Julian Oes
7b0984584f
dshot: add EDT data to status
2026-02-06 16:23:42 +13:00
Julian Oes
b9f6e35a43
dshot: just publish at 200 Hz
...
It's tricky to figure out when to publish especially if some outputs
that should be reporting stop reporting. I had some edge cases where it
would not publish due timers not fully configured, so I decided to just
publish at 200 Hz no matter what data was there to publish.
2026-02-06 16:21:07 +13:00
Jacob Dahl
ac5fba4c28
imxrt: add up_bdshot_channel_capture_supported
2026-01-27 20:34:48 -09:00
Julian Oes
0c51b25391
dshot: support timer channels without DMA capture
...
Some timer channels such as timer 4 channel 4 don't support DMA, so we
can only use them to burst/update but not to capture.
2026-01-27 15:39:49 -09:00
Jacob Dahl
44f62fd764
rename perf counters, skip burst delay on last channel
2026-01-27 15:39:49 -09:00
Jacob Dahl
89f14100ab
Update platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
...
Co-authored-by: Julian Oes <julian@oes.ch >
2026-01-27 15:39:49 -09:00
Jacob Dahl
b1585a7f55
Update platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
...
Co-authored-by: Julian Oes <julian@oes.ch >
2026-01-27 15:39:49 -09:00
Jacob Dahl
8847c3cc83
dshot: trigger timers at the same time, with 10us delay between bursts to work around race condition
2026-01-27 15:39:49 -09:00
Jacob Dahl
6bc0e0c74e
dshot: imxrt: fix unsigned to uint8_t in dshot_motor_data_set
2026-01-27 15:39:49 -09:00
Jacob Dahl
4ee3d2778e
sequential dshot burst/capture timer triggering, it works!
2026-01-27 15:39:49 -09:00
Jacob Dahl
bf783779b6
fix esc online mask ordering, fix bdshot channels ready check, improve dshot status formatting
2026-01-27 15:39:49 -09:00
Jacob Dahl
22587b09e5
bdshot per channel, use PWM_TIM param for BDSHOT instead of single parameter to allow per timer bdshot, clean up logic and fix minor bugs, re-init dshot in mixerChanged
2026-01-27 15:39:49 -09:00
Jacob Dahl
4b3cd1e9a2
fix names and variables and remove dead code
2026-01-27 15:39:49 -09:00
Jacob Dahl
d1d54178d9
fix issues found during review, clean up
2026-01-27 15:39:49 -09:00
Jacob Dahl
46cecf61c5
multi timer, first pass
2026-01-27 15:39:49 -09:00
Jacob Dahl
3b9ea305f7
clean up naming
2026-01-27 15:39:49 -09:00
Jacob Dahl
bc89140345
cleaned up
2026-01-27 15:39:49 -09:00
Jacob Dahl
316c0c187a
adaptive gcr bit width tracking
2026-01-27 15:39:49 -09:00
Jacob Dahl
844b5adab2
add no_data counter
2026-01-27 15:39:49 -09:00
Jacob Dahl
74da73e37d
fix frame quantization
2026-01-27 15:39:49 -09:00
Jacob Dahl
b93cb96c4f
rebased
2026-01-27 15:39:49 -09:00
Julian Oes
9460625c99
Tools: rewrite uploader script ( #26310 )
...
* Tools: rewrite uploader script
This adds a script called px4_uploader.py which is a complete rewrite
using Claude Code of px_uploader.py.
The main improvements over the previous px_uploader.py script are:
- Separate smaller classes instead of one big uploader class.
- Easier debugging with --verbose or --debug flags.
- Nicer progress animation.
- No more hard to debug Exception swallowing over multiple levels.
- Auto-detection and looping of devices, removing the functionality from
cmake.
- Auto-detection of PX4 devices by USB VID/PID.
- Add noninteractive mode
- Add JSON output mode
2026-01-24 11:09:17 +13:00
Phil-Engljaehringer
3438d593a1
drivers: MCP23009 & MCP23017 shared code base ( #25924 )
...
