82532f9642
[BACKPORT 1.17] imxrt related fixes and mr-tropic support ( #26052 )
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2025-12-23 15:10:07 -05:00
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
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
03e6f40995
nuttx submodule update (dcache fix)
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* nuttx submodule update (dcache fix)
2025-09-29 18:04:26 +02:00
0a8a5472ec
nuttx submodule update (fix sem holder list)
2025-09-23 10:02:49 +02:00
d3f912ad25
platforms: Serial new dedicated writeBlocking method ( #25537 )
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* 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
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
af6bf931c1
uavcan bootloader watchdog_pet during long flashes ( #25523 )
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2025-09-04 12:20:03 -08:00
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
bc60307163
boards: ARK DIST
2025-08-07 21:26:13 -04:00
b5bf28c204
platform: serial: add bytesAvailable() function
2025-07-29 09:07:03 -08:00
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
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
8dd14d9aaa
platforms/stm32_common: hrt.c: define timer 1 IRQ properly for H7 platform ( #25260 )
2025-07-21 09:53:38 -08:00
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
bb423bc007
dshot: fix bidirectional dshot stream sharing ( #24996 )
...
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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
6e7638c14b
dshot: fix scaling ( #25001 )
2025-06-10 00:26:17 -08:00
64989c3b8d
dshot: add perf counter for hrt callback (15us avg) ( #24976 )
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2025-06-05 14:45:28 -08:00
b8fa208bb5
Update NuttX
...
Fixes RT117X OCRAM M7 memory freeze
2025-06-05 06:03:59 -07:00
1656278b5e
Update NuttX
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2025-05-29 05:15:18 -04:00
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
905b6ac0ba
Use ITCM on v5x
2025-04-17 04:48:37 -04:00
43f5a713db
stm32_common: add timer 12 ( #24680 )
2025-04-15 16:10:11 +12:00
2d899c624e
platforms: update nuttx submodule
2025-04-10 04:30:41 -04:00
7cb7977263
dshot: only use 1 DMA, round robin the channels. Fix esc telemetry. ( #24610 )
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2025-03-27 11:41:38 -06:00
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
73b51242c8
nuttx: h7: eth: add checks for PHYID in stm32_phyinit
...
arch: stm32h7: Add support for dual bank flash memory
2025-02-22 08:46:12 -05:00
64d8f9a3c6
cmake: for vscode launch fallback to gdb-multiarch
...
Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead
2025-02-03 23:12:30 -05:00
50092a7f67
NuttX: update submodule to branch px4_firmware_nuttx-10.3.0+ with "FlexSPI allow RWW" merged
2025-01-14 10:32:00 +01:00
e9536cb30b
Tropic-community use flash as storage using LittleFS ( #24158 )
...
* Update NuttX
2025-01-08 21:35:08 -05:00
077ade4f8f
Add IO timer channel mode for RPM and also sync up rpi configuration to work with all these drivers
2024-12-19 07:30:25 +01:00
b891961a0c
make upload: fix usb path wildcard
2024-11-19 23:02:12 -05:00
5d29c7811b
imxrt: tone_alarm: Add FlexPWM based Tone alarm driver
2024-11-06 17:28:35 -05:00
a7e4000861
rgbled_pwm: Change linker so we can make board specific override for led functionality
2024-11-06 17:28:35 -05:00
c6e86fdea0
Add Tropic teensy loader upload support
2024-11-06 17:28:35 -05:00
87b52ae6ee
Update platforms/nuttx/src/bootloader/stm/stm32_common/main.c
2024-11-05 06:59:47 -05:00
7768dfda35
stm32 bootloader: use STM32_CPUCLK_FREQUENCY for systick_mhz
2024-11-05 06:59:47 -05:00
3b1d7e20da
Updated NuttX ref to include littlefs fix ( #23828 )
2024-10-18 17:07:02 +02:00
e3dd050c91
bootloader: robustify uploader detection
...
The bootloader can often get stuck parsing random MAVLink traffic,
thinking it had seen a GET_SYNC.
Therefore, this commits adds a two step check which requires a GET_SYNC
followed by a GET_DEVICE to make sure it's really an uploader script
talking to it, and not just random data.
2024-10-14 06:35:55 -04:00
ba75b9c35e
platforms/nuttx: Serial change fsync to tcdrain
...
Calling serial::write() in quick succession was blowing away the previous buffer, fsync does not guarantee that data is transmitted on serial lines. On the other hand tcdrain waits until the output buffer is empty.
2024-09-25 12:18:05 -04:00
11d370823b
NuttX with mtd:ramtron MB85RS256B address length is 2 backport
2024-09-20 06:16:34 -04:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
8bfd3b0f62
platforms/nuttx/init/stm32f7: rc.board_arch_defaults reduce LOGGER_BUF to 40
...
To get some breathing space on setups with memory-intensive components (e.g. UAVCAN).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-08-26 13:13:11 -04:00
cf941b18df
Nuttx with stm32h7: STM32H7X5XX selects hardware files backport
2024-08-23 05:12:28 -04:00
13c413622b
Nuttx with stm32h7: STM32H7X5XX selects hardware files backport
2024-08-23 04:48:20 -04:00
c60b1d1a5f
board_hw_rev_ver: Support EEPROM-only HW IDs
2024-08-19 11:05:50 -04:00
07734c243f
mtd: Initialized the RAMTRON speed with 30MHz
2024-08-19 11:05:50 -04:00
0481c04b2b
Nuttx with backport (stm32h7x3x): Add External Power Supply option
2024-08-19 09:22:17 -04:00
2d99ae18ad
stm32h7: Reset USART clock selection ( #23498 )
...
This resets the USARTs' clock source selection to the default, in case
it has been changed by the bootloader.
This is required if booting from the ArduPilot bootloader which happens
to reset the clock selection to PLL.
Without this fix, UARTs (including the console) is garbled, so
presumably at an invalid baudrate.
2024-08-07 11:41:50 -04:00
3157a4e171
gnss: update supported baud rates ( #23415 )
...
* gnss: update supported baud rates
The Septentrio GNSS driver requires certain baud rates to test all the
supported baud rates of the receiver. Without these changes, certain
"non-standard" ones would print an error to the MAVLink console when the
driver was started through the console.
* platforms: add missing baudrate defines
---------
Co-authored-by: Thomas Frans <franske2000@gmail.com >
Co-authored-by: Julian Oes <julian@oes.ch >
2024-08-07 10:46:18 +12:00
Peter van der Perk
Henry Kotzé
Alexander Lerach
Daniel Agar
Jacob Dahl
Alex Klimaj
henrykotze
Jacob Dahl
Sindre Meyer Hegre
Pedro Roque
dusan19
Peter van der Perk
Julian Oes
Beat Küng
Matthias Grob
caijie
BazookaJoe1900
Silvan Fuhrer
David Sidrane
jfbblue0922
Niklas Hauser
Alexis Guijarro
Thomas Frans