feat(platforms): upgrade NuttX to 12.12.0

bootloader: update main prototype for NuttX 12.12.0

platforms/nuttx: Add wrapper for queue.h

For some reason the queue.h header was moved, add this wrapper so
posix and nuttx builds can both still use #include <queue.h>

Fix print_load to be compatible with upstream NuttX

Also Change tg_filelist -> tg_fdlist as per new NuttX

Co-authored-by: Ville Juven <ville.juven@unikie.com>
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

platforms/nuttx/CMakeLists.txt

@@ -351,7 +351,7 @@ else()
 	)
 
 	target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
-	target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
+	target_link_libraries(nuttx_drivers INTERFACE nuttx_c nuttx_fs)
 	target_link_libraries(nuttx_xx INTERFACE nuttx_c)
 	target_link_libraries(nuttx_fs INTERFACE nuttx_c)
 

platforms/nuttx/NuttX/Make.defs.in

@@ -44,6 +44,22 @@ endif
 include $(TOPDIR)/.config
 include $(TOPDIR)/tools/Config.mk
 
+# Include toolchain definitions based on architecture
+# This is required for NuttX 12.x which moved toolchain-specific flags to Toolchain.defs
+ifeq ($(CONFIG_ARCH_ARMV7M),y)
+  include $(TOPDIR)/arch/arm/src/armv7-m/Toolchain.defs
+else ifeq ($(CONFIG_ARCH_ARMV7A),y)
+  include $(TOPDIR)/arch/arm/src/armv7-a/Toolchain.defs
+else ifeq ($(CONFIG_ARCH_ARMV7R),y)
+  include $(TOPDIR)/arch/arm/src/armv7-r/Toolchain.defs
+else ifeq ($(CONFIG_ARCH_ARMV8M),y)
+  include $(TOPDIR)/arch/arm/src/armv8-m/Toolchain.defs
+else ifeq ($(CONFIG_ARCH_ARMV8R),y)
+  include $(TOPDIR)/arch/arm/src/armv8-r/Toolchain.defs
+else ifeq ($(CONFIG_ARCH_ARMV6M),y)
+  include $(TOPDIR)/arch/arm/src/armv6-m/Toolchain.defs
+endif
+
 # Replace each space separated word in the string that contains "cygdrive"
 # with the windows path and escaped backslashes
 # e.g. [hello -I /cygdrive/c -I/cygdrive/c] -> [hello -I C:\\ ]
@@ -57,13 +73,35 @@ fi \
 )))
 endef
 
-CINCPATH := $(shell $(INCDIR) -s "$(CC)" $(TOPDIR)$(DELIM)include)
-CXXINCPATH := $(shell $(INCDIR) -s "$(CC)" $(TOPDIR)$(DELIM)include$(DELIM)cxx)
+# Define compilers first, before they are used in CINCPATH calculation
+CC = ${CMAKE_C_COMPILER}
+CXX = ${CMAKE_CXX_COMPILER}
+CPP = ${CMAKE_C_COMPILER} -E
+LD = ${CMAKE_LD}
+STRIP = ${CMAKE_STRIP} --strip-unneeded
+AR = ${CMAKE_AR} rcs
+NM = ${CMAKE_NM}
+OBJCOPY = ${CMAKE_OBJCOPY}
+OBJDUMP = ${CMAKE_OBJDUMP}
+
+CINCPATH := $(INCSYSDIR_PREFIX)$(TOPDIR)$(DELIM)include
+CXXINCPATH := $(INCSYSDIR_PREFIX)$(TOPDIR)$(DELIM)include$(DELIM)cxx
 
 ARCHINCLUDES += $(CINCPATH)
 ARCHXXINCLUDES += $(CINCPATH) $(CXXINCPATH)
 ARCHSCRIPT = -T$(BOARD_DIR)$(DELIM)scripts$(DELIM)flash.ld
 
