48 Commits

Author	SHA1	Message	Date
Julian Oes	1a3d232e7b	fix(bootloader): remove broken PROTO_SET_DELAY boot-delay feature (#27081) ... The bootloader boot-delay feature has been mechanically broken on every modern FMU board since the STM32F7/H7 transition. It has three independent bugs that prevent it from ever working: 1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the NuttX vector table is 504 B (F76x) to 664 B (H743) long. The linker places _bootdelay_signature at ALIGN(32) past end of vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader reads random exception_common pointers in place of the magic and never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with objdump of cubepilot_cubeorange_default.elf. 2. Flash cache never flushes: fc_write() stores arbitrary writes in cache line 1 and only flushes on a very specific condition tied to the sequential firmware upload flow. A standalone write during PROTO_SET_DELAY is cached forever. fc_read() then returns the cached value, so the post-write verify lies and the bootloader reports success. Nothing ever reaches flash. 3. H7 write granularity: the STM32H7 flash controller requires a full 32-byte program cycle per write. Single 32-bit writes from flash_func_write_word() would not be accepted by the controller even if they reached it. The feature has been silently dead on every H7/F7 FMU board for years and no one noticed, which is strong evidence nothing actually depends on it. Rather than fix it (which would mean rewriting PROTO_SET_DELAY, the flash cache path, and the H7 flash programming path), remove it. Changes: - bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad) so clients that still send the command get a clear rejection instead of the previous silent fake-success. The opcode stays in the protocol enum for backwards compatibility. - bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX. - stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the startup boot-delay sig check block. - image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS. BOARD_IMAGE_TOC_OFFSET is now the required define when BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef BOOTLOADER_USE_TOC and falls back to a stub returning false when the TOC is not in use (no upstream board currently enables it). - Linker scripts: strip EXTERN(_bootdelay_signature) and the FILL/. += 8 block from all 142 affected .ld files across boards/. - hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment block entry from all 48 affected boards. - Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay, set_boot_delay(), and SET_BOOT_DELAY client-side counterpart. Smoke-built on cubepilot_cubeorange_default and cubepilot_cubeorange_bootloader; no link errors, no unresolved symbols, flash usage unchanged. Tested: - New BL, new FW - Old BL, old FW - Old BL, new FW - New BL, old FW	2026-04-29 13:04:03 +12:00
Julian Oes	7b23a2e405	fix(boards): auterion fmu-v6x zenoh free flash for logger rework ... The logger rework grows text slightly, pushing the already flash-constrained zenoh variant over budget. Drop a handful of optional features to recover the needed headroom: - osd_msp_osd (MSP OSD, niche) - actuator_test (bench diagnostic) - fw_autotune_attitude_control / mc_autotune_attitude_control (tuning can be done on a default build)	2026-04-23 10:30:14 +12:00
alexcekay	139b123d44	v6s: support EEPROM-only boards alongside FRAM variants	2026-04-13 13:49:33 +02:00
alexcekay	20cad48707	rcS: fine-grained storage settings	2026-04-09 11:22:43 +02:00
Jacob Dahl	ba5b96edbe	fix(boards): correct GPIO_VDD_3V3_SENSORS_EN macro name (#26751) ... * fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN. Fixes #26454 * fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN These boards have a single sensor power rail that was incorrectly named SENSORS4_EN (copy-paste from boards with 4 rails). Rename to SENSORS_EN to match the actual hardware. Boards with legitimately numbered rails (fmu-v6xrt, x25-evo, x25-super) are not changed.	2026-03-16 14:51:47 -08:00
Phil-Engljaehringer	010f6dcbae	Refactor PCA9685 (#26379) ... * refactor: use parseDefaultArguments * style: reverted changes to docs (should be auto-generated) * refactor: use parseDefaultArguments * style: reverted changes to docs (should be auto-generated)	2026-03-05 15:31:12 +01:00
