
+            return visual
+        namespace = urllib.parse.quote_plus(diagnostic_name[:first_dash_idx])
+        check_name = urllib.parse.quote_plus(
+            diagnostic_name[first_dash_idx + 1:])
+        return markdown_url(
+            visual,
+            'https://clang.llvm.org/extra/clang-tidy/checks/{}/{}.html'.format(
+                namespace, check_name),
+        )
+
+    def generate_single_comment(file_path, start_line_num, end_line_num,
+                                 name, message, single_comment_marker,
+                                 replacement_text=None):
+        result = {
+            'path': file_path,
+            'line': end_line_num,
+            'side': 'RIGHT',
+            'body': '{} {} {}\n{}'.format(
+                single_comment_marker,
+                diagnostic_name_visual(name),
+                single_comment_marker,
+                markdown(message),
+            ),
+        }
+        if start_line_num != end_line_num:
+            result['start_line'] = start_line_num
+            result['start_side'] = 'RIGHT'
+        if replacement_text is not None:
+            if not replacement_text or replacement_text[-1] != '\n':
+                replacement_text += '\n'
+            result['body'] += '\n```suggestion\n{}```'.format(replacement_text)
+        return result
+
+    for diag in clang_tidy_fixes['Diagnostics']:
+        # Upconvert clang-tidy 8 format to 9+
+        if 'DiagnosticMessage' not in diag:
+            diag['DiagnosticMessage'] = {
+                'FileOffset': diag.get('FileOffset'),
+                'FilePath': diag.get('FilePath'),
+                'Message': diag.get('Message'),
+                'Replacements': diag.get('Replacements', []),
+            }
+
+        diag_message = diag['DiagnosticMessage']
+        diag_message['FilePath'] = posixpath.normpath(
+            (diag_message.get('FilePath') or '').replace(repository_root, ''))
+        for replacement in diag_message.get('Replacements') or []:
+            replacement['FilePath'] = posixpath.normpath(
+                replacement['FilePath'].replace(repository_root, ''))
+
+        diag_name = diag.get('DiagnosticName', '<unknown>')
+        diag_message_msg = diag_message.get('Message', '')
+        level = diag.get('Level', 'Warning')
+        single_comment_marker = single_comment_markers.get(
+            level, single_comment_markers['fallback'])
+
+        replacements = diag_message.get('Replacements') or []
+        if not replacements:
+            file_path = diag_message['FilePath']
+            offset = diag_message.get('FileOffset')
+            if offset is None:
+                print('warning: skipping {!r}: missing FileOffset'.format(
+                    diag_name), file=sys.stderr)
+                continue
+            if file_path not in diff_line_ranges_per_file:
+                print(
+                    "'{}' for {} does not apply to the files changed in "
+                    'this PR'.format(diag_name, file_path))
+                continue
+            try:
+                line_num = get_line_by_offset(file_path, offset)
+            except (OSError, ValueError) as e:
+                print('warning: skipping {!r} on {}: {}'.format(
+                    diag_name, file_path, e), file=sys.stderr)
+                continue
+
+            print("Processing '{}' at line {} of {}...".format(
+                diag_name, line_num, file_path))
+            if validate_warning_applicability(file_path, line_num, line_num):
+                yield generate_single_comment(
+                    file_path,
+                    line_num,
+                    line_num,
+                    diag_name,
+                    diag_message_msg,
+                    single_comment_marker=single_comment_marker,
+                )
+            else:
+                print('This warning does not apply to the lines changed '
+                      'in this PR')
+        else:
+            for file_path in {item['FilePath'] for item in replacements}:
+                if file_path not in diff_line_ranges_per_file:
+                    print(
+                        "'{}' for {} does not apply to the files changed "
+                        'in this PR'.format(diag_name, file_path))
+                    continue
+
+                line_num = 1
+                start_line_num = None
+                end_line_num = None
+                replacement_text = None
+
+                try:
+                    diff_iter = calculate_replacements_diff(
+                        file_path,
+                        [r for r in replacements if r['FilePath'] == file_path],
+                    )
+                except (OSError, ValueError) as e:
+                    print('warning: skipping {!r} on {}: {}'.format(
+                        diag_name, file_path, e), file=sys.stderr)
+                    continue
+
+                for line in diff_iter:
+                    # Comment line, ignore.
+                    if line.startswith('? '):
+                        continue
+                    # A '-' line is the start or continuation of a region
+                    # to replace.
+                    if line.startswith('- '):
+                        if start_line_num is None:
+                            start_line_num = line_num
+                            end_line_num = line_num
+                        else:
+                            end_line_num = line_num
+                        if replacement_text is None:
+                            replacement_text = ''
+                        line_num += 1
+                    # A '+' line is part of the replacement text.
+                    elif line.startswith('+ '):
+                        if replacement_text is None:
+                            replacement_text = line[2:]
+                        else:
+                            replacement_text += line[2:]
+                    # A context line marks the end of a replacement region.
+                    elif line.startswith('  '):
+                        if replacement_text is not None:
+                            if start_line_num is None:
+                                # Pure addition: synthesize a one-line
+                                # range and append the context line to
+                                # the replacement.
+                                start_line_num = line_num
+                                end_line_num = line_num
+                                replacement_text += line[2:]
+
+                            print("Processing '{}' at lines {}-{} of {}...".format(
+                                diag_name, start_line_num, end_line_num, file_path))
+
+                            if validate_warning_applicability(
+                                    file_path, start_line_num, end_line_num):
+                                yield generate_single_comment(
+                                    file_path,
+                                    start_line_num,
+                                    end_line_num,
+                                    diag_name,
+                                    diag_message_msg,
+                                    single_comment_marker=single_comment_marker,
+                                    replacement_text=replacement_text,
+                                )
+                            else:
+                                print(
+                                    'This warning does not apply to the '
+                                    'lines changed in this PR')
+
+                            start_line_num = None
+                            end_line_num = None
+                            replacement_text = None
+
+                        line_num += 1
+                    else:
+                        # Unknown difflib prefix; skip rather than abort.
+                        print('warning: unexpected diff prefix {!r}; '
+                              'skipping diagnostic'.format(line[:2]),
+                              file=sys.stderr)
+                        break
+
+                # End of file with a pending replacement region.
+                if replacement_text is not None and start_line_num is not None:
+                    print("Processing '{}' at lines {}-{} of {}...".format(
+                        diag_name, start_line_num, end_line_num, file_path))
+                    if validate_warning_applicability(
+                            file_path, start_line_num, end_line_num):
+                        yield generate_single_comment(
+                            file_path,
+                            start_line_num,
+                            end_line_num,
+                            diag_name,
+                            diag_message_msg,
+                            single_comment_marker=single_comment_marker,
+                            replacement_text=replacement_text,
+                        )
+                    else:
+                        print('This warning does not apply to the lines '
+                              'changed in this PR')
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Convert a clang-tidy fixes.yml into a pr-review '
+                    'artifact (manifest.json + comments.json).',
+    )
+    parser.add_argument('--fixes', required=True,
+                        help='Path to fixes.yml from clang-tidy')
+    parser.add_argument('--repo-root', required=True,
+                        help='Path to the repository root containing the '
+                             'source files referenced by fixes.yml')
+    parser.add_argument('--repo', required=True,
+                        help='owner/name of the repository')
+    parser.add_argument('--pr-number', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--commit-sha', required=True,
+                        help='40-char hex commit SHA the review will pin to')
+    parser.add_argument('--out-dir', required=True,
+                        help='Directory to write manifest.json and '
+                             'comments.json')
+    parser.add_argument(
+        '--marker',
+        default='<!-- pr-review-poster:clang-tidy -->',
+        help='Marker string embedded in the review body so the poster '
+             'can find and dismiss stale runs')
+    parser.add_argument(
+        '--event',
+        default='REQUEST_CHANGES',
+        choices=('COMMENT', 'REQUEST_CHANGES'),
+        help='GitHub review event type')
+    parser.add_argument(
+        '--summary', default='',
+        help='Optional review summary text appended to the review body')
+    args = parser.parse_args(argv)
+
+    if args.pr_number <= 0:
+        _fail('--pr-number must be > 0')
+    if not re.match(r'^[0-9a-f]{40}$', args.commit_sha):
+        _fail('--commit-sha must be a 40-char lowercase hex string')
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+
+    # Normalize the repo root with a trailing slash so the platisd-style
+    # str.replace() trick still strips it cleanly.
+    repo_root = args.repo_root
+    if not repo_root.endswith(os.sep):
+        repo_root = repo_root + os.sep
+
+    os.makedirs(args.out_dir, exist_ok=True)
+
+    client = _github_helpers.GitHubClient(token, user_agent='px4-clang-tidy-fixes-to-review')
+
+    print('Fetching PR file list from GitHub...')
+    pr_files = list(fetch_pull_request_files(client, args.repo, args.pr_number))
+    diff_line_ranges_per_file = get_diff_line_ranges_per_file(pr_files)
+
+    print('Loading clang-tidy fixes from {}...'.format(args.fixes))
+    if not os.path.isfile(args.fixes):
+        # No fixes file means clang-tidy ran cleanly. Emit an empty
+        # comments.json so the poster can short-circuit.
+        comments = []
+    else:
+        with open(args.fixes, encoding='utf-8') as fh:
+            clang_tidy_fixes = yaml.safe_load(fh)
+        if (not clang_tidy_fixes
+                or 'Diagnostics' not in clang_tidy_fixes
+                or not clang_tidy_fixes['Diagnostics']):
+            comments = []
+        else:
+            clang_tidy_fixes['Diagnostics'] = reorder_diagnostics(
+                clang_tidy_fixes['Diagnostics'])
+            comments = list(generate_review_comments(
+                clang_tidy_fixes,
+                repo_root,
+                diff_line_ranges_per_file,
+                single_comment_markers=SINGLE_COMMENT_MARKERS,
+            ))
+
+    print('Generated {} review comment(s)'.format(len(comments)))
+
+    manifest = {
+        'pr_number': args.pr_number,
+        'marker': args.marker,
+        'event': args.event,
+        'commit_sha': args.commit_sha,
+    }
+    if args.summary:
+        manifest['summary'] = args.summary
+
+    manifest_path = os.path.join(args.out_dir, 'manifest.json')
+    comments_path = os.path.join(args.out_dir, 'comments.json')
+    with open(manifest_path, 'w', encoding='utf-8') as fh:
+        json.dump(manifest, fh, indent=2)
+        fh.write('\n')
+    with open(comments_path, 'w', encoding='utf-8') as fh:
+        json.dump(comments, fh, indent=2)
+        fh.write('\n')
+
+    print('Wrote {} and {}'.format(manifest_path, comments_path))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/ci/generate_board_targets_json.py