+# PX4 boards may include stm32_rcc.h from board.h. That header is arch-private
+# and lives in arch/arm/src/stm32f7, not in nuttx/include. The recursive NuttX
+# kernel/lib builds (e.g. sched/) use this generated Make.defs, so the include
+# path must be provided here.
+ifeq ($(CONFIG_ARCH_CHIP_STM32F7),y)
+  ARCHINCLUDES += -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/stm32f7 \
+                  -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/common
+  ARCHXXINCLUDES += -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/stm32f7 \
+                    -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/common
+endif
+
 ifeq ($(CONFIG_BOARD_USE_PROBES),y)
    ARCHINCLUDES += -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/$(CONFIG_ARCH_CHIP) -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/common
    ARCHXXINCLUDES += -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/$(CONFIG_ARCH_CHIP) -I $(TOPDIR)/arch/$(CONFIG_ARCH)/src/common
@@ -74,16 +112,6 @@ ifneq (, $(findstring CYGWIN, $(shell uname)))
   ARCHXXINCLUDES := $(call cygwin_to_windows_paths,$(ARCHXXINCLUDES))
 endif
 
-CC = ${CMAKE_C_COMPILER}
-CXX = ${CMAKE_CXX_COMPILER}
-CPP = ${CMAKE_C_COMPILER} -E
-LD = ${CMAKE_LD}
-STRIP = ${CMAKE_STRIP} --strip-unneeded
-AR = ${CMAKE_AR} rcs
-NM = ${CMAKE_NM}
-OBJCOPY = ${CMAKE_OBJCOPY}
-OBJDUMP = ${CMAKE_OBJDUMP}
-
 ARCHCCVERSION = $(shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q')
 ARCHCCMAJOR = $(shell echo $(ARCHCCVERSION) | cut -d'.' -f1)
 
@@ -104,7 +132,9 @@ FLAGS = $(MAXOPTIMIZATION) -g2 \
 	-Wall \
 	-Wextra \
 	-Wlogical-op \
+	-Wno-builtin-declaration-mismatch \
 	-Wno-cpp \
+	-Wno-format \
 	-Wno-format-truncation \
 	-Wno-maybe-uninitialized \
 	-Wno-missing-field-initializers \

platforms/nuttx/NuttX/include/queue.h

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ * Copyright (C) 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
+
+/* Wrapper for nuttx/queue.h */
+
+#include <nuttx/queue.h>

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -78,6 +78,7 @@ function(px4_os_add_flags)
 		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
 
 		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
+		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include
 	)
 
 

platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c

@@ -694,7 +694,7 @@ arch_do_jump(const uint32_t *app_base)
 }
 
 int
-bootloader_main(void)
+bootloader_main(int argc, char *argv[])
 {
 	bool try_boot = true;			/* try booting before we drop to the bootloader */
 	unsigned timeout = BOOTLOADER_DELAY;	/* if nonzero, drop out of the bootloader after this time */

platforms/nuttx/src/bootloader/stm/stm32_common/main.c

@@ -637,7 +637,7 @@ arch_do_jump(const uint32_t *app_base)
 }
 
 int
-bootloader_main(void)
+bootloader_main(int argc, char *argv[])
 {
 	bool try_boot = true;			/* try booting before we drop to the bootloader */
 	unsigned timeout = BOOTLOADER_DELAY;	/* if nonzero, drop out of the bootloader after this time */

platforms/nuttx/src/px4/common/board_crashdump.c

@@ -40,7 +40,7 @@
 
 #include <board_config.h>
 
-#ifdef CONFIG_BOARD_CRASHDUMP
+#ifdef CONFIG_BOARD_CRASHDUMP_CUSTOM
 
 #include <stdio.h>
 #include <stdbool.h>
@@ -260,20 +260,23 @@ static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
 
 static uint32_t *__attribute__((noinline)) __ebss_addr(void)
 {
-	return &_ebss;
+	return (uint32_t *)(uintptr_t)&_ebss;
 }
 
 #else
 
 static uint32_t *__attribute__((noinline)) __sdata_addr(void)
 {
-	return &_sdata;
+	return (uint32_t *)(uintptr_t)&_sdata;
 }
 