CaFeZn	963a776fa6	feat(heater): Add multi-instance support for heaters (#26325) ... * heater: add multi-instance support, refactor parameter handling, remove legacy params file This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs. Main changes: - Add support for multiple heater instances - Refactor parameter handling to use per-instance parameters - Remove the legacy parameter file and migrate to the updated parameter structure This improves scalability and makes heater configuration consistent across setups with multiple sensors. * Refactor heater configuration across multiple boards - Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency. - Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros. - Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup. - Ensured all affected board configurations are updated to maintain functionality with the new heater definitions. * heater: fix missing HEATER1_OUTPUT_EN control * heater: fix more missing HEATER1_OUTPUT_EN control * heater: tidy config, docs, and instance handling - Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT - Improve HEATER${i}_IMU_ID description and instance-related logging/behavior - Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES Note: drop intermediate/reverted change around the 'celsius' spelling. * heater: refactor constructor to remove unused parameter and add instance name function - Remove unused ModuleParams argument from Heater constructor - Add heater_instance_name() helper to provide per-instance work queue task names - Use instance-specific parameter lookup (HEATER{n}_*) during initialization Use heater_instance_name() to label each instance (heater_1/2/3) in work queue. Also drop unused ModuleParams argument from constructor and keep per-instance parameter handle lookup in initialization. * format * board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO * heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency * heater: add a TODO for px4io multi-instance * heater: update missing GPIO_HEATER1_OUTPUT in sky-drones * heater: fix multiple newlines at EOF (resolve CI check failure) * heater: switch to PublicationMulti for heater_status and log multi-instance - Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting. - Updated logged_topics.cpp to use add_optional_topic_multi("heater_status") This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs. --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-03-02 12:13:08 -09:00
Alexander Lerach	9ff373c325	modules: add task watchdog (#26535) ... * modules: add task watchdog * modules: adapt task watchdog to new module descriptor * add review feedback	2026-02-27 13:09:21 +01:00
Julian Oes	1bfc0da258	[Sponsored by CubePilot] Get CI to pass all boards (#26402) ... * kakutef7: try to save more flash	2026-02-03 16:46:36 -05:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
Alexander Lerach	4ac7853479	auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925) ... * auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module * auterion autostarter: Enable on v6s, robustify error handling * review comments	2026-01-21 19:05:09 +01:00
Alexander Lerach	cb6bdee4c2	boards: v6x, remove MS5611 driver to save flash (#26138)	2025-12-17 09:57:34 -09:00
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
Alex Klimaj	12745baf6c	Adds configurable I2C address for PCA9685 PWM driver (#26051) ... * Adds configurable I2C address for PCA9685 PWM driver Introduces a parameter to set the I2C address for the PCA9685 PWM output driver, enhancing flexibility for hardware variations. Updates documentation and board initialization scripts to support the new configuration and streamline device startup. * Update src/drivers/pca9685_pwm_out/module.yaml Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/drivers/pca9685_pwm_out/module.yaml --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-12-12 09:31:19 -09:00
Alexander Lerach	73a8fc8fb0	boards: v6s, save flash by disabling serial_test	2025-12-09 17:15:39 +01:00
mahima-yoga	fcddea4410	v6s: remove rover to free up flash	2025-12-05 14:03:10 +01:00