@@ -16,6 +16,7 @@ kconf.warn_assign_override = False
 kconf.warn_assign_redun = False
 
 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+boards_dir = os.path.join(source_dir, '..', 'boards')
 
 parser = argparse.ArgumentParser(description='Generate build targets')
 
@@ -26,6 +27,8 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                     help='Groups targets')
 parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-s', '--seeders', dest='seeders', action='store_true',
+                    help='Output seeder matrix JSON (one entry per chip family)')
 
 args = parser.parse_args()
 verbose = args.verbose
@@ -35,8 +38,14 @@ if args.filter:
     for target in args.filter.split(','):
         target_filter.append(target)
 
-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
+# Load CI configuration from YAML
+import yaml
+ci_config_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'build_all_config.yml')
+with open(ci_config_path) as f:
+    ci_config = yaml.safe_load(f)
+
+default_container = ci_config['containers']['default']
+voxl2_container = ci_config['containers']['voxl2']
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
@@ -56,6 +65,71 @@ excluded_labels = [
     'uavcanv1', # TODO: fix and enable
     ]
 
+# Labels that mark isolated/special builds (poor cache reuse with normal builds)
+special_labels = ci_config.get('special_labels', ['lto', 'protected'])
+
+def detect_chip_family(manufacturer_name, board_name, label):
+    """Detect the chip family for a board by reading its NuttX defconfig.
+
+    Returns a chip family string used for cache grouping:
+      stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis, s32k, rp2040, native, special
+    """
+    # Special labels get their own group regardless of chip
+    if label in special_labels:
+        return 'special'
+
+    board_path = os.path.join(boards_dir, manufacturer_name, board_name)
+    nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
+
+    if not os.path.exists(nsh_defconfig):
+        # Try bootloader defconfig as fallback
+        bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
+        if os.path.exists(bl_defconfig):
+            nsh_defconfig = bl_defconfig
+        else:
+            return 'native'
+
+    arch_chip = None
+    specific_chip = None
+
+    with open(nsh_defconfig) as f:
+        for line in f:
+            line = line.strip()
+            if line.startswith('CONFIG_ARCH_CHIP='):
+                arch_chip = line.split('=')[1].strip('"')
+            elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
+                specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
+
+    if arch_chip is None:
+        return 'native'
+
+    # Direct matches for chips that have unique CONFIG_ARCH_CHIP values
+    if arch_chip == 'stm32h7':
+        return 'stm32h7'
+    elif arch_chip == 'stm32f7':
+        return 'stm32f7'
+    elif arch_chip == 'imxrt':
+        return 'imxrt'
+    elif arch_chip == 'kinetis':
+        return 'kinetis'
+    elif arch_chip.startswith('s32k'):
+        return 's32k'
+    elif arch_chip == 'rp2040':
+        return 'rp2040'
+    elif arch_chip == 'stm32':
+        # Disambiguate STM32 sub-families using specific chip define
+        if specific_chip:
+            if specific_chip.startswith('STM32F1'):
+                return 'stm32f1'
+            elif specific_chip.startswith('STM32F4'):
+                return 'stm32f4'
+            else:
+                return 'stm32f4'  # Default STM32 to F4
+        return 'stm32f4'
+    else:
+        return 'native'
+
+target_chip_families = {}  # target_name -> chip_family mapping
 github_action_config = { 'include': build_configs }
 extra_args = {}
 if args.pretty:
@@ -66,11 +140,21 @@ def chunks(arr, size):
     for i in range(0, len(arr), size):
         yield arr[i:i + size]
 
+MERGE_BACK_THRESHOLD = 5
+
+def chunks_merged(arr, size):
+    """Split array into chunks, merging the last chunk back if it's too small."""
+    result = list(chunks(arr, size))
+    if len(result) > 1 and len(result[-1]) < MERGE_BACK_THRESHOLD:
+        result[-2] = result[-2] + result[-1]
+        result.pop()
+    return result
+
 def comma_targets(targets):
     # turns array of targets into a comma split string
     return ",".join(targets)
 
-def process_target(px4board_file, target_name):
+def process_target(px4board_file, target_name, manufacturer_name=None, board_dir_name=None, label=None):
     # reads through the board file and grabs
     # useful information for building
     ret = None
@@ -107,6 +191,16 @@ def process_target(px4board_file, target_name):
         if board_name in board_container_overrides:
             container = board_container_overrides[board_name]
 
+        # Detect chip family for cache grouping
+        chip_family = 'native'
+        if manufacturer_name and board_dir_name:
+            if platform == 'nuttx':
+                chip_family = detect_chip_family(manufacturer_name, board_dir_name, label or '')
+            elif board_name in board_container_overrides or platform in platform_container_overrides:
+                chip_family = 'native'  # voxl2/qurt targets
+            else:
+                chip_family = 'native'
+
         # Boards with container overrides get their own group
         if board_name in board_container_overrides or platform in platform_container_overrides:
             group = 'voxl2'
@@ -124,7 +218,7 @@ def process_target(px4board_file, target_name):
         else:
             if verbose: print(f'unmatched platform: {platform}')
 
-        ret = {'target': target_name, 'container': container}
+        ret = {'target': target_name, 'container': container, 'chip_family': chip_family}
         if(args.group):
             ret['arch'] = group
 
@@ -147,6 +241,8 @@ grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
+for mt in metadata_targets:
+    target_chip_families[mt] = 'native'
 
 for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
     if not manufacturer.is_dir():
@@ -177,7 +273,10 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                 if label in excluded_labels:
                     if verbose: print(f'excluding label {label} ({target_name})')
                     continue
-                target = process_target(files.path, target_name)
+                target = process_target(files.path, target_name,
+                                       manufacturer_name=manufacturer.name,
+                                       board_dir_name=board.name,
+                                       label=label)
                 if (args.group and target is not None):
                     if (target['arch'] not in grouped_targets):
                         grouped_targets[target['arch']] = {}
@@ -186,6 +285,7 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                     if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
                         grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
                     grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
+                    target_chip_families[target_name] = target['chip_family']
                 if target is not None:
                     build_configs.append(target)
 
@@ -246,6 +346,9 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                 if manufacturer.name not in grouped_targets[group]['manufacturers']:
                     grouped_targets[group]['manufacturers'][manufacturer.name] = []
                 grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+                # Inherit chip_family from the default target
+                default_chip = target_chip_families.get(default_target, 'native')
+                target_chip_families[deb_target] = default_chip
             build_configs.append(target_entry)
 
 if(verbose):
@@ -261,109 +364,227 @@ if(verbose):
     print("===================")
 