 #endif
 
 
-__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char *filename, int lineno)
+
+__EXPORT void board_crashdump(uintptr_t sp, FAR struct tcb_s *tcb,
+			      FAR const char *filename, int lineno,
+			      FAR const char *msg, FAR void *regs)
 {
 #ifndef BOARD_CRASHDUMP_RESET_ONLY
 	/* We need a chunk of ram to save the complete context in.
@@ -319,7 +322,7 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char
 	 * fault.
 	 */
 
-	pdump->info.current_regs = (uintptr_t) CURRENT_REGS;
+	pdump->info.current_regs = (uintptr_t) regs;
 
 	/* Save Context */
 
@@ -346,11 +349,11 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char
 	 * the users context
 	 */
 
-	if (CURRENT_REGS) {
-		pdump->info.stacks.interrupt.sp = currentsp;
+	if (regs) {
+		pdump->info.stacks.interrupt.sp = sp;
 
 		pdump->info.flags |= (eRegsPresent | eUserStackPresent | eIntStackPresent);
-		memcpy(pdump->info.regs, (void *)CURRENT_REGS, sizeof(pdump->info.regs));
+		memcpy(pdump->info.regs, (void *)regs, sizeof(pdump->info.regs));
 		pdump->info.stacks.user.sp = pdump->info.regs[REG_R13];
 
 	} else {
@@ -358,7 +361,7 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char
 		/* users context */
 		pdump->info.flags |= eUserStackPresent;
 
-		pdump->info.stacks.user.sp = currentsp;
+		pdump->info.stacks.user.sp = sp;
 	}
 
 	if (pdump->info.pid == 0) {
@@ -442,4 +445,4 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char
 	board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE);
 }
 
-#endif /* CONFIG_BOARD_CRASHDUMP */
+#endif /* CONFIG_BOARD_CRASHDUMP_CUSTOM */

platforms/nuttx/src/px4/common/cdc_acm_check.cpp

@@ -305,72 +305,66 @@ static void mavlink_usb_check(void *arg)
 								else if (launch_passthru) {
 									sched_lock();
 									exec_argv = (char **)gps_argv;
-									exec_builtin(exec_argv[0], exec_argv, nullptr, 0);
-									sched_unlock();
-									exec_argv = (char **)passthru_argv;
-								}
+									exec_builtin(exec_argv[0], exec_argv, nullptr);
 
 #endif
 
-								sched_lock();
+									sched_lock();
 
-								if (exec_builtin(exec_argv[0], exec_argv, nullptr, 0) > 0) {
-									usb_auto_start_state = UsbAutoStartState::connected;
+									if (exec_builtin(exec_argv[0], exec_argv, nullptr) > 0) {
+									} else {
+										usb_auto_start_state = UsbAutoStartState::disconnecting;
+									}
 
-								} else {
-									usb_auto_start_state = UsbAutoStartState::disconnecting;
+									sched_unlock();
 								}
-
-								sched_unlock();
 							}
 						}
 					}
+
+				} else {
+					// cleanup
+					if (ttyacm_fd >= 0) {
+						close(ttyacm_fd);
+						ttyacm_fd = -1;
+					}
+
+					usb_auto_start_state = UsbAutoStartState::disconnecting;
 				}
 
-			} else {
-				// cleanup
-				if (ttyacm_fd >= 0) {
-					close(ttyacm_fd);
-					ttyacm_fd = -1;
+				break;
+
+			case UsbAutoStartState::connected:
+				if (!vbus_present && !vbus_present_prev) {
+					sched_lock();
+					static const char app[] {"mavlink"};
+					static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL};
+					exec_builtin(app, (char **)stop_argv, NULL, 0);
+					sched_unlock();
+
+					usb_auto_start_state = UsbAutoStartState::disconnecting;
 				}
 
-				usb_auto_start_state = UsbAutoStartState::disconnecting;
+				break;
+
+			case UsbAutoStartState::disconnecting:
+				// serial disconnect if unused
+				serdis_main(0, NULL);
+				usb_auto_start_state = UsbAutoStartState::disconnected;
+				break;
 			}
+		}
 