Matthias Grob	f6de211a27	boards: skip resetting INA parameters to the same default value	2025-11-27 15:16:50 +01:00
Alexander Lerach	14b38f2eba	boards: free up FLASH in auterion v6s by disabling modules	2025-11-25 09:50:01 -05:00
Julian Oes	fa7ffa423c	boards: remove MAVLink development dialect ... We should not build and release with the MAVLink development dialect because messages in development.xml can change at any time and break things. Instead we should prototype and test things using specific mavlink-dev targets.	2025-11-20 23:23:40 -09:00
Niklas Hauser	49febef5ca	[AutFMUv6x] Enable PPS capture driver	2025-11-17 11:59:06 +01:00
Niklas Hauser	7cf9be6e10	[AutFMUv6x] Remove unused timer 2	2025-11-17 11:59:06 +01:00
Niklas Hauser	676fa8a883	[FMUv6s] Convert unused PPM pin to PPS input	2025-11-17 11:59:06 +01:00
PX4 BuildBot	3d9905251d	boards: update all NuttX defconfigs	2025-11-10 01:06:31 -05:00
Niklas Hauser	c2fb48990a	[FMUv6s] Communicate the correct board id version	2025-10-15 14:25:31 +02:00
Alexander Lerach	0f0fe8f1fa	boards: align auterion v6x with APX4	2025-10-14 19:14:41 +02:00
Niklas Hauser	ba1e658750	boards: remove USB device from Auterion FMUv6x	2025-10-14 19:14:41 +02:00
Alexander Lerach	e8fbc30cf6	boards: add auterion v6x target	2025-10-14 19:14:41 +02:00
Niklas Hauser	3a734bc846	[board] Add PCA9685 driver to FMUv6s board	2025-08-29 14:05:40 +02:00
Niklas Hauser	b2b80e8075	[board] Reformat FMUv6s init script to start internal sensor first	2025-08-29 14:05:40 +02:00
Alexander Lerach	8f2c36689d	logging: allow logging backend config ... * logging: allow logging backend config * correct board comments * documentation: updated logging section	2025-08-27 15:44:36 +02:00
Niklas Hauser	8c4d998931	[board] Use HSE as RTC clock for FMUv6s	2025-08-19 11:18:49 +02:00
Niklas Hauser	450f1d33f6	[board] Increase CPU speed to 480MHz for FMUv6s ... The Ethernet clock output is not used anymore so there are no restrictions on the clock tree configuration. This aligns the clock speeds with FMUv6x.	2025-08-19 11:18:49 +02:00
PX4 BuildBot	81ff0925f8	boards: update all NuttX defconfigs	2025-08-07 20:35:04 -04:00
Ramon Roche	0cddd3dfb0	drivers: disable INS by default (#25303) ... * drivers: disable INS by default With the growing number of INS drivers some targets are running out of flash and its becoming challenge to keep them under the limit. Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Update boards/nxp/tropic-community/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update boards/px4/fmu-v6xrt/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-07-31 11:42:21 -08:00
Alexander Lerach	2ecc7226e6	common_rc: enable on v5x/v6x/v6s, disable rc_input	2025-07-30 15:09:39 +02:00
Silvan Fuhrer	edfcbc7c9b	boards: remove duplicated enabling of AUX_GLOB_POS ... EKF2_AUX_GLOBAL_POSITION is y by default. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-28 09:42:30 +02:00
mahima-yoga	3c79f25e10	fmu-v6s: disable analog battery monitoring when digital power module is enabled	2025-07-18 16:42:54 +02:00
mahima-yoga	5125059b8f	fmu-v6s: add ina226/ina228/ina238 support	2025-07-18 16:42:54 +02:00
Silvan	e22329d074	add GYRO_FFT to v6s build ... Signed-off-by: Silvan <silvan@auterion.com>	2025-07-18 14:15:46 +02:00
Alexander Lerach	3041960cf1	auav: enable on v5x/v6x/v6s boards	2025-07-18 09:58:03 +02:00
Alexander Lerach	7f5119f402	sensors: autostart bmm350 and add it to common mags	2025-07-14 17:52:18 +02:00
Alexander Lerach	6f81998e27	hardfault: add option to stream via mavlink	2025-06-13 13:32:00 +02:00
Niklas Hauser	8c6d7235e4	[drivers] Allow swapping RX/TX pins of DShot Telemetry	2025-05-27 11:07:29 +02:00
Silvan	8c1f7ec7c0	rename FWPositionController to FWModeManager ... Signed-off-by: Silvan <silvan@auterion.com>	2025-05-26 14:47:38 +02:00
Marco Hauswirth	2cc9221aae	Revert "add flash-analysis for auterion_fmu-v6s board (#24885)" (#24896) ... This reverts commit 9e45f077b1.	2025-05-21 11:49:26 +02:00
Marco Hauswirth	9e45f077b1	add flash-analysis for auterion_fmu-v6s board (#24885)	2025-05-20 12:00:29 +02:00
Niklas Hauser	43ef690254	[boards] Do not start Mavlink on external connector by default	2025-04-23 15:31:58 +02:00
Niklas Hauser	154623500e	boards: Add Auterion FMUv6s target	2025-04-15 22:31:37 -04:00