 if (args.group):
-    # if we are using this script for grouping builds
-    # we loop trough the manufacturers list and split their targets
-    # if a manufacturer has more than a LIMIT of boards then we split that
-    # into sub groups such as "arch-manufacturer name-index"
-    # example:
-    #   nuttx-px4-0
-    #   nuttx-px4-1
-    #   nuttx-px4-2
-    #   nuttx-ark-0
-    #   nuttx-ark-1
-    # if the manufacturer doesn't have more targets than LIMIT then we add
-    # them to a generic group with the following structure "arch-index"
-    # example:
-    #   nuttx-0
-    #   nuttx-1
+    # Group targets by chip family for better ccache reuse.
+    # Targets sharing the same MCU family (e.g. stm32h7) benefit from
+    # a shared ccache seed since they compile the same NuttX kernel and HAL.
+    #
+    # Grouping strategy:
+    #   1. Collect all targets per (arch, chip_family, manufacturer)
+    #   2. Within each chip_family, large manufacturers get their own groups
+    #      named "{manufacturer}-{chip_family}[-N]"
+    #   3. Small manufacturers are merged into "misc-{chip_family}[-N]"
+    #   4. Special groups: "special" (lto/protected/allyes), "io" (stm32f1),
+    #      "voxl2-0" (unchanged)
+    #   5. Non-NuttX groups: "base-N", "aarch64-N", "armhf-N" (unchanged)
     final_groups = []
-    last_man = ''
-    last_arch = ''
-    SPLIT_LIMIT = 10
-    LOWER_LIMIT = 5
+    # Load grouping and cache config
+    grouping_config = ci_config.get('grouping', {})
+    CHIP_SPLIT_LIMITS = grouping_config.get('chip_split_limits', {})
+    DEFAULT_SPLIT_LIMIT = grouping_config.get('default_split_limit', 12)
+    LOWER_LIMIT = grouping_config.get('lower_limit', 3)
+
+    cache_config = ci_config.get('cache', {})
+    DEFAULT_CACHE_SIZE = cache_config.get('default_size', '400M')
+    CHIP_CACHE_SIZES = cache_config.get('chip_sizes', {})
+
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
+
     for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64'
+        # armhf and aarch64 Linux boards need the arm64 container image
+        # which ships the arm-linux-gnueabihf and aarch64-linux-gnu cross compilers
+        # (the x64 container image does not include them)
+        if arch in ('armhf', 'aarch64'):
+            runner = 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
-        temp_group = []
-        for man in grouped_targets[arch]['manufacturers']:
-            if(verbose):
-                print(f'=:Processing: [{arch}][{man}]')
-            man_len = len(grouped_targets[arch]['manufacturers'][man])
-            if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
-                # Manufacturers can have their own group
+
+        if arch == 'nuttx':
+            # Re-bucket NuttX targets by chip_family then manufacturer
+            chip_man_buckets = {}  # (chip_family, manufacturer) -> [target_names]
+            for man in grouped_targets[arch]['manufacturers']:
+                for target in grouped_targets[arch]['manufacturers'][man]:
+                    chip = target_chip_families.get(target, 'native')
+                    key = (chip, man)
+                    if key not in chip_man_buckets:
+                        chip_man_buckets[key] = []
+                    chip_man_buckets[key].append(target)
+
+            # Collect all chip families present
+            chip_families_seen = sorted(set(k[0] for k in chip_man_buckets.keys()))
+
+            for chip in chip_families_seen:
+                SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get(chip, DEFAULT_SPLIT_LIMIT)
+                # Special naming for certain chip families
+                if chip == 'special':
+                    chip_label = 'special'
+                elif chip == 'stm32f1':
+                    chip_label = 'io'
+                elif chip == 'rp2040':
+                    chip_label = 'special'  # rp2040 goes into special group
+                else:
+                    chip_label = chip
+
+                # Gather all (manufacturer -> targets) for this chip family
+                # NXP chip families (imxrt, kinetis, s32k) pool all manufacturers
+                # under "nxp" since all boards use NXP silicon regardless of
+                # which directory they live in (e.g., px4/fmu-v6xrt is imxrt).
+                nxp_chips = tuple(ci_config.get('nxp_chip_families', ['imxrt', 'kinetis', 's32k']))
+                man_targets = {}
+                for (c, m), targets in chip_man_buckets.items():
+                    if c == chip:
+                        man_key = 'nxp' if chip in nxp_chips else m
+                        if man_key not in man_targets:
+                            man_targets[man_key] = []
+                        man_targets[man_key].extend(targets)
+
+                # Merge rp2040 targets into a flat list for the special group
+                if chip in ('special', 'rp2040'):
+                    all_targets = []
+                    for m in sorted(man_targets.keys()):
+                        all_targets.extend(man_targets[m])
+                    # These get added to the special bucket below
+                    # We'll handle after the chip loop
+                    continue
+
                 if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
-                group_name = arch + "-" + man
-                targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
-                final_groups.append({
-                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
-                    "arch": arch,
-                    "runner": runner,
-                    "group": group_name,
-                    "len": len(grouped_targets[arch]['manufacturers'][man])
-                })
-            elif(man_len >= (SPLIT_LIMIT + 1)):
-                # Split big man groups into subgroups
-                # example: Pixhawk
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
-                chunk_limit = SPLIT_LIMIT
+                    print(f'=:Processing chip_family: [{chip}] ({chip_label})')
+
+                # Split into large-manufacturer groups and misc groups
+                # For NXP-exclusive chip families, always use the nxp name
+                # regardless of target count (there's no other manufacturer to pool with)
+                force_named = chip in nxp_chips
+                temp_group = []  # small manufacturers pooled here
+                for man in sorted(man_targets.keys()):
+                    man_len = len(man_targets[man])
+                    if (force_named or man_len > LOWER_LIMIT) and man_len <= SPLIT_LIMIT:
+                        group_name = f"{man}-{chip_label}"
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(man_targets[man]),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": man_len,
+                        })
+                    elif man_len > SPLIT_LIMIT:
+                        chunk_counter = 0
+                        for chunk in chunks_merged(man_targets[man], SPLIT_LIMIT):
+                            group_name = f"{man}-{chip_label}-{chunk_counter}"
+                            if(verbose):
+                                print(f'=:  [{man}][{man_len}] -> {group_name} ({len(chunk)})')
+                            final_groups.append({
+                                "container": grouped_targets[arch]['container'],
+                                "targets": comma_targets(chunk),
+                                "arch": arch,
+                                "chip_family": chip,
+                                "runner": runner,
+                                "group": group_name,
+                                "len": len(chunk),
+                            })
+                            chunk_counter += 1
+                    else:
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> misc pool')
+                        temp_group.extend(man_targets[man])
+
+                # Emit misc groups for small manufacturers
+                if temp_group:
+                    misc_chunks = chunks_merged(temp_group, SPLIT_LIMIT)
+                    num_misc_chunks = len(misc_chunks)
+                    chunk_counter = 0
+                    for chunk in misc_chunks:
+                        if num_misc_chunks == 1:
+                            group_name = f"misc-{chip_label}"
+                        else:
+                            group_name = f"misc-{chip_label}-{chunk_counter}"
+                        if(verbose):
+                            print(f'=:  [misc][{len(chunk)}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(chunk),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": len(chunk),
+                        })
+                        chunk_counter += 1
+
+            # Now handle special + rp2040 targets
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('special', DEFAULT_SPLIT_LIMIT)
+            special_targets = []
+            for (c, m), targets in chip_man_buckets.items():
+                if c in ('special', 'rp2040'):
+                    special_targets.extend(targets)
+            if special_targets:
                 chunk_counter = 0
-                for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
-                    group_name = arch + "-" + man + "-" + str(chunk_counter)
-                    targets = comma_targets(chunk)
+                for chunk in chunks_merged(special_targets, SPLIT_LIMIT):
+                    if len(special_targets) <= SPLIT_LIMIT:
+                        group_name = 'special'
+                    else:
+                        group_name = f'special-{chunk_counter}'
+                    if(verbose):
+                        print(f'=:  [special][{len(chunk)}] -> {group_name}')
                     final_groups.append({
                         "container": grouped_targets[arch]['container'],
-                        "targets": targets,
+                        "targets": comma_targets(chunk),
                         "arch": arch,
+                        "chip_family": "special",
                         "runner": runner,
                         "group": group_name,
                         "len": len(chunk),
                     })
                     chunk_counter += 1
-            else:
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
-                temp_group.extend(grouped_targets[arch]['manufacturers'][man])
 
-        temp_len = len(temp_group)
-        chunk_counter = 0
-        if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
-            group_name = arch + "-" + str(chunk_counter)
-            targets = comma_targets(temp_group)
-            final_groups.append({
-                "container": grouped_targets[arch]['container'],
-                "targets": targets,
-                "arch": arch,
-                "runner": runner,
-                "group": group_name,
-                "len": temp_len
-            })
-        elif(temp_len >= (SPLIT_LIMIT + 1)):
-            # Split big man groups into subgroups
-            # example: Pixhawk
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
-            chunk_limit = SPLIT_LIMIT
-            chunk_counter = 0
-            for chunk in chunks(temp_group, chunk_limit):
-                group_name = arch + "-" + str(chunk_counter)
-                targets = comma_targets(chunk)
+        elif arch == 'voxl2':
+            # VOXL2 stays as its own group
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
                 final_groups.append({
                     "container": grouped_targets[arch]['container'],
-                    "targets": targets,
+                    "targets": comma_targets(all_targets),
                     "arch": arch,
+                    "chip_family": "native",
                     "runner": runner,
-                    "group": group_name,
-                    "len": len(chunk),
+                    "group": "voxl2-0",
+                    "len": len(all_targets),
                 })
-                chunk_counter += 1
+
+        else:
+            # Non-NuttX groups (base, aarch64, armhf) - keep simple grouping
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('native', DEFAULT_SPLIT_LIMIT)
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
+                chunk_counter = 0
+                for chunk in chunks_merged(all_targets, SPLIT_LIMIT):
+                    if len(all_targets) <= SPLIT_LIMIT:
+                        group_name = f"{arch}-0"
+                    else:
+                        group_name = f"{arch}-{chunk_counter}"
+                    final_groups.append({
+                        "container": grouped_targets[arch]['container'],
+                        "targets": comma_targets(chunk),
+                        "arch": arch,
+                        "chip_family": "native",
+                        "runner": runner,
+                        "group": group_name,
+                        "len": len(chunk),
+                    })
+                    chunk_counter += 1
+
+    # Add cache_size to each group based on chip family
+    for g in final_groups:
+        g['cache_size'] = CHIP_CACHE_SIZES.get(g['chip_family'], DEFAULT_CACHE_SIZE)
+
     if(verbose):
         import pprint
         print("================")
@@ -375,6 +596,58 @@ if (args.group):
         print("= JSON output =")
         print("===============")
 