-			break;
+		vbus_present_prev = vbus_present;
 
-		case UsbAutoStartState::connected:
-			if (!vbus_present && !vbus_present_prev) {
-				sched_lock();
-				static const char app[] {"mavlink"};
-				static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL};
-				exec_builtin(app, (char **)stop_argv, NULL, 0);
-				sched_unlock();
-
-				usb_auto_start_state = UsbAutoStartState::disconnecting;
-			}
-
-			break;
-
-		case UsbAutoStartState::disconnecting:
-			// serial disconnect if unused
-			serdis_main(0, NULL);
-			usb_auto_start_state = UsbAutoStartState::disconnected;
-			break;
+		if (rescheduled != PX4_OK) {
+			work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, NULL, USEC2TICK(1000000));
 		}
 	}
 
-	vbus_present_prev = vbus_present;
 
-	if (rescheduled != PX4_OK) {
-		work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, NULL, USEC2TICK(1000000));
+	void cdcacm_init(void) {
+		work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, 0);
 	}
-}
-
-
-void cdcacm_init(void)
-{
-	work_queue(LPWORK, &usb_serial_work, mavlink_usb_check, nullptr, 0);
-}
 
 #endif // CONFIG_SYSTEM_CDCACM

platforms/nuttx/src/px4/common/gpio/mcp/mcp.cpp

@@ -106,10 +106,10 @@ int mcp230XX_register_gpios(uint8_t i2c_bus, uint8_t i2c_addr, int first_minor,
 
 		if (!_gpio[i].registered) {
 			if (dir_mask & mask) {
-				_gpio[i] = { {GPIO_INPUT_PIN, {}, &mcp_gpio_ops}, mask, false, nullptr};
+				_gpio[i] = mcp_gpio_dev_s{{GPIO_INPUT_PIN, {}, (uintptr_t) &mcp_gpio_ops}, mask, false, nullptr};
 
 			} else {
-				_gpio[i] = { {GPIO_OUTPUT_PIN, {}, &mcp_gpio_ops}, mask, false, nullptr};
+				_gpio[i] = mcp_gpio_dev_s{{GPIO_OUTPUT_PIN, {}, (uintptr_t) &mcp_gpio_ops}, mask, false, nullptr};
 			}
 
 			int ret = gpio_pin_register(&_gpio[i].gpio, first_minor + i);

platforms/nuttx/src/px4/common/hrt_ioctl.c

@@ -47,6 +47,8 @@
 #  define MODULE_NAME "hrt_ioctl"
 #endif
 
+#if !defined(CONFIG_BUILD_FLAT)
+
 #define HRT_ENTRY_QUEUE_MAX_SIZE 3
 static px4_sem_t g_wait_sem;
 static struct hrt_call *next_hrt_entry[HRT_ENTRY_QUEUE_MAX_SIZE];
@@ -170,3 +172,13 @@ hrt_ioctl(unsigned int cmd, unsigned long arg)
 
 	return OK;
 }
+
+#else /* CONFIG_BUILD_FLAT */
+
+/* For flat builds, hrt functions are called directly, no ioctl needed */
+void hrt_ioctl_init(void)
+{
+	/* Nothing to do for flat builds */
+}
+
+#endif /* !CONFIG_BUILD_FLAT */

platforms/nuttx/src/px4/common/print_load.cpp

@@ -202,14 +202,16 @@ void print_load_buffer(char *buffer, int buffer_length, print_load_callback_f cb
 
 		if (system_load.tasks[i].tcb->pid == 0) {
 			stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
-			stack_free = up_check_intstack_remain();
+			stack_free = (CONFIG_ARCH_INTERRUPTSTACK & ~3) - up_check_intstack(0, 0);
 
 		} else {
-			stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
+			stack_free = system_load.tasks[i].tcb->adj_stack_size - up_check_tcbstack(system_load.tasks[i].tcb,
+					system_load.tasks[i].tcb->adj_stack_size);
 		}
 
