Nuttx rebase

.github/workflows/tiiuae-codeql.yaml

@@ -19,7 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         language: [c-cpp]
-        product: [ssrc_saluki-v2_default, ssrc_saluki-nxp93_flat]
+        product: [ssrc_saluki-v2_default, ssrc_saluki-nxp93_default]
 
     container:
       image: ghcr.io/tiiuae/px4-firmware-builder-base:latest

.github/workflows/tiiuae-pixhawk-and-saluki.yaml

@@ -51,7 +51,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        product: [pixhawk, fmu-v6xrt, saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat, saluki-nxp93_flat]
+        product: [saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat, saluki-nxp93_flat, saluki-nxp93_default]
         include:
           - product: saluki-v2_custom_keys
             keys: Tools/saluki-sec-scripts/custom_keys/saluki-v2/px4_bin_ed25519_private.pem

boards/mpfs/icicle/nuttx-config/nsh/defconfig

@@ -34,7 +34,6 @@ CONFIG_CDCACM_VENDORID=0x16c0
 CONFIG_CDCACM_VENDORSTR="SSRC"
 CONFIG_CRYPTO=y
 CONFIG_CRYPTO_RANDOM_POOL=y
-CONFIG_DEBUG_ERROR=y
 CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -43,6 +42,8 @@ CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_EE24XX_FREQUENCY=400000
 CONFIG_EEPROM=y
+CONFIG_ETC_ROMFS=y
+CONFIG_ETC_ROMFSSECTSIZE=128
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FDCLONE_STDIO=y
@@ -51,7 +52,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_EXCLUDE_ENVIRON=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_FS_SHMFS=y
@@ -105,9 +105,7 @@ CONFIG_NETINIT_MACADDR_1=0x554b4b41
 CONFIG_NETINIT_MACADDR_2=0x024a
 CONFIG_NETINIT_NOMAC=y
 CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
-CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_TCP=y
@@ -118,15 +116,11 @@ CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_NOTIFIER=y
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CUSTOMROMFS=y
-CONFIG_NSH_CUSTOMROMFS_HEADER="../../include/nsh_romfsimg.h"
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_PROMPT_STRING="icicle> "
 CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
@@ -145,10 +139,10 @@ CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPNTHREADS=2
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=4096
-CONFIG_SCHED_LPNTHREADS=2
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_NPOLLWAITERS=2

boards/mpfs/icicle/src/mpfs_emmcsd.c

@@ -42,7 +42,7 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/fs/partition.h>
 
-#include "mpfs_emmcsd.h"
+#include "mpfs_sdio.h"
 #include "board_config.h"
 
 /****************************************************************************

platforms/nuttx/CMakeLists.txt

@@ -169,6 +169,7 @@ endif()
 if(CONFIG_OPENAMP)
 	list(APPEND nuttx_libs nuttx_openamp)
 	target_link_libraries(nuttx_drivers INTERFACE nuttx_openamp)
+	target_link_libraries(nuttx_openamp INTERFACE nuttx_drivers)
 endif()
 
 file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
@@ -303,7 +304,7 @@ if (CONFIG_BUILD_KERNEL)
 			-fno-rtti
 
 			-Wl,--script=${LDSCRIPT}
-			-Wl,--entry=_start
+			-Wl,--entry=__start
 			-Wl,-r
 			-Wl,-Bstatic
 			-Wl,-Map=${PX4_CONFIG}.map

platforms/nuttx/NuttX/Make.defs.in

@@ -207,7 +207,7 @@ LDENDGROUP   = --end-group
 LDLIBPATH = $(foreach PATH, $(USERLIBS), $(addprefix -L, $(dir $(PATH))))
 LDLIBFILES = $(foreach PATH, $(USERLIBS), $(notdir $(PATH)))
 LDLIBS = $(patsubst %.a,%,$(patsubst lib%,-l%,$(LDLIBFILES)))
-LDELFFLAGS = -e _start -Bstatic
+LDELFFLAGS = -e __start -Bstatic
 LDELFFLAGS += $(addprefix -T, $(ELFLDNAME))
 
 ifeq ($(CONFIG_BINFMT_ELF_RELOCATABLE),y)

platforms/nuttx/src/px4/common/print_load.cpp

@@ -202,7 +202,7 @@ void print_load_buffer(char *buffer, int buffer_length, print_load_callback_f cb
 
 		if (system_load.tasks[i].tcb->pid == 0) {
 			stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
-			stack_free = (CONFIG_ARCH_INTERRUPTSTACK & ~3) - up_check_intstack();
+			stack_free = (CONFIG_ARCH_INTERRUPTSTACK & ~3) - up_check_intstack(this_cpu());
 
 		} else {
 			stack_free = system_load.tasks[i].tcb->adj_stack_size - up_check_tcbstack(system_load.tasks[i].tcb);

platforms/nuttx/src/px4/common/tasks.cpp

@@ -110,7 +110,7 @@ const char *px4_get_taskname(void)
 int px4_exec(const char *appname, char *const *argv, const char *redirfile, int oflags)
 {
 #ifdef CONFIG_BUILTIN
-	return exec_builtin(appname, argv, redirfile, oflags);
+	return exec_builtin(appname, argv, NULL, redirfile, oflags);
 #else
 	char path[CONFIG_PATH_MAX];
 	posix_spawn_file_actions_t file_actions;

src/drivers/rover_interface/scout_sdk/include/scout_sdk/CAN/SocketCAN.hpp

@@ -12,7 +12,6 @@
 #include <sys/socket.h>
 
 #include <nuttx/can.h>
-#include <netpacket/can.h>
 
 #include "can_frame.h"
 

src/drivers/uavcan/uavcan_drivers/socketcan/driver/include/uavcan_nuttx/socketcan.hpp

@@ -42,7 +42,6 @@
 #include <sys/socket.h>
 
 #include <nuttx/can.h>
-#include <netpacket/can.h>
 
 namespace uavcan_socketcan
 {

src/drivers/uavcan/uavcan_drivers/socketcan/driver/src/socketcan.cpp

@@ -49,7 +49,6 @@
 #include <string.h>
 
 #include <nuttx/can.h>
-#include <netpacket/can.h>
 
 #define MODULE_NAME "UAVCAN_SOCKETCAN"
 

src/lib/cdev/nuttx/cdev_platform.cpp

@@ -86,7 +86,7 @@ unlink	: nullptr
 static int
 cdev_open(file_t *filp)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}
 
@@ -98,7 +98,7 @@ cdev_open(file_t *filp)
 static int
 cdev_close(file_t *filp)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}
 
@@ -110,7 +110,7 @@ cdev_close(file_t *filp)
 static ssize_t
 cdev_read(file_t *filp, char *buffer, size_t buflen)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}
 
@@ -122,7 +122,7 @@ cdev_read(file_t *filp, char *buffer, size_t buflen)
 static ssize_t
 cdev_write(file_t *filp, const char *buffer, size_t buflen)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}
 
@@ -134,7 +134,7 @@ cdev_write(file_t *filp, const char *buffer, size_t buflen)
 static off_t
 cdev_seek(file_t *filp, off_t offset, int whence)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}
 
@@ -146,7 +146,7 @@ cdev_seek(file_t *filp, off_t offset, int whence)
 static int
 cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
 {
-	if ((filp->f_inode->i_flags & FSNODEFLAG_DELETED) != 0) {
+	if (filp->f_inode->i_crefs <= 0) {
 		return -ENODEV;
 	}