-    print(json.dumps({ "include": final_groups }, **extra_args))
+    if args.seeders:
+        # Generate one seeder entry per chip family present in the groups.
+        # Each seeder builds a representative target to warm the ccache for
+        # all groups sharing that chip family.
+        seeder_targets = ci_config.get('seeders', {})
+        seeder_containers = {
+            'native': default_container,
+        }
+        # Determine which chip families actually have groups
+        active_families = set()
+        for g in final_groups:
+            cf = g['chip_family']
+            active_families.add(cf)
+            # voxl2 gets its own seeder with a different container
+            if g['group'].startswith('voxl2'):
+                active_families.add('voxl2')
+
+        seeders = []
+        for cf in sorted(active_families):
+            if cf == 'special':
+                continue  # special group seeds from stm32h7
+            if cf == 'voxl2':
+                seeders.append({
+                    'chip_family': 'voxl2',
+                    'target': 'modalai_voxl2_default',
+                    'container': voxl2_container,
+                    'runner': 'x64',
+                })
+            elif cf == 'native':
+                # One seeder per runner arch that has native groups (exclude voxl2
+                # which has its own seeder with a different container)
+                native_runners = set()
+                for g in final_groups:
+                    if g['chip_family'] == 'native' and not g['group'].startswith('voxl2'):
+                        native_runners.add(g['runner'])
+                for r in sorted(native_runners):
+                    seeders.append({
+                        'chip_family': 'native',
+                        'target': seeder_targets['native'],
+                        'container': default_container,
+                        'runner': r,
+                    })
+            else:
+                seeders.append({
+                    'chip_family': cf,
+                    'target': seeder_targets.get(cf, seeder_targets['stm32h7']),
+                    'container': seeder_containers.get(cf, default_container),
+                    'runner': 'x64',
+                })
+
+        print(json.dumps({ "include": seeders }, **extra_args))
+    else:
+        print(json.dumps({ "include": final_groups }, **extra_args))
 else:
     print(json.dumps(github_action_config, **extra_args))

Tools/ci/pr-comment-poster.py

@@ -0,0 +1,288 @@
+#!/usr/bin/env python3
+"""
+PR comment poster for analysis workflows.
+
+This script is invoked from the `PR Comment Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-comment`
+artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
+etc.) and posts or updates a sticky PR comment via the GitHub REST API.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number": 12345,                                     (required, int > 0)
+      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
+      "mode":      "upsert"                                    (optional, default "upsert")
+    }
+
+  body.md
+    Markdown comment body, posted verbatim. Must be non-empty and
+    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and body.md are treated as
+opaque data. The marker is validated to printable ASCII only before use.
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest + body.
+  post <dir>       Validate, then upsert a sticky comment on the target PR.
+                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import sys
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
+# the appended marker line and any future wrapping.
+MAX_BODY_BYTES = 60000
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-comment-poster:flash-analysis -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+ACCEPTED_MODES = ('upsert',)
+
+USER_AGENT = 'px4-pr-comment-poster'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    # Space (0x20) through tilde (0x7E) inclusive.
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string.
+
+    The marker is printable ASCII only and bounded in length. The original
+    shell implementation also rejected quotes, backticks, and backslashes
+    because the value flowed through jq and shell contexts. Now that Python
+    owns the handling (the value is only ever used as a substring match in
+    comment bodies and as a literal string in JSON request payloads that
+    urllib serialises for us) those characters are safe. We keep the
+    printable-ASCII and length rules as a belt-and-braces sanity check.
+    """
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/body.md.
+
+    Returns a dict with keys: pr_number (int), marker (str), mode (str),
+    body (str, verbatim contents of body.md).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    body_path = os.path.join(directory, 'body.md')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(body_path):
+        _fail('body.md missing at {}'.format(body_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    # bool is a subclass of int in Python, so isinstance(True, int) is True.
+    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
+    # validate as 1/0 and then either fail upstream or poke the wrong PR.
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    mode = manifest.get('mode', 'upsert')
+    if mode not in ACCEPTED_MODES:
+        _fail('unsupported mode {!r} (accepted: {})'.format(
+            mode, ', '.join(ACCEPTED_MODES)))
+
+    # Read as bytes first so the size check is an honest byte count (matching
+    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
+    try:
+        with open(body_path, 'rb') as f:
+            body_bytes = f.read()
+    except OSError as e:
+        _fail('could not read body.md: {}'.format(e))
+
+    if len(body_bytes) == 0:
+        _fail('body.md is empty')
+    if len(body_bytes) > MAX_BODY_BYTES:
+        _fail('body.md too large: {} bytes (max {})'.format(
+            len(body_bytes), MAX_BODY_BYTES))
+
+    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
+    # here rather than later inside json.dumps with a less obvious traceback.
+    try:
+        body = body_bytes.decode('utf-8')
+    except UnicodeDecodeError as e:
+        _fail('body.md is not valid UTF-8: {}'.format(e))
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'mode': mode,
+        'body': body,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Comment upsert
+# ---------------------------------------------------------------------------
+
+def find_existing_comment_id(client, repo, pr_number, marker):
+    """Return the id of the first PR comment whose body contains marker, or None.
+
+    PR comments are issue comments in GitHub's data model, so we hit
+    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
+    returns review comments tied to specific code lines, which is not what
+    we want). The match is a plain substring check against the comment body;
+    the marker is expected to be an HTML comment that will not accidentally
+    appear in user-written prose.
+    """
+    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
+    for comment in client.paginated(path):
+        body = comment.get('body') or ''
+        if marker in body:
+            return comment.get('id')
+    return None
+
+
+def build_final_body(body, marker):
+    """Append the marker to body if not already present.
+
+    If the caller already embedded the marker (e.g. inside a hidden HTML
+    comment anywhere in their body) we leave the body alone; otherwise we
+    rstrip trailing newlines and append the marker on its own line after a
+    blank-line separator. Trailing-newline stripping keeps the output from
+    accumulating extra blank lines every time an existing comment is
+    re-rendered and re-posted.
+    """
+    if marker in body:
+        return body
+    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
+
+
+def upsert_comment(client, repo, pr_number, marker, body):
+    final_body = build_final_body(body, marker)
+    existing_id = find_existing_comment_id(client, repo, pr_number, marker)
+
+    if existing_id is not None:
+        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
+        client.request(
+            'PATCH',
+            'repos/{}/issues/comments/{}'.format(repo, existing_id),
+            json_body={'body': final_body},
+        )
+    else:
+        print('Creating new comment on PR #{}'.format(pr_number))
+        client.request(
+            'POST',
+            'repos/{}/issues/{}/comments'.format(repo, pr_number),
+            json_body={'body': final_body},
+        )
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
+        result['pr_number'],
+        len(result['marker']),
+        result['mode'],
+        len(result['body'].encode('utf-8')),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
+    # auto-set on every Actions runner. Both are required here because a local
+    # developer running the script directly won't have either unless they
+    # export them, and we want a clear error in that case.
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    # Minimal shape check. If "owner/name" is malformed the subsequent API
+    # calls would 404 with an unhelpful URL. Fail fast here instead.
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        upsert_comment(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            body=result['body'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post sticky PR comments from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and body.md in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then upsert a sticky PR comment. Requires env '
+             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/ci/pr-review-poster.py