 #else
-		stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
+		stack_free = system_load.tasks[i].tcb->adj_stack_size - up_check_tcbstack(system_load.tasks[i].tcb,
+				system_load.tasks[i].tcb->adj_stack_size);
 #endif
 
 #if CONFIG_ARCH_BOARD_SIM || !defined(CONFIG_PRIORITY_INHERITANCE)
@@ -223,11 +225,11 @@ void print_load_buffer(char *buffer, int buffer_length, print_load_callback_f cb
 		uint8_t tcb_sched_priority = system_load.tasks[i].tcb->sched_priority;
 
 		unsigned int tcb_num_used_fds = 0; // number of used file descriptors
-		struct filelist *filelist = &system_load.tasks[i].tcb->group->tg_filelist;
+		struct fdlist *fdlist = &system_load.tasks[i].tcb->group->tg_fdlist;
 
-		for (int fdr = 0; fdr < filelist->fl_rows; fdr++) {
+		for (int fdr = 0; fdr < fdlist->fl_rows; fdr++) {
 			for (int fdc = 0; fdc < CONFIG_NFILE_DESCRIPTORS_PER_BLOCK; fdc++) {
-				if (filelist->fl_files[fdr][fdc].f_inode) {
+				if (fdlist->fl_fds[fdr][fdc].f_file) {
 					++tcb_num_used_fds;
 				}
 			}

platforms/nuttx/src/px4/common/progmem_dump.c

@@ -51,9 +51,9 @@
 #include <time.h>
 #include <nuttx/fs/fs.h>
 
-#include <crc32.h>
+#include <nuttx/crc32.h>
 
-#ifdef CONFIG_BOARD_CRASHDUMP
+#ifdef CONFIG_BOARD_CRASHDUMP_CUSTOM
 
 #include <systemlib/hardfault_log.h>
 #include "chip.h"
@@ -450,8 +450,8 @@ static int progmem_dump_poll(struct file *filep, struct pollfd *fds,
 	if (setup) {
 		fds->revents |= (fds->events & (POLLIN | POLLOUT));
 
-		if (fds->revents != 0) {
-			nxsem_post(fds->sem);
+		if (fds->revents != 0 && fds->cb != NULL) {
+			fds->cb(fds);
 		}
 	}
 

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -63,19 +63,11 @@
 #endif
 
 #if !defined(CONFIG_BUILD_FLAT)
-typedef CODE void (*initializer_t)(void);
-extern initializer_t _sinit;
-extern initializer_t _einit;
-extern uint32_t _stext;
-extern uint32_t _etext;
-
 static void cxx_initialize(void)
 {
-	initializer_t *initp;
-
 	/* Visit each entry in the initialization table */
 
-	for (initp = &_sinit; initp != &_einit; initp++) {
+	for (initializer_t *initp = _sinit; initp != _einit; initp++) {
 		initializer_t initializer = *initp;
 
 		/* Make sure that the address is non-NULL and lies in the text

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -51,6 +51,7 @@
 
 #include <inttypes.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <stdbool.h>
 #include "systemlib/px4_macros.h"
 
@@ -59,7 +60,7 @@
 #include <nuttx/mtd/mtd.h>
 
 extern "C" {
-	struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
+	struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev, uint16_t spi_devid);
 	struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
 					off_t firstblock, off_t nblocks);
 }
@@ -96,7 +97,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 		SPI_SELECT(spi, instance.devid, false);
 		SPI_LOCK(spi, false);
 
-		instance.mtd_dev = ramtron_initialize(spi);
+		instance.mtd_dev = ramtron_initialize(spi, instance.devid);
 
 		if (instance.mtd_dev) {
 			/* abort on first valid result */
@@ -298,7 +299,10 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
 		return rv;
 	}
 
-	for (uint8_t i = num_instances, num_entry = 0u; i < total_new_instances; ++i, ++num_entry) {
+	uint8_t i;
+	uint8_t num_entry;
+
+	for (i = num_instances, num_entry = 0u; i < total_new_instances; ++i, ++num_entry) {
 
 		instances[i] = new mtd_instance_s;
 