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* Implemented driver for MCP23017
* fixed compatability with mcp23009. (naming of instantiated GPIO-Devices)
* removed some comments
* removed even more comments
* commented out instatntiation of driver since it will not be used with v6x
* removed last useless comments
* re-activated gpio_mcp23009 driver, removed useless comments and empty lines
* removed empty lines at the end of mcp23017.cpp
* removed empty line
* basic working implementation
* first improved driver version with shared code base for MCP23009 & MCP23017 (built as state machine with sanity checks)
* removed unused imports
* changed module name from MCP to MCP230XX
* removed debug print statements
* adjusted auto start command of driver
* removed comments
* -added seperate main functions for both derivative modules (mcp23009 and mcp23017)
* compile common functions as shared library in src/lib/drivers
* fixed cleanup of modules
* ->unclean working version with shared common library
* used make format
* working & cleaned version
* -> Added CallbackHandler to be able to use multiple reading GPIO-expanders simultaneously
-> Removed old mcap23009 calls and pin registrations
-> Adjusted GpioIn.msg to contain MAX_INSTANCES
* ->removed unused imports
->used make format
* Fix: Re-enabled platform_mcp_gpio for accton-godwit, cuav, fmu-v5x
* Fix: enabled platform_mcp_gpio in px4/fmu-v5x
* added depency to fmu-v5x
* Fix: removed new lines
* Fix: fixed linker errors
* removed unused linkage against mcp-library
* Made mcp start calls consistent for fmu-v5x and fmu-v6x
* moved logging of comm errors to read/write function directly
* added perf_count for sanity_check
* removed error message
* ensured member variables follow naming convention
* added retries to probe function
* simplyfied state-logic
* add break to terminate loop early
* ensured clean state when register_gpios() fails
* add registered-flag to pins
* used path from top dir instead of relative path in CMakeLists
* used constexpr to set parameters instead of calculating them at runtime
* style: used make format
* fix: corrected i2c_bus assignment
* style: init input of callbackhandler to 0
* fix: mark pin as registered if successful
* style: made arguments const type
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com >
2025-12-17 17:48:30 +01:00
Alexander Lerach
e822da74b2
io timer: fix input capture on various boards
2025-12-17 17:02:13 +01:00
Jacob Dahl
b92d21bd31
serial: add txSpaceAvailable function ( #26069 )
...
* serial: add txSpaceAvailable function
* serial: txSpaceAvailable and bytesAvailable fixups
2025-12-12 09:31:33 -09:00
Tarmo Tänav
f29aa182a8
Add support for NXP i.MX RT1170B
2025-11-26 09:59:51 -09:00
Alexis Guijarro
5f7e395609
NuttX: Add support for FM25V02A-DGQ
2025-11-24 10:37:45 -09:00
Peter van der Perk
921e91863a
dshot: IMXRT BDSHOT baud training
...
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AM32 bdshot doesn't do clock compensation like BLHeli32 did.
Instead we traing BDSHOT timing on known zero value to lock on
best bdshot baudrate to receive.
Reduces CRC and frame errors on AM32 a lot
2025-11-24 09:24:49 -09:00
Niklas Hauser
17f3db9231
[serial] Fix byte size, flow control, parity, stop bits configuration
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2025-11-20 10:29:57 -09:00
Peter van der Perk
aaf6632a22
imxrt: move teensy bootloader to normal bootloader
...
Best for teensy is to use the teeny as normal bl
2025-11-10 00:52:58 -05:00
Jacob Dahl
38847b1cf3
stm32: io_timer: pullup gpio during dma capture ( #25850 )
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2025-11-06 12:33:35 -07:00
Peter van der Perk
1250563ed1
Add support for NXP MR-VMU-Tropic board ( #25845 )
...
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* rt106x: Use platform SPI hal layer
* rt106x: Add romapi support and reboot to isp/bootloader
* bootloader: imxrt_common: Add rt106x support
* NXP MR-Tropic initial commit
* Add missing file for mr-tropic bootloader
* nxp-mr-tropic:Bootloader Alow Assertion debugging & Keep Ram Vectors
* nxp-mr-tropic: Firmware Boot from bootloader
* nxp-mr-tropic:Add Bootloader bin file
* mr-tropic: Update config and linker
Fixes enet issues with write-back and some code cleanup.
Furthermore increase NOR LittleFS to 256kB to reflect on linker
* Update NuttX
* mr-tropic: fix itcm apping and add mr-tropic to itcm check
---------
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com >
2025-11-05 11:48:26 -05:00
Thijs Hof
c44e0be18a
fix bidir dshot for nxp xrt boards
2025-11-03 08:14:27 -09:00
Alexander Lerach
2e586c47b0
update nuttx (to include TX DMA fix)
2025-10-22 15:22:15 +02:00
Alexander Sherikov
6e8f61c551
various cmake fixes ( #25748 )
...
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- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-10-17 11:11:00 -08:00
Peter van der Perk
2f48cb4ef2
MR-CANHUBK344 NXP B3RB Rover support ( #23897 )
...