@@ -0,0 +1,481 @@
+#!/usr/bin/env python3
+"""
+PR review-comment poster for analysis workflows.
+
+Sibling of Tools/ci/pr-comment-poster.py. Where pr-comment-poster.py posts
+sticky issue-style PR comments, this script posts line-anchored review
+comments on the "Files changed" tab. Use it for tools like clang-tidy that
+want to flag specific lines instead of (or in addition to) a rollup
+comment.
+
+This script is invoked from the `PR Review Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-review`
+artifact produced by an upstream analysis job and posts a fresh PR review
+via the GitHub REST API, dismissing any stale review the same producer
+left on a previous run.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number":  12345,                                    (required, int > 0)
+      "marker":     "<!-- pr-review-poster:clang-tidy -->",   (required, printable ASCII)
+      "event":      "COMMENT",                                 (required, "COMMENT" only)
+      "commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
+      "summary":    "Optional review body text"                (optional)
+    }
+
+  comments.json
+    JSON array of line-anchored review comment objects:
+      [
+        {"path": "src/foo.cpp", "line": 42, "side": "RIGHT",
+         "body": "..."},
+        {"path": "src/bar.hpp", "start_line": 10, "line": 15,
+         "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
+      ]
+
+Note: `APPROVE` and `REQUEST_CHANGES` events are intentionally NOT
+supported. Bots should never approve a pull request, and REQUEST_CHANGES
+cannot be dismissed by the GITHUB_TOKEN when branch protection restricts
+review dismissals, leading to undismissable spam on every push.
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and comments.json are
+treated as opaque data. The marker is validated to printable ASCII only
+before use, and only reviews authored by github-actions[bot] whose body
+contains the marker can be dismissed (a fork cannot spoof either).
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest +
+                   comments file.
+  post <dir>       Validate, then dismiss any stale matching review and
+                   post a new review on the target PR. Requires env
+                   GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import re
+import sys
+import time
+
+import _github_helpers
+from _github_helpers import fail as _fail
+
+
+USER_AGENT = 'px4-pr-review-poster'
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-review-poster:clang-tidy -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+# Cap per-comment body size well under GitHub's hard limit so we leave
+# headroom for the wrapping JSON envelope. Empirically GitHub allows ~65535
+# bytes per review comment body; 60000 is a safe ceiling.
+MAX_COMMENT_BODY_BYTES = 60000
+
+# Cap on number of comments per single review POST. platisd uses 10. The
+# value matters because GitHub's review-creation endpoint has a payload
+# size limit and review comments occasionally trip an abuse-detection
+# threshold when posted in very large batches. Smaller chunks also let us
+# spread the work across multiple reviews so a single bad entry only
+# fails its own chunk.
+COMMENTS_PER_REVIEW = 10
+
+# Sleep between successive review POSTs to stay clear of GitHub's
+# secondary rate limits. platisd uses 10s; 5s is enough for our volume
+# and cuts user-visible latency.
+SLEEP_BETWEEN_CHUNKS_SECONDS = 5
+
+ACCEPTED_EVENTS = ('COMMENT',)
+ACCEPTED_SIDES = ('LEFT', 'RIGHT')
+COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')
+
+# The login GitHub assigns to the built-in actions token. Used to filter
+# the list of existing reviews so we never touch a human reviewer's review.
+BOT_LOGIN = 'github-actions[bot]'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _is_printable_ascii(s):
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string. See pr-comment-poster.py for rationale."""
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def _validate_comment_entry(idx, entry):
+    """Validate a single review-comment entry. Raises via _fail on error."""
+    if not isinstance(entry, dict):
+        _fail('comments[{}]: must be an object'.format(idx))
+
+    path = entry.get('path')
+    if not isinstance(path, str) or not path:
+        _fail('comments[{}].path: required non-empty string'.format(idx))
+
+    line = entry.get('line')
+    if not isinstance(line, int) or isinstance(line, bool) or line <= 0:
+        _fail('comments[{}].line: required positive integer'.format(idx))
+
+    side = entry.get('side', 'RIGHT')
+    if side not in ACCEPTED_SIDES:
+        _fail('comments[{}].side: must be one of {} (got {!r})'.format(
+            idx, ', '.join(ACCEPTED_SIDES), side))
+
+    if 'start_line' in entry:
+        start_line = entry['start_line']
+        if (not isinstance(start_line, int)
+                or isinstance(start_line, bool)
+                or start_line <= 0):
+            _fail('comments[{}].start_line: must be positive integer'.format(idx))
+        if start_line >= line:
+            _fail('comments[{}].start_line ({}) must be < line ({})'.format(
+                idx, start_line, line))
+        start_side = entry.get('start_side', side)
+        if start_side not in ACCEPTED_SIDES:
+            _fail('comments[{}].start_side: must be one of {}'.format(
+                idx, ', '.join(ACCEPTED_SIDES)))
+
+    body = entry.get('body')
+    if not isinstance(body, str) or not body:
+        _fail('comments[{}].body: required non-empty string'.format(idx))
+    body_bytes = len(body.encode('utf-8'))
+    if body_bytes > MAX_COMMENT_BODY_BYTES:
+        _fail('comments[{}].body too large: {} bytes (max {})'.format(
+            idx, body_bytes, MAX_COMMENT_BODY_BYTES))
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/comments.json.
+
+    Returns a dict with keys: pr_number, marker, event, commit_sha,
+    summary, comments (list of validated comment dicts).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    comments_path = os.path.join(directory, 'comments.json')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(comments_path):
+        _fail('comments.json missing at {}'.format(comments_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    event = manifest.get('event')
+    if event not in ACCEPTED_EVENTS:
+        _fail('event must be one of {} (got {!r}). APPROVE and '
+              'REQUEST_CHANGES are intentionally forbidden.'.format(
+                  ', '.join(ACCEPTED_EVENTS), event))
+
+    commit_sha = manifest.get('commit_sha')
+    if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
+        _fail('commit_sha must be a 40-character lowercase hex string')
+
+    summary = manifest.get('summary', '')
+    if summary is None:
+        summary = ''
+    if not isinstance(summary, str):
+        _fail('summary must be a string if present')
+
+    try:
+        with open(comments_path, 'r', encoding='utf-8') as f:
+            comments = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('comments.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(comments, list):
+        _fail('comments.json must be a JSON array')
+
+    for idx, entry in enumerate(comments):
+        _validate_comment_entry(idx, entry)
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'event': event,
+        'commit_sha': commit_sha,
+        'summary': summary,
+        'comments': comments,
+    }
+
+
+# ---------------------------------------------------------------------------
+# Stale-review dismissal
+# ---------------------------------------------------------------------------
+
+def find_stale_reviews(client, repo, pr_number, marker):
+    """Yield (id, state) for each existing review owned by the bot AND
+    whose body contains the marker.
+
+    Filtering on BOTH author == github-actions[bot] AND marker-in-body is
+    the security invariant: a fork PR cannot impersonate the bot login,
+    and a fork PR also cannot inject the marker into a human reviewer's
+    body without API access.
+    """
+    path = 'repos/{}/pulls/{}/reviews'.format(repo, pr_number)
+    for review in client.paginated(path):
+        user = review.get('user') or {}
+        if user.get('login') != BOT_LOGIN:
+            continue
+        body = review.get('body') or ''
+        if marker not in body:
+            continue
+        yield review.get('id'), review.get('state')
+
+
+def dismiss_stale_reviews(client, repo, pr_number, marker):
+    """Dismiss (or, for PENDING reviews, delete) every stale matching review.
+
+    Returns the number of reviews that could NOT be dismissed (still active).
+    """
+    dismissal_message = 'Superseded by a newer run'
+    failed_dismissals = 0
+    for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
+        if review_id is None:
+            continue
+        if state in ('DISMISSED', 'COMMENTED'):
+            # Already inert or non-blocking; nothing to do.
+            continue
+        if state == 'PENDING':
+            # PENDING reviews cannot be dismissed; they must be deleted.
+            print('Deleting pending stale review {}'.format(review_id))
+            try:
+                client.request(
+                    'DELETE',
+                    'repos/{}/pulls/{}/reviews/{}'.format(
+                        repo, pr_number, review_id))
+            except RuntimeError as e:
+                failed_dismissals += 1
+                print('warning: failed to delete pending review {}: {}'.format(
+                    review_id, e), file=sys.stderr)
+            continue
+        print('Dismissing stale review {} (state={})'.format(review_id, state))
+        try:
+            client.request(
+                'PUT',
+                'repos/{}/pulls/{}/reviews/{}/dismissals'.format(
+                    repo, pr_number, review_id),
+                json_body={
+                    'message': dismissal_message,
+                    'event': 'DISMISS',
+                },
+            )
+        except RuntimeError as e:
+            failed_dismissals += 1
+            print('warning: failed to dismiss review {}: {}'.format(
+                review_id, e), file=sys.stderr)
+    return failed_dismissals
+
+
+# ---------------------------------------------------------------------------
+# Review posting
+# ---------------------------------------------------------------------------
+
+def _chunk(lst, n):
+    """Yield successive n-sized slices of lst."""
+    for i in range(0, len(lst), n):
+        yield lst[i:i + n]
+
+
+def _build_review_body(marker, summary, chunk_index, chunk_total):
+    """Construct the review body text.
+
+    Always begins with the marker (so future runs can find and dismiss
+    this review). Appends a chunk index when the comment set is split
+    across multiple reviews, and the producer-supplied summary if any.
+    """
+    parts = [marker]
+    if chunk_total > 1:
+        parts.append('({}/{})'.format(chunk_index + 1, chunk_total))
+    if summary:
+        parts.append('')
+        parts.append(summary)
+    return '\n'.join(parts)
+
+
+def _comment_to_api(entry):
+    """Project a validated comment dict to the GitHub API shape."""
+    api = {
+        'path': entry['path'],
+        'line': entry['line'],
+        'side': entry.get('side', 'RIGHT'),
+        'body': entry['body'],
+    }
+    if 'start_line' in entry:
+        api['start_line'] = entry['start_line']
+        api['start_side'] = entry.get('start_side', api['side'])
+    return api
+
+
+def post_review(client, repo, pr_number, marker, event, commit_sha, summary,
+                comments):
+    """Post one or more reviews containing the validated comments.
+
+    Comments are split into COMMENTS_PER_REVIEW-sized chunks. Each chunk
+    becomes its own review POST. A failed chunk logs a warning and the
+    loop continues to the next chunk.
+    """
+    chunks = list(_chunk(comments, COMMENTS_PER_REVIEW))
+    total = len(chunks)
+    if total == 0:
+        print('No comments to post; skipping review creation.')
+        return
+
+    posted_any = False
+    for idx, chunk in enumerate(chunks):
+        if idx > 0:
+            time.sleep(SLEEP_BETWEEN_CHUNKS_SECONDS)
+        body = _build_review_body(marker, summary, idx, total)
+        payload = {
+            'commit_id': commit_sha,
+            'body': body,
+            'event': event,
+            'comments': [_comment_to_api(c) for c in chunk],
+        }
+        print('Posting review chunk {}/{} with {} comment(s)'.format(
+            idx + 1, total, len(chunk)))
+        try:
+            client.request(
+                'POST',
+                'repos/{}/pulls/{}/reviews'.format(repo, pr_number),
+                json_body=payload,
+            )
+            posted_any = True
+        except RuntimeError as e:
+            # Most common cause is HTTP 422: a comment refers to a line
+            # GitHub does not consider part of the diff. Skip the bad
+            # chunk and keep going so other findings still get posted.
+            print('warning: review chunk {}/{} failed: {}'.format(
+                idx + 1, total, e), file=sys.stderr)
+
+    if not posted_any:
+        # If every single chunk failed, surface that as a hard error so
+        # the workflow turns red and a human looks at it.
+        _fail('all review chunks failed to post; see warnings above')
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print(('ok: pr_number={} marker_len={} event={} commit_sha={} '
+           'comments={} summary_len={}').format(
+        result['pr_number'],
+        len(result['marker']),
+        result['event'],
+        result['commit_sha'],
+        len(result['comments']),
+        len(result['summary']),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # Empty comment lists short-circuit silently. A producer that ran but
+    # found nothing to flag should not generate noise on the PR.
+    if len(result['comments']) == 0:
+        print('No comments in artifact; nothing to post.')
+        return 0
+
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
+        undismissed = dismiss_stale_reviews(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+        )
+
+        if undismissed > 0:
+            print('{} prior review(s) could not be dismissed (likely '
+                  'branch protection).'.format(undismissed))
+
+        post_review(
+            client=client,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            event=result['event'],
+            commit_sha=result['commit_sha'],
+            summary=result['summary'],
+            comments=result['comments'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post line-anchored PR review comments '
+                    'from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and comments.json in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then dismiss any stale review and post a new one. '
+             'Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/ci/run-clang-tidy-pr.py

