NuttX and apps update 7.29

.gitmodules

@@ -49,11 +49,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.28+
+	branch = px4_firmware_nuttx-7.29+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.28+
+	branch = px4_firmware_nuttx-7.29+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

CMakeLists.txt

@@ -266,7 +266,7 @@ set(package-contact "px4users@googlegroups.com")
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 

boards/av/x-v1/default.cmake

@@ -84,7 +84,7 @@ px4_add_board(
 		wind_estimator
 
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		config
 		dmesg
 		dumpfile

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
@@ -50,7 +57,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=43103
+CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
@@ -73,7 +80,10 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -105,7 +115,6 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
-CONFIG_NET_HOSTNAME="px4"
 CONFIG_NET_ICMP=y
 CONFIG_NET_ROUTE=y
 CONFIG_NET_SOCKOPTS=y
@@ -124,14 +133,11 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DRIPADDR=0xc0a85601
-CONFIG_NSH_IPADDR=0xc0a8560c
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_LOGIN_PASSWORD="px4"
 CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_NETINIT_THREAD=y
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
@@ -146,7 +152,7 @@ CONFIG_PREALLOC_WDOGS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=376832
+CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# 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_OS_API is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v3/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -143,7 +150,6 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1800
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -222,8 +228,8 @@ CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
@@ -232,9 +238,9 @@ CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600

boards/px4/io-v2/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# 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_NULL is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"

platforms/nuttx/NuttX/Make.defs.in

@@ -89,7 +89,7 @@ ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 endif
 
 CFLAGS = $(ARCHINCLUDES) \
-	-std=gnu99 \
+	-std=gnu11 \
 	${CMAKE_C_FLAGS} \
 	$(FLAGS) \
 	-Wno-bad-function-cast \

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -66,9 +66,6 @@ function(px4_os_add_flags)
 		${PX4_BINARY_DIR}/NuttX/apps/include
 		)
 
-	# NuttX's disables inline below C99 (comiler.h), but __STDC_VERSION__ isn't set for C++
-	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-D__STDC_VERSION__=199901L>)
-
 	# prevent using the toolchain's std c++ library
 	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
 

src/drivers/boards/common/board_dcache_control.c

@@ -43,7 +43,7 @@
 #include <stdbool.h>
 
 #include "nvic.h"
-#include "cache.h"
+#include <nuttx/cache.h>
 #include "up_arch.h"
 
 #include <parameters/param.h>
@@ -93,7 +93,7 @@ void board_configure_dcache(int stage)
 	/* On boot we should default to disabled on effected HW */
 
 	if (erratta && stage == 0) {
-		arch_disable_dcache();
+		up_disable_dcache();
 		return;
 	}
 
@@ -106,15 +106,15 @@ void board_configure_dcache(int stage)
 		switch (dcache) {
 		default:
 		case 0:
-			erratta ? arch_disable_dcache() : arch_enable_dcache();
+			erratta ? up_disable_dcache() : up_enable_dcache();
 			break;
 
 		case 1:
-			arch_disable_dcache();
+			up_disable_dcache();
 			break;
 
 		case 2:
-			arch_enable_dcache();
+			up_enable_dcache();
 			break;
 			return;
 		}
@@ -157,11 +157,11 @@ int board_dcache_info(int action, char **pmesg, bool *pstate)
 	}
 
 	if (action == 0) {
-		arch_disable_dcache();
+		up_disable_dcache();
 	}
 
 	if (action == 1) {
-		arch_enable_dcache();
+		up_enable_dcache();
 	}
 
 	if (pmesg) {

src/drivers/px4io/px4io_serial_f7.cpp

@@ -42,7 +42,7 @@
 #ifdef PX4IO_INTERFACE_F7
 
 #include "stm32_uart.h"
-#include "cache.h"
+#include <nuttx/cache.h>
 
 /* serial register accessors */
 #define REG(_x)		(*(volatile uint32_t *)(PX4IO_SERIAL_BASE + (_x)))
@@ -288,8 +288,8 @@ PX4IO_serial_f7::_bus_exchange(IOPacket *_packet)
 	stm32_dmastart(_rx_dma, _dma_callback, this, false);
 
 	/* Clean _current_packet, so DMA can see the data */
-	arch_clean_dcache((uintptr_t)_current_packet,
+	up_clean_dcache((uintptr_t)_current_packet,
-			  (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+			(uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
 
 	/* start TX DMA - no callback if we also expect a reply */
 	/* DMA setup time ~3µs */
@@ -458,8 +458,8 @@ PX4IO_serial_f7::_do_interrupt()
 		/* if there is DMA reception going on, this is a short packet */
 		if (_rx_dma_status == _dma_status_waiting) {
 			/* Invalidate _current_packet, so we get fresh data from RAM */
-			arch_invalidate_dcache((uintptr_t)_current_packet,
+			up_invalidate_dcache((uintptr_t)_current_packet,
-					       (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+					     (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
 
 			/* verify that the received packet is complete */
 			size_t length = sizeof(*_current_packet) - stm32_dmaresidual(_rx_dma);

src/drivers/stm32/armv7-m_dcache/armv7-m_dcache.cpp

@@ -46,7 +46,7 @@
 
 #include <parameters/param.h>
 
-#include "cache.h"
+#include <nuttx/cache.h>
 
 #if defined(CONFIG_ARMV7M_DCACHE) && defined(CONFIG_ARMV7M_DCACHE_WRITETHROUGH)
 

src/lib/systemlib/print_load_nuttx.c

@@ -147,7 +147,7 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
 		print_state->interval_time_ms_inv = 1.f / ((float)((print_state->new_time - print_state->interval_start_time) / 1000));
 
 		/* header for task list */
-		snprintf(buffer, buffer_length, "%4s %*-s %8s %6s %11s %10s %-5s %2s",
+		snprintf(buffer, buffer_length, "%4s %-*s %8s %6s %11s %10s %-5s %2s",
 			 "PID",
 			 CONFIG_TASK_NAME_SIZE, "COMMAND",
 			 "CPU(ms)",
@@ -282,7 +282,7 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
 		}
 
 		// print output
-		int print_len = snprintf(buffer, buffer_length, "%4d %*-s %8d %2d.%03d %5u/%5u %3u (%3u) ",
+		int print_len = snprintf(buffer, buffer_length, "%4d %-*s %8d %2d.%03d %5u/%5u %3u (%3u) ",
 					 tcb_pid,
 					 CONFIG_TASK_NAME_SIZE, tcb_name,
 					 total_runtime[i],