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* s32k3xx: EMIOS allow independent frequencies for each channel
* mr-canhubk3: update config
* mr-canhubk344: Fix adap board detect
* mr-canhubk344: Use LPSPI1 (Port P1A) for SD card
* airframes: Add B3RB Ackermann rover config
See https://nxp.gitbook.io/mr-b3rb for more information about the NXP
B3RB platform. PX4 Support basic control for now
2025-10-09 23:28:43 -08:00
Henry Kotzé
dbd13070e5
esp32: pwm register updates correctly on change ( #25653 )
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- removed the bug where some overflow would occur on the PWM signal when
changing the duty cycle of the signal after power up. (PWM_MAIN_DIS,
PWM_MAIN_MIN or PWM_MAIN_MAX)
removed commented code
cleanup of previous cherry-pick
Co-authored-by: henrykotze <henry@autonosky.com >
2025-09-30 11:15:06 -08:00
Alexander Lerach
03e6f40995
nuttx submodule update (dcache fix)
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* nuttx submodule update (dcache fix)
2025-09-29 18:04:26 +02:00
Alexander Lerach
0a8a5472ec
nuttx submodule update (fix sem holder list)
2025-09-23 10:02:49 +02:00
Claudio Chies
d3acee315a
BAT: Consolidate the highest feasible number of batteries into just 3
2025-09-22 15:02:24 +02:00
Eric Katzfey
e72ffa3b1f
QURT: Changed the non-blocking UART write to use the blocking write with a comment that Qurt ( #25573 )
...
still needs a non-blocking write implemented.
2025-09-16 10:40:19 -08:00
Daniel Agar
d3f912ad25
platforms: Serial new dedicated writeBlocking method ( #25537 )
...
* platforms: Serial new dedicated writeBlocking method
* finish writeBlocking()
* add back fsync
* updated posix, added string constant for port not open error
* format
* fix build
* remove fsync
* actually remove fsync
* remove fsync from write
* review feedback
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2025-09-15 15:22:49 -08:00
Jacob Dahl
1aad8b6ec9
serial: nuttx: revert tcdrain back to fsync ( #25538 )
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* serial: nuttx: revert tcdrain back to fsync
* serial: do not print error on EAGAIN
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com >
2025-09-11 12:32:34 -08:00
Alex Klimaj
af6bf931c1
uavcan bootloader watchdog_pet during long flashes ( #25523 )
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2025-09-04 12:20:03 -08:00
henrykotze
8b58c01cd7
ESP32 Support Sponsored by AutonoSky
...
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nsh console running on USB
param module running
working with i2c and common drivers
provided implementation for drv_pwm_output.h
i2cdetect working as expected with no device
mavlink started succesfully
mounts sd card and logger runs
logger to file succesfully
pwm_servo implemented without using Nuttx lib
pwm_out outputs expected waveforms
- however currently if the frequency is higher than what the pwm_out
driver runs, there will be aliasing, based on how the registers gets
resets
wifi softap working
- Seeing wifi hotspot
- cant connect due to wrong password
- problems with adjusting ssid and password
wifi ssid and password being set accordinglu
connected to wifi hotspot with dhpcd
- made some changes to nuttx to only build for SoftAP mode, however this
was effectivelyy removing the ifdef for STATION mode. Should investigate
the coexist option again
added ifdef to not use timer 0 when wifi enabled
- reverted esp32 rt_timer to make use of timer 0 by default
fix setting incorrect bit in hrt timer register
- hrt running as expected, but on startup the pwm_out driver starts up
at about 200Hz and then rises over a minute or so 250Hz. Not sure if
this was present previously, and could be due to Wifi running at time
priority on timer 0
pull xtensa compilers in setup.ubuntu.sh
revert logger stacksize and cmake argument
esp32 chip revision and PX4 UUID implemented
spi board reset implemented, formatting checked
devkit acts on startup as a wifi bridge for comms
- the most usefull setting for the general developer when buying a esp32 devkit
- testing Mavlink shell using ./Tools/mavlink_shell.py
- todo: Test mavlink messages being forward
improve wifi telemetry by increasing prio
- Remove power save mode on wifi
- increased daemon thread schedule priority to 50
compiles without Nuttx changes
- updated compiler settings to match those of nuttx on px4 side
add espressif_esp32 to excluded boards
ci: allow docker to find xtensa compilers
2025-08-19 11:09:56 -07:00
Niklas Hauser
5f5984b9b8
[work_queue] Configure stack size and priority via KConfig ( #25406 )
2025-08-12 22:54:35 +01:00
alexklimaj
bc60307163
boards: ARK DIST
2025-08-07 21:26:13 -04:00
Pernilla
d70eecc17d
define M_PI if not defined in math.h
2025-08-05 20:27:05 -07:00
Eric Katzfey
5b9e099fd1
Fixed Posix and Qurt platform build error introduced in earlier commit
2025-08-05 17:14:12 -07:00
Eric Katzfey
c5b8445ffc
Added Qurt platform Serial implementations for bytesAvailable() and flush(). ( #25348 )
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