843 Commits

Author	SHA1	Message	Date
abhijithcv	0571bccda3	fix(imxrt): update arch defaults to match v6x	2026-04-21 22:26:04 +02:00
alexcekay	977cb5fe25	mtd: fix registration of multiple ONCHIP devices	2026-04-17 18:18:16 +02:00
Pavel Guzenfeld	02d9884979	refactor(io_timer): make timer_io_channels[].timer_channel 0-indexed (#26845) ... * refactor: make timer_io_channels[].timer_channel 0-indexed timer_channel was 1-indexed (1-4) to mirror STM32 hardware naming (TIM_CH1-CH4), but this was purely cosmetic — the ccr_offset field already handles register mapping. Every consumer did timer_channel - 1 to get a 0-based index, creating underflow bugs when the guard was missing (e.g. dshot.c capture_complete_callback, output_channel_from_timer_channel, up_bdshot_get_erpm). Changes: - STM32: Timer::Channel enum starts at 0, initIOTimerChannel assigns directly, removed all timer_channel - 1 in dshot.c and io_timer.c - NXP (kinetis, s32k1xx, s32k3xx): removed the + 1 in initIOTimerChannel, removed timer_channel - 1 in io_timer.c, led_pwm.cpp, and input_capture.c - RPI: Channel enum starts at 0, removed timer_channel - 1 in io_timer.c - Validity checks updated from timer_channel <= 0 || >= 5 to timer_channel >= 4 Closes #26747 Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com> * fix: complete 0-indexed timer_channel migration across all platforms Address review feedback for incomplete migration: 1. STM32H7 io_timer_hw_description.h: update standalone initIOTimerChannel() to assign timer_channel from enum (0-based) instead of hardcoded 1/2/3/4 2. Switch case labels: update all switch(timer_channel) blocks from 1/2/3/4 to 0/1/2/3 in: - stm32_common: input_capture.c (4 blocks), led_pwm.cpp (3), io_timer.c DMA base register switch - kinetis: input_capture.c (2 filter blocks) - s32k1xx: input_capture.c (2 filter blocks) - spix_sync.c (ark/fpv + ark/pi6x, 3 blocks each) 3. Sentinel checks: replace timer_channel != 0 / == 0 (which now conflicts with valid channel 0) with gpio_out-based checks in: - io_timer_validate_channel_index() across all 5 platforms - led_pwm_channel_init() and led_pwm_servo_get() in all led_pwm.cpp variants (STM32 + 4 NXP) - spix_sync_channel_init() and spix_sync_servo_get() Tested: px4_fmu-v6x_default (H7) build OK, px4_sitl_default build OK, 154/154 unit tests pass, ASan build clean. * fix: update NXP board led_pwm_channels to 0-indexed timer_channel These 4 board files manually specify led_pwm_channels[] with 1-indexed timer_channel values. Since the platform code no longer subtracts 1, decrement all values to match the new 0-indexed convention. * fix: correct FTM CH3 filter mask in kinetis and s32k1xx input capture Case 3 in up_input_capture_set_filter() was using CH2FVAL_MASK/SHIFT instead of CH3FVAL_MASK/SHIFT due to a copy-paste error, causing channel 3 filter writes to modify channel 2's filter register instead. --------- Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-04-12 17:16:47 -08:00
Ashwani Sihag	b53036c2d7	fix(pr26902): scope cleanup and copyright attribution	2026-04-09 04:47:47 -04:00
Ashwani Sihag	ff31d5a04f	boards: fix reviewer feedback for saampixv1_1 board ... - Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1 - Update Airmind Development Team to Saam Drones Development Team in copyright headers - Update PX4 copyright year range to 2020-2026 on all C/C++ files - Rename bootloader binary to match board version (v1_1) - Remove untracked backup files	2026-04-09 04:47:47 -04:00
alexcekay	c0633d89ff	nuttx: update littlefs to 2.11.3 and fix empty path EINVAL	2026-04-08 15:48:56 +02:00
alexcekay	c7295c8a4f	mtd: add px4_at24c_set_npages API	2026-04-02 10:59:08 +02:00
Jacob Dahl	f00e46f618	feat(dshot): Extended Telemetry and EEPROM support ... Overhauls the DShot driver with per-timer BDShot selection, multi-timer sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM read/write via MAVLink. Expands ESC support from 8 to 12 channels. BDShot: - Per-timer BDShot protocol selection via actuator config UI - Multi-timer sequential burst/capture on any DMA-capable timer - Adaptive per-channel GCR bitstream decoding - Per-channel online/offline detection with hysteresis Extended DShot Telemetry (EDT): - Temperature, voltage, current from BDShot frames (no serial wire) - New DSHOT_BIDIR_EDT parameter - EDT data merged with serial telemetry when both available AM32 EEPROM: - Read/write AM32 ESC settings via MAVLink ESC_EEPROM message - ESCSettingsInterface abstraction for future ESC firmware types - New DSHOT_ESC_TYPE parameter Other changes: - Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT) - EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks - Numerous bounds-check, overflow, and concurrency fixes - Updated DShot documentation	2026-03-17 16:38:33 -08:00
alexcekay	2450eb3d95	nuttx: update submodule (for PCF85263 compile fix)	2026-02-26 17:31:42 +01:00
Jacob Dahl	ce3e62841f	module_base: remove CRTP template pattern to reduce flash bloat (#26476) ... * module_base: claude rewrite to remove CRTP bloat * module_base: apply to all drivers/modules * format * fix build errors * fix missing syntax * remove reference to module.h in files that need module_base.h * remove old ModuleBase<T> * add module_base.cpp to px4_protected_layers.cmake * fix IridiumSBD can_stop() * fix IridiumSBD.cpp * clang-tidy: downcast static cast * get_instance() template accessor, revert clang-tidy global * rename module_base.h to module.h * revert changes in zenoh/Kconfig.topics	2026-02-19 15:17:17 +13:00