@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+Run clang-tidy incrementally on files changed in a PR.
+
+Usage: run-clang-tidy-pr.py <base-ref>
+  base-ref: e.g. origin/main
+
+Computes the set of translation units (TUs) affected by the PR diff,
+then invokes Tools/run-clang-tidy.py on that subset only.
+Exits 0 silently when no C++ files were changed.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+EXTENSIONS_CPP = {'.cpp', '.c'}
+EXTENSIONS_HDR = {'.hpp', '.h'}
+# Manual exclusions from Makefile:508
+EXCLUDE_EXTRA = '|'.join([
+    'src/systemcmds/tests',
+    'src/examples',
+    'src/modules/gyro_fft/CMSIS_5',
+    'src/lib/drivers/smbus',
+    'src/drivers/gpio',
+    r'src/modules/commander/failsafe/emscripten',
+    r'failsafe_test\.dir',
+])
+
+
+def repo_root():
+    try:
+        return subprocess.check_output(
+            ['git', 'rev-parse', '--show-toplevel'], text=True).strip()
+    except subprocess.CalledProcessError:
+        print('error: not inside a git repository', file=sys.stderr)
+        sys.exit(1)
+
+
+def changed_files(base_ref, root):
+    try:
+        out = subprocess.check_output(
+            ['git', 'diff', '--name-only', f'{base_ref}...HEAD',
+             '--', '*.cpp', '*.hpp', '*.h', '*.c'],
+            text=True, cwd=root).strip()
+        return out.splitlines() if out else []
+    except subprocess.CalledProcessError:
+        print(f'error: could not diff against "{base_ref}" — '
+              'is the ref valid and fetched?', file=sys.stderr)
+        sys.exit(1)
+
+
+def submodule_paths(root):
+    # Returns [] if .gitmodules is absent or has no paths — both valid
+    try:
+        out = subprocess.check_output(
+            ['git', 'config', '--file', '.gitmodules',
+             '--get-regexp', 'path'],
+            text=True, cwd=root).strip()
+        return [line.split()[1] for line in out.splitlines()]
+    except subprocess.CalledProcessError:
+        return []
+
+
+def build_exclude(root):
+    submodules = '|'.join(submodule_paths(root))
+    return f'{submodules}|{EXCLUDE_EXTRA}' if submodules else EXCLUDE_EXTRA
+
+
+def load_db(build_dir):
+    db_path = os.path.join(build_dir, 'compile_commands.json')
+    if not os.path.isfile(db_path):
+        print(f'error: {db_path} not found', file=sys.stderr)
+        print('Run "make px4_sitl_default-clang" first to generate '
+              'the compilation database', file=sys.stderr)
+        sys.exit(1)
+    try:
+        with open(db_path) as f:
+            return json.load(f)
+    except json.JSONDecodeError as e:
+        print(f'error: compile_commands.json is malformed: {e}', file=sys.stderr)
+        sys.exit(1)
+
+
+def find_tus(changed, db, root):
+    db_files = {e['file'] for e in db}
+    result = set()
+    for f in changed:
+        abs_path = os.path.join(root, f)
+        ext = os.path.splitext(f)[1]
+        if ext in EXTENSIONS_CPP:
+            if abs_path in db_files:
+                result.add(abs_path)
+        elif ext in EXTENSIONS_HDR:
+            hdr = os.path.basename(f)
+            for e in db:
+                try:
+                    if hdr in open(e['file']).read():
+                        result.add(e['file'])
+                except OSError:
+                    pass  # file deleted in PR — skip
+    return sorted(result)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__,
+                                     formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('base_ref',
+                        help='Git ref to diff against, e.g. origin/main')
+    args = parser.parse_args()
+
+    root = repo_root()
+    build_dir = os.path.join(root, 'build', 'px4_sitl_default-clang')
+
+    run_tidy = os.path.join(root, 'Tools', 'run-clang-tidy.py')
+    if not os.path.isfile(run_tidy):
+        print(f'error: {run_tidy} not found', file=sys.stderr)
+        sys.exit(1)
+
+    changed = changed_files(args.base_ref, root)
+    if not changed:
+        print('No C++ files changed — skipping clang-tidy')
+        sys.exit(0)
+
+    db = load_db(build_dir)
+    tus = find_tus(changed, db, root)
+
+    if not tus:
+        print('No matching TUs in compile_commands.json — skipping clang-tidy')
+        sys.exit(0)
+
+    print(f'Running clang-tidy on {len(tus)} translation unit(s)')
+
+    result = subprocess.run(
+        [sys.executable, run_tidy,
+         '-header-filter=.*\\.hpp',
+         '-j0',
+         f'-exclude={build_exclude(root)}',
+         '-p', build_dir] + tus
+    )
+    sys.exit(result.returncode)
+
+
+if __name__ == '__main__':
+    main()

boards/accton-godwit/ga1/default.px4board

@@ -10,6 +10,7 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -47,6 +48,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -73,7 +75,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -101,3 +102,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y

boards/accton-godwit/ga1/init/rc.board_sensors

@@ -83,10 +83,12 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
+	dps310 -I start
 fi
 
 #external baro
 icp201xx -X start
+dps310 -X start
 
 unset INA_CONFIGURED
 unset HAVE_PM2

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
 
-# Start the task_watchdog as we do not have the logger watchdog
-task_watchdog start
-
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/init/rc.board_early

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Board early init.
+#
+# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
+# enable required for task watchdog as this is not a generally used feature.
+# On EEPROM boards: Only airframes and params are needed.
+#
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+then
+	# Start the task_watchdog as we do not have the logger watchdog
+	set USE_TASK_WATCHDOG yes
+else
+	set PARAM_FILE /fs/microsd/params
+	set STORAGE_CHECK no
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_ALT_UPDATE_DIRS yes
+fi

boards/nxp/tropic-community/nuttx-config/include/board.h

@@ -287,8 +287,8 @@
 
 /* AUX */
 
-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */
+#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_1 | LPUART_IOMUX) /* GPIO_B1_01 */
+#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_1 | LPUART_IOMUX) /* GPIO_B1_00 */
 