@@ -414,7 +418,7 @@ memoryout:
 
 			/* Now create a character device on the block device */
 
-			rv = bchdev_register(blockname, instances[i]->partition_names[part], false);
+			rv = bchdev_register(blockname, instances[i]->partition_names[part], O_RDWR);
 
 			if (rv < 0) {
 				PX4_ERR("bchdev_register %s failed: %d", instances[i]->partition_names[part], rv);

platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c

@@ -41,7 +41,7 @@
 #include <px4_arch/io_timer.h>
 #include <drivers/drv_dshot.h>
 #include <stdio.h>
-#include "barriers.h"
+#include <arch/barriers.h>
 
 #include "arm_internal.h"
 

platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/micro_hal.h

@@ -43,6 +43,7 @@ __BEGIN_DECLS
 #define GPIO_OUTPUT_CLEAR           GPIO_OUTPUT_ZERO
 
 #include <chip.h>
+#include <ssarc_dump.h>
 #include <imxrt_lpspi.h>
 #include <imxrt_lpi2c.h>
 #include <imxrt_iomuxc.h>
@@ -85,7 +86,7 @@ __BEGIN_DECLS
 
 #define px4_savepanic(fileno, context, length)  ssarc_dump_savepanic(fileno, context, length)
 
-#if defined(CONFIG_BOARD_CRASHDUMP)
+#if defined(CONFIG_BOARD_CRASHDUMP_CUSTOM)
 #  define HAS_SSARC             1
 #  define PX4_HF_GETDESC_IOCTL  SSARC_DUMP_GETDESC_IOCTL
 #  define PX4_SSARC_DUMP_BASE   IMXRT_SSARC_HP_BASE

platforms/nuttx/src/px4/nxp/rt117x/ssarc/ssarc_dump.c

@@ -50,9 +50,9 @@
 #include <time.h>
 #include <nuttx/fs/fs.h>
 
-#include <crc32.h>
+#include <nuttx/crc32.h>
 
-#ifdef CONFIG_BOARD_CRASHDUMP
+#ifdef CONFIG_BOARD_CRASHDUMP_CUSTOM
 
 #include <systemlib/hardfault_log.h>
 #include "chip.h"
@@ -444,8 +444,8 @@ static int ssarc_dump_poll(struct file *filep, struct pollfd *fds,
 	if (setup) {
 		fds->revents |= (fds->events & (POLLIN | POLLOUT));
 
-		if (fds->revents != 0) {
-			nxsem_post(fds->sem);
+		if (fds->revents != 0 && fds->cb != NULL) {
+			fds->cb(fds);
 		}
 	}
 

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/micro_hal.h

@@ -95,7 +95,7 @@ __BEGIN_DECLS
 
 #define px4_savepanic(fileno, context, length)  progmem_dump_savepanic(fileno, context, length)
 
-#if defined(CONFIG_ARCH_HAVE_PROGMEM) && defined(CONFIG_BOARD_CRASHDUMP)
+#if defined(CONFIG_ARCH_HAVE_PROGMEM) && defined(CONFIG_BOARD_CRASHDUMP_CUSTOM)
 #  define HAS_PROGMEM 1
 #endif
 

src/include/visibility.h

@@ -120,10 +120,14 @@
 #ifdef __cplusplus
 #include <cstdlib>
 #endif
+
+#ifndef CONFIG_NUTTX_USERSPACE
 /* We should include cstdlib or stdlib.h but this doesn't
  * compile because many C++ files include stdlib.h and would
  * need to get changed. */
 #pragma GCC poison getenv setenv putenv
+#endif
+
 #endif // defined(__PX4_NUTTX)
 