Ramon Roche	a06f062bf7	nuttx: add nuttx_context dependency to jlink-nuttx build (#26505)	2026-02-16 20:04:06 -09:00
Julian Oes	833e4536b7	nuttx: add support for NAND flash ... This cherry-picks upstream commits adding NAND flash support for the Winbond W25N specifically W25N01GV chip. NAND flash is used together with littlefs, hence I updated that to 2.5.1 to match upstream NuttX.	2026-02-10 15:23:51 +13:00
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 ... 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	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)	2025-11-06 12:33:35 -07:00
Peter van der Perk	1250563ed1	Add support for NXP MR-VMU-Tropic board (#25845) ... * 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
Peter van der Perk	2f48cb4ef2	MR-CANHUBK344 NXP B3RB Rover support (#23897) ... * 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) ... - 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) ... * 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
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) ... * 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)	2025-09-04 12:20:03 -08:00
henrykotze	8b58c01cd7	ESP32 Support Sponsored by AutonoSky ... 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
alexklimaj	bc60307163	boards: ARK DIST	2025-08-07 21:26:13 -04:00
Jacob Dahl	b5bf28c204	platform: serial: add bytesAvailable() function	2025-07-29 09:07:03 -08:00
Sindre Meyer Hegre	3be0cb077c	Neural Control Mode (#24366) ... * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-07-25 09:42:12 -08:00
Pedro Roque	6474e5d7c1	feat: configurable board pwm freq from Kconfig (#24787) ... * feat: configurable board pwm freq from Kconfig * feat: add board_pwm_config to submenu * fix: define sequence correction * fix: revert Tools/simulation/gz * fix: track upstream gz * fix: track upstream mavlink * feat: adjustable pwm for multiple board types * feat: add conditional check for CONFIG_ for correct fallback * add: spacecraft board with correct BOARD_PWM_FREQ supporting 10Hz actuation rate * fix: set dependencies for submenu arch chips * fix: keep only upper arch level * fix: proper checking - still not showing up for board config * feat: add hidden kconfig for platforms * Merge Nuttx config into px4board Allows to expose nuttx into PX4 if needed * Kconfig: Include nuttx symbols in updateconfig Only if applicable i.e. defined in the kconfig * fix: merged config with previously generated boardconfig * doc: updated code comment --------- Co-authored-by: Daniel Agar <daniel@agar.ca> Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>	2025-07-23 08:23:13 -07:00
dusan19	8dd14d9aaa	platforms/stm32_common: hrt.c: define timer 1 IRQ properly for H7 platform (#25260)	2025-07-21 09:53:38 -08:00
Jacob Dahl	09ebd21e55	mixer: remove used flag stop_outputs ... dshot: fix motor test on CANnode Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver	2025-07-11 08:53:52 -06:00
Jacob Dahl	bb423bc007	dshot: fix bidirectional dshot stream sharing (#24996) ... Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem	2025-06-10 00:36:45 -08:00
Jacob Dahl	6e7638c14b	dshot: fix scaling (#25001)	2025-06-10 00:26:17 -08:00
Jacob Dahl	64989c3b8d	dshot: add perf counter for hrt callback (15us avg) (#24976)	2025-06-05 14:45:28 -08:00
Peter van der Perk	b8fa208bb5	Update NuttX ... Fixes RT117X OCRAM M7 memory freeze	2025-06-05 06:03:59 -07:00
Peter van der Perk	1656278b5e	Update NuttX	2025-05-29 05:15:18 -04:00
Julian Oes	3c39095271	[Sponsored by Holybro] Support for Kakute H743-Wing (#24669) ... * hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing	2025-05-04 14:44:11 -08:00
Alexander Lerach	905b6ac0ba	Use ITCM on v5x	2025-04-17 04:48:37 -04:00
Julian Oes	43f5a713db	stm32_common: add timer 12 (#24680)	2025-04-15 16:10:11 +12:00
Beat Küng	2d899c624e	platforms: update nuttx submodule	2025-04-10 04:30:41 -04:00
Jacob Dahl	7cb7977263	dshot: only use 1 DMA, round robin the channels. Fix esc telemetry. (#24610)	2025-03-27 11:41:38 -06:00
Jacob Dahl	543851db50	[Sponsored by ARK] Bidirectional DShot (#23863) ... * Bidirectional DShot Co-authored-by: Julian Oes <julian@oes.ch> * f4/f1 support, not supported * fix f1 build target * sanity check timer_channel value, fix CCxNP ifdef, debug stuff * removed debug code, added define for H7 HAVE_GTIM_CCXNP * round robin sampling for less than 4 DMA * unlimited esc_status logging * dshot: fix formatting * dshot: add define for number of DMA channels to use This allows individual boards to override the number of DShot channels and hence avoid round robin capture of the RPM feedback. * ARK: enable 4 DMA channels for DShot on 6X * dshot: publish when all channels are updated This slows down the ESC_STATUS publication in the case of round robin capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is now published at 200 Hz. * dshot: avoid duplicate publications for bidir and telem Instead of publishing both bidirectional dshot updates as well as telemetry updates, we now combine the data from both streams, and publish whenever we get RPM updates, as the latter arrives with higher rate, e.g. 200 Hz with round robin, or faster otherwise. When combining the data, we take RPM from bidirectional dshot, and the rest from telemetry. When we have only one of the two, either telemetry or bidirectional dshot, we just publish that one. * boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS * dshot: turn off debug build --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: alexklimaj <alex@arkelectron.com>	2025-03-12 12:55:15 -06:00