 /* GPS 1 */
 

boards/saam/saampixv1_1/default.px4board

@@ -1,32 +1,42 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_DRIVERS_DSHOT=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -38,8 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -60,11 +70,14 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -76,8 +89,10 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -87,3 +102,6 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_BOARD_VENDOR="saam"
+CONFIG_BOARD_MODEL="saampixv1_1"
+CONFIG_BOARD_NAME="SaamPixV1_1"

boards/saam/saampixv1_1/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SaamPixV1_1 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "SaamPixV1_1",      
+    "version": "1.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/saam/saampixv1_1/init/rc.board_defaults

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17.0

boards/saam/saampixv1_1/init/rc.board_sensors

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# SaamPixV1_1 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# external I2C compasses, if present
+hmc5883 -X start
+qmc5883l -X start
+
+# internal SPI sensors
+ms5611 -s start
+icm20602 -s start
+mpu9250 -s start
+lis3mdl -s start

boards/saam/saampixv1_1/nuttx-config/include/board.h

@@ -0,0 +1,271 @@
+/************************************************************************************
+ * boards/saam/saampixv1_1/nuttx-config/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 8           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
+ */
+
+#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
+
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
+
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+
+/* UART8 has no alternate pin config */
+
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/saam/saampixv1_1/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
+#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+//      AVAILABLE                             // DMA2, Stream 3
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 5, Channel 6
+#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4

boards/saam/saampixv1_1/nuttx-config/nsh/defconfig

@@ -50,46 +50,41 @@
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slam/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/saam/saampixv1_1/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 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_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0036
-CONFIG_CDCACM_PRODUCTSTR="X-MAV AP-H743v2"
+CONFIG_CDCACM_PRODUCTID=0x008E
+CONFIG_CDCACM_PRODUCTSTR="SaamPixV1_1 Flight Controller"
 CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="X-MAV"
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Saam Drones"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=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
@@ -101,7 +96,6 @@ 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
@@ -113,8 +107,6 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=3194
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_NCHAINS=24
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -124,14 +116,11 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_IOB=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=2
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_MTD_W25=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -146,18 +135,17 @@ 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_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
@@ -169,7 +157,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
@@ -181,88 +169,87 @@ 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_ADC2=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_FLASH_OVERRIDE_I=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=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_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI3=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-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_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=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_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_I=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SDIO_CARD=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMATHRESHOLD=8
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=921600
-CONFIG_UART4_RXBUFSIZE=3000
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=300
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
-CONFIG_UART4_TXDMA=y
-CONFIG_UART5_BAUD=57600
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=1500
+CONFIG_UART4_TXBUFSIZE=300
 CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=3000
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=32
 CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=300
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=180
-CONFIG_USART6_SERIAL_CONSOLE=y
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=300
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
-CONFIG_WQUEUE_NOTIFIER=y

boards/saam/saampixv1_1/nuttx-config/scripts/script.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/saam/saampixv1_1/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,40 +30,22 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
 
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		sdio.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-		mtd.cpp
-	)
-	# add_dependencies(drivers_board arch_board_hw_info)
+add_library(drivers_board
+	can.c
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
 
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			arch_board_hw_info
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)

boards/saam/saampixv1_1/src/board_config.h

@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * SaamPixV1_1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+
+/* SaamPixV1_1 GPIOs ***********************************************************************************/
+/* LEDs */
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define BOARD_OVERLOAD_LED     LED_RED
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_BATTERY_CURRENT_CHANNEL	10
+#define ADC_BATTERY_VOLTAGE_CHANNEL	12
+#define ADC_RC_RSSI_CHANNEL		11
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
+
+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	14	/* timer 14 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
+
+/* AUX PWMs
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
+
+#define HRT_PPM_CHANNEL		1
+#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
+#define PWMIN_TIMER		4
+#define PWMIN_TIMER_CHANNEL	1
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
+
+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
+// #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
+
+#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
+
+/* Power switch controls */
+#define SPEKTRUM_POWER(_on_true)      do { } while (0)
+
+/*
+ * SaamPixV1_1 has one RC_IN
+ *
+ * GPIO PPM_IN on PC6 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
+ * Inversion is possible via the 74LVC2G86 controlled by the FMU
+ * The FMU can drive GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+
+#define board_peripheral_reset(ms)
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/saam/saampixv1_1/src/can.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,47 +32,98 @@
  ****************************************************************************/
 
 /**
- * @file usb.c
+ * @file can.c
  *
- * Board-specific USB functions.
+ * Board-specific CAN functions.
  */
 
-#include "board_config.h"
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-#include <stm32_otg.h>
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
 #include <debug.h>
 
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
 /************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the board.
- *
+ * Pre-processor Definitions
  ************************************************************************************/
+/* Configuration ********************************************************************/
 
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
 #endif
-}
 
 /************************************************************************************
- * Name:  stm32_usbsuspend
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+/************************************************************************************
+ * Name: can_devinit
  *
  * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
  *
  ************************************************************************************/
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+
+int can_devinit(void)
 {
-	uinfo("resume: %d\n", resume);
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
 }
+
+#endif

boards/saam/saampixv1_1/src/i2c.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,5 +35,5 @@
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusInternal(1),
-	initI2CBusExternal(4),
+	initI2CBusExternal(2),
 };

boards/saam/saampixv1_1/src/init.c

@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * SaamPixV1_1-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <px4_arch/io_timer.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	/* configure the GPIO pins to outputs and keep them low */
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+
+	board_on_reset(-1);
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+
+	/* configure power supply control/sense pins */
+
+	stm32_configgpio(GPIO_SBUS_INV);
+	stm32_configgpio(GPIO_FRSKY_INV);
+
+	/* configure CAN interface */
+
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_configgpio(GPIO_I2C2_SCL);
+	stm32_configgpio(GPIO_I2C2_SDA);
+
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_AMBER);
+	}
+
+	/* Configure SPI-based devices */
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	up_udelay(20);
+
+	/* Get the SPI port for the FRAM */
+
+	spi1 = stm32_spibus_initialize(1);
+
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
+	SPI_SETBITS(spi1, 8);
+
+
+	spi2 = px4_spibus_initialize(2);
+
+	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+
+
+#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdio) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}

boards/saam/saampixv1_1/src/led.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,18 +34,16 @@
 /**
  * @file led.c
  *
- * LED backend.
+ * SaamPixV1_1 LED backend.
  */
 
 #include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
-#include "chip.h"
-#include "stm32_gpio.h"
+#include "stm32.h"
 #include "board_config.h"
 
-#include <nuttx/board.h>
 #include <arch/board/board.h>
 
 /*
@@ -62,52 +60,37 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-};
-
-__EXPORT void led_init(void)
+__EXPORT void led_init()
 {
-	/* Configure LED GPIOs for output */
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
+	/* Configure LED1 GPIO for output */
 
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
+	stm32_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
-	phy_set_led(xlat(led), true);
+	if (led == 1) {
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
 }
 
 __EXPORT void led_off(int led)
 {
-	phy_set_led(xlat(led), false);
+	if (led == 1) {
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
 }
 
 __EXPORT void led_toggle(int led)
 {
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+	if (led == 1) {
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED1, true);
+		}
+	}
 }

boards/saam/saampixv1_1/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,20 +35,18 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
-
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin3}, SPI::DRDY{GPIO::PortA, GPIO::Pin1}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin2}, SPI::DRDY{GPIO::PortA, GPIO::Pin0}),
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
 	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(2), SPI::CS{GPIO::PortD, GPIO::Pin4})
-	}),
-	initSPIBus(SPI::Bus::SPI3, {
-		//initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin15})
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
 	}),
 };
 

boards/saam/saampixv1_1/src/timer_config.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -29,32 +29,24 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- *
- *  * TIM2_CH1 T HEATER                 > PWM OUT or GPIO PA15
  ****************************************************************************/
 
-
 #include <px4_arch/io_timer_hw_description.h>
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
-	// initIOTimer(Timer::Timer2),
-	// initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
-
-
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/saam/saampixv1_1/src/usb.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,17 +37,41 @@
  * Board-specific USB functions.
  */
 
-#include "board_config.h"
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-#include <stm32_otg.h>
-#include <debug.h>
+
+#include <arm_internal.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
 
 /************************************************************************************
  * Name: stm32_usbinitialize
  *
  * Description:
- *   Called to setup USB-related GPIO pins for the board.
+ *   Called to setup USB-related GPIO pins for the SaamPixV1_1 board.
  *
  ************************************************************************************/
 
@@ -57,8 +81,12 @@ __EXPORT void stm32_usbinitialize(void)
 
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
-#ifdef CONFIG_STM32H7_OTGFS
+#ifdef CONFIG_STM32_OTGFS
 	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
 #endif
 }
 
@@ -72,6 +100,7 @@ __EXPORT void stm32_usbinitialize(void)
  *   while the USB is suspended.
  *
  ************************************************************************************/
+
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);

boards/x-mav/ap-h743r1/init/rc.board_sensors

@@ -17,10 +17,7 @@ then
 fi
 
 # baro
-if ! dps310 -I start -a 0x76
-then
-	spl06 -I  start -a 0x76
-fi
+spl06 -I  start -a 0x76
 
 # internal mag
 qmc5883p -I -R 4 start

boards/x-mav/ap-h743r1/nuttx-config/nsh/defconfig

@@ -243,7 +243,6 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600

boards/x-mav/ap-h743r1/src/can.c

@@ -49,8 +49,6 @@ uint16_t board_get_can_interfaces(void)
 {
 	uint16_t enabled_interfaces = 0x3;
 