 #endif // PX4_DISABLE_GCC_POISON

src/lib/parameters/CMakeLists.txt

@@ -194,6 +194,12 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io")
 else()
 	add_library(parameters STATIC EXCLUDE_FROM_ALL ${PX4_SOURCE_DIR}/platforms/common/empty.c)
 endif()
+if(NOT CONFIG_BUILD_FLAT)
+target_compile_options(parameters PRIVATE
+-fno-use-cxa-atexit
+-fno-threadsafe-statics
+)
+endif()
 add_dependencies(parameters prebuild_targets)
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")

src/modules/load_mon/LoadMon.cpp

@@ -264,7 +264,8 @@ void LoadMon::stack_usage()
 
 	if (system_load.tasks[_stack_task_index].valid && (system_load.tasks[_stack_task_index].tcb->pid > 0)) {
 
-		stack_free = up_check_tcbstack_remain(system_load.tasks[_stack_task_index].tcb);
+		stack_free = system_load.tasks[_stack_task_index].tcb->adj_stack_size - up_check_tcbstack(
+				     system_load.tasks[_stack_task_index].tcb, system_load.tasks[_stack_task_index].tcb->adj_stack_size);
 
 		strncpy((char *)task_stack_info.task_name, system_load.tasks[_stack_task_index].tcb->name, CONFIG_TASK_NAME_SIZE - 1);
 		task_stack_info.task_name[CONFIG_TASK_NAME_SIZE - 1] = '\0';
@@ -273,11 +274,11 @@ void LoadMon::stack_usage()
 
 #if CONFIG_NFILE_DESCRIPTORS_PER_BLOCK > 0
 		unsigned int tcb_num_used_fds = 0; // number of used file descriptors
-		struct filelist *filelist = &system_load.tasks[_stack_task_index].tcb->group->tg_filelist;
+		struct fdlist *fdlist = &system_load.tasks[_stack_task_index].tcb->group->tg_fdlist;
 
-		for (int fdr = 0; fdr < filelist->fl_rows; fdr++) {
+		for (int fdr = 0; fdr < fdlist->fl_rows; fdr++) {
 			for (int fdc = 0; fdc < CONFIG_NFILE_DESCRIPTORS_PER_BLOCK; fdc++) {
-				if (filelist->fl_files[fdr][fdc].f_inode) {
+				if (fdlist->fl_fds[fdr][fdc].f_file) {
 					++tcb_num_used_fds;
 				}
 			}

src/modules/task_watchdog/TaskWatchdog.cpp

@@ -341,7 +341,7 @@ void TaskWatchdog::capture_and_write_dump()
 				d.regs[REG_R10], d.regs[REG_R11],
 				d.regs[REG_R12], d.regs[REG_R13],
 				d.regs[REG_R14], d.regs[REG_R15]);
-#ifdef CONFIG_ARMV7M_USEBASEPRI
+#if defined(CONFIG_ARMV7M_USEBASEPRI) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
 			dprintf(fd, " xpsr:%08" PRIx32 " basepri:%08" PRIx32 "\n",
 				d.regs[REG_XPSR], d.regs[REG_BASEPRI]);
 #else

src/systemcmds/hardfault_log/hardfault_log.c

@@ -340,7 +340,7 @@ static int write_stack_detail(bool inValid, _stack_s *si, char *sp_name,
 	tcb.adj_stack_size = si->size;
 
 	if (verify_ram_address(sbot, si->size)) {
-		n = snprintf(buffer, max,         "  used:   0x%08zx\n", up_check_tcbstack(&tcb));
+		n = snprintf(buffer, max,         "  used:   0x%08zx\n", up_check_tcbstack(&tcb, tcb.adj_stack_size));
 
 	} else {
 		n = snprintf(buffer, max,         "Invalid Stack! (Corrupted TCB)  Stack base:  0x%08" PRIx32 " Stack size:  0x%08"
@@ -459,7 +459,7 @@ static int write_registers(uint32_t regs[], char *buffer, int max, int fd)
 		return -EIO;
 	}
 
-#ifdef CONFIG_ARMV7M_USEBASEPRI
+#if defined(CONFIG_ARMV7M_USEBASEPRI) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
 	n = snprintf(buffer, max, " xpsr:0x%08" PRIx32 " basepri:0x%08" PRIx32 " control:0x%08" PRIx32 "\n",
 		     regs[REG_XPSR],  regs[REG_BASEPRI],
 		     getcontrol());