-	enabled_interfaces &= ~(1 << 1);
-
 	return enabled_interfaces;
 }
 

boards/xc-fly/xc-slam/bootloader.px4board

@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""

boards/xc-fly/xc-slam/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 319,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the XC-FLY board",
-    "image": "",
-    "build_time": 0,
-    "summary": "XC-FLY",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/xc-fly/xc-slam/init/rc.board_defaults

@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-param set-default BAT1_A_PER_V 17
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_CHARGED 4.2
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_V_EMPTY 3.2
-
-param set-default SYS_HAS_MAG 1
-param set-default PWM_MAIN_TIM0 -4
-param set-default RC_INPUT_PROTO -1
-
-param set-default IMU_GYRO_RATEMAX 2000
-param set-default SYS_AUTOSTART 4001
-param set-default MC_PITCHRATE_K 0.4
-param set-default MC_ROLLRATE_K 0.35
-param set-default MC_YAWRATE_K 1.2
-param set-default MC_YAWRATE_MAX 360
-param set-default MAV_TYPE 2
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default USB_MAV_MODE 5

boards/xc-fly/xc-slam/init/rc.board_extras

@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific extras init
-#------------------------------------------------------------------------------
-
-# DShot telemetry is always on UART7
-# dshot telemetry -d /dev/ttyS5

boards/xc-fly/xc-slam/init/rc.board_sensors

@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-# heater start
-
-# BMI088
-bmi088 -A -R 2 -s start
-bmi088 -G -R 2 -s start
-
-# 42688P
-icm42688p -s start
-
-# baro
-dps310 -I start -a 119
-
-# internal mag
-ist8310 -I -R 2 start

boards/xc-fly/xc-slam/nuttx-config/Kconfig

@@ -1,17 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.

boards/xc-fly/xc-slam/nuttx-config/bootloader/defconfig

@@ -1,90 +0,0 @@
-#
-# 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_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/xc-fly/xc-slam/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0036
-CONFIG_CDCACM_PRODUCTSTR="XC-FLY XC-SLAM Bootloader"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="XC-FLY"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=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_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART6=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000

boards/xc-fly/xc-slam/nuttx-config/include/board.h

@@ -1,491 +0,0 @@
-/************************************************************************************
- * nuttx-configs/px4_fmu-v6u/include/board.h
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The MatekH743-Slim  board provides the following clock sources:
- *
- *   X1: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 clock source */
-
-// #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
- * that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_2     	/* PBA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2      	/* PA9 */
-#define GPIO_USART1_CK   GPIO_USART1_CK      	/* PB8 NC */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5 */
-#define GPIO_USART2_CK   GPIO_USART2_CK_2     	/* PD7 NC */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   	/* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   	/* PD8   */
-#define GPIO_USART3_CK   GPIO_USART3_CK_3   	/* PD10 NC */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_3    	/* PB8 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_3    	/* PB9 */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_1    	/* PB12  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_1    	/* PB13 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   	/* PC7   */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   	/* PC6   */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    	/* PE7  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    	/* PE8 NC */
-
-#define GPIO_UART8_RX    GPIO_UART8_RX_1    	/* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    	/* PE1 */
-
-
-
-/* SPI
- *
-
- */
-
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
-
-#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_1               /* PB4 */
-#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_3               /* PB2 */
-#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2               /* PE5 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
-
-/* I2C
- *
-
- *
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-
-/* SDMMC1
- *
- *      SDMMC1_D0                          PC8
- *      SDMMC1_D1                          PC9
- *      SDMMC1_D2                          PC10
- *      SDMMC1_D3                          PC11
- *      SDMMC1_CK                          PC12
- *      SDMMC1_CMD                         PD2
- */
-
-// #define GPIO_SDMMC1_D0   GPIO_SDMMC1_D0    /* PC8  */
-// #define GPIO_SDMMC1_D1   GPIO_SDMMC1_D1    /* PC9  */
-// #define GPIO_SDMMC1_D2   GPIO_SDMMC1_D2    /* PC10 */
-// #define GPIO_SDMMC1_D3   GPIO_SDMMC1_D3    /* PC11 */
-// #define GPIO_SDMMC1_CK   GPIO_SDMMC1_CK    /* PC12 */
-// #define GPIO_SDMMC1_CMD  GPIO_SDMMC1_CMD   /* PD2  */
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-// #if defined(CONFIG_BOARD_USE_PROBES)
-// # include "stm32_gpio.h"
-// # define PROBE_N(n) (1<<((n)-1))
-// # define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
-// # define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
-// # define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
-// # define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
-// # define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-// # define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
-// # define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
-// # define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
-// # define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */
-
-// # define PROBE_INIT(mask) \
-// 	do { \
-// 		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-// 		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-// 		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-// 		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-// 		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-// 		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-// 		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-// 		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-// 		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-// 	} while(0)
-
-// # define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-// # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-// #else
-// # define PROBE_INIT(mask)
-// # define PROBE(n,s)
-// # define PROBE_MARK(n)
-// #endif
-
-#endif  /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H  */

boards/xc-fly/xc-slam/nuttx-config/include/board_dma_map.h

@@ -1,62 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-// #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-// #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
-
-// DMAMUX2
-// #define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_0 /* DMA1:61 */
-// #define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_0 /* DMA1:62 */
-
-// #define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-// #define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
-
-//TODO: UART DMA test
-// #define DMAMAP_USART1_RX   DMAMAP_DMA12_USART1RX_1  /*DMA2:41*/
-// #define DMAMAP_USART1_TX   DMAMAP_DMA12_USART1TX_1  /*DMA2:42*/
-
-// #define DMAMAP_USART2_RX   DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */
-// #define DMAMAP_USART2_TX   DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */
-
-// #define DMAMAP_USART3_RX   DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */
-// #define DMAMAP_USART3_TX   DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */
-
-#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1 /* DMA1:63 */
-#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1 /* DMA1:64 */
-
-// #define DMAMAP_UART5_RX    DMAMAP_DMA12_UART5RX_0 /* DMA1:65 */
-// #define DMAMAP_UART5_TX    DMAMAP_DMA12_UART5RX_0 /* DMA1:66 */

boards/xc-fly/xc-slam/nuttx-config/scripts/bootloader_script.ld

@@ -1,213 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/xc-fly/xc-slam/nuttx-config/scripts/script.ld

@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/xc-fly/xc-slam/src/CMakeLists.txt

@@ -1,69 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		sdio.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-		mtd.cpp
-	)
-	# add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			arch_board_hw_info
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()

boards/xc-fly/xc-slam/src/board_config.h

@@ -1,234 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * Board internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-#define FLASH_BASED_PARAMS
-
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
-#  define GPIO_nLED_RED         /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
-#  define GPIO_nLED_GREEN       /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
-#  define GPIO_nLED_BLUE        /* PB15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-
-#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#  define BOARD_OVERLOAD_LED     LED_RED
-#  define BOARD_ARMED_STATE_LED  LED_BLUE
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-#define ADC12_CH(n)		(n)
-
-#define PX4_ADC_GPIO  \
-	/* PC4  */  GPIO_ADC12_INP4,   \
-	/* PC5  */  GPIO_ADC12_INP8
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL             ADC12_CH(4)
-#define ADC_BATTERY_CURRENT_CHANNEL             ADC12_CH(8)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
-
-#define BOARD_ADC_OPEN_CIRCUIT_V     (1.6f)
-
-
-
-/* Define Battery 1 Voltage Divider and A per V
- */
-
-// #define BOARD_BATTERY1_V_DIV         (11.0f)     /* measured with the provided PM board */
-// #define BOARD_BATTERY1_A_PER_V       (40.0f)
-// #define BOARD_BATTERY2_V_DIV         (11.0f)     /* measured with the provided PM board */
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
-
-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
-
-
-
-// /* HEATER  PA15 TIM2_CH1
-//  * PWM in future
-//  */
-// #define GPIO_HEATER1_OUTPUT   /* PA15  T2CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-// #define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
-
-
-
-
-/* Spare GPIO */
-#define GPIO_PA4                       	/* PA4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN4)
-#define GPIO_PC0                       	/* PC0 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
-#define GPIO_PC1                       	/* PC1 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        2 /* Timer 2*/
-#define TONE_ALARM_CHANNEL      1  /* PA15 GPIO_TIM2_CH1 NC */
-/*NC can be modified with Spare GPIO then connected with hardware */
-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_BUZZER_1
-#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
-
-/* USB OTG FS
- *
- * PE15  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PE15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN15)
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer1 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-// #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
-// #define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-#define SDIO_SLOTNO             0  /* Only one slot */
-#define SDIO_MINOR              0
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_CAN1_TX,\
-		GPIO_CAN1_RX, \
-		PX4_ADC_GPIO, \
-		GPIO_PC0, \
-		GPIO_PC1, \
-		GPIO_TONE_ALARM_IDLE, \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 5
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS