WIP: update NuttX to 7.30

.gitmodules

@@ -49,11 +49,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.28+
+	branch = px4_firmware_nuttx-7.30+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.28+
+	branch = px4_firmware_nuttx-7.30+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git

CMakeLists.txt

@@ -266,7 +266,7 @@ set(package-contact "[email protected]")
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 

boards/av/x-v1/default.cmake

@@ -84,7 +84,7 @@ px4_add_board(
 		wind_estimator
 
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		config
 		dmesg
 		dumpfile

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
@@ -50,7 +57,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=43103
+CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
@@ -73,7 +80,10 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -105,7 +115,6 @@ CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
-CONFIG_NET_HOSTNAME="px4"
 CONFIG_NET_ICMP=y
 CONFIG_NET_ROUTE=y
 CONFIG_NET_SOCKOPTS=y
@@ -124,14 +133,11 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DRIPADDR=0xc0a85601
-CONFIG_NSH_IPADDR=0xc0a8560c
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_LOGIN_PASSWORD="px4"
 CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_NETINIT_THREAD=y
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
@@ -146,7 +152,7 @@ CONFIG_PREALLOC_WDOGS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=376832
+CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set

boards/px4/io-v2/nuttx-config/nsh/defconfig

@@ -1,3 +1,11 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
 # CONFIG_DEV_NULL is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
@@ -17,7 +25,6 @@ CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_POLL=y
 CONFIG_DISABLE_PTHREAD=y
-CONFIG_DISABLE_SIGNALS=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y

platforms/nuttx/NuttX/Make.defs.in

@@ -89,7 +89,7 @@ ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
 endif
 
 CFLAGS = $(ARCHINCLUDES) \
-	-std=gnu99 \
+	-std=gnu11 \
 	${CMAKE_C_FLAGS} \
 	$(FLAGS) \
 	-Wno-bad-function-cast \

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -66,9 +66,6 @@ function(px4_os_add_flags)
 		${PX4_BINARY_DIR}/NuttX/apps/include
 		)
 
-	# NuttX's disables inline below C99 (comiler.h), but __STDC_VERSION__ isn't set for C++
-	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-D__STDC_VERSION__=199901L>)
-
 	# prevent using the toolchain's std c++ library
 	add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
 

src/drivers/boards/common/CMakeLists.txt

@@ -40,6 +40,7 @@ if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
 		board_fat_dma_alloc.c
 		board_gpio_init.c
 		board_dcache_control.c
+		board_reset.c
 		)
 
 	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")

src/drivers/boards/common/board_dcache_control.c

@@ -43,7 +43,7 @@
 #include <stdbool.h>
 
 #include "nvic.h"
-#include "cache.h"
+#include <nuttx/cache.h>
 #include "up_arch.h"
 
 #include <parameters/param.h>
@@ -93,7 +93,7 @@ void board_configure_dcache(int stage)
 	/* On boot we should default to disabled on effected HW */
 
 	if (erratta && stage == 0) {
-		arch_disable_dcache();
+		up_disable_dcache();
 		return;
 	}
 
@@ -106,15 +106,15 @@ void board_configure_dcache(int stage)
 		switch (dcache) {
 		default:
 		case 0:
-			erratta ? arch_disable_dcache() : arch_enable_dcache();
+			erratta ? up_disable_dcache() : up_enable_dcache();
 			break;
 
 		case 1:
-			arch_disable_dcache();
+			up_disable_dcache();
 			break;
 
 		case 2:
-			arch_enable_dcache();
+			up_enable_dcache();
 			break;
 			return;
 		}
@@ -157,11 +157,11 @@ int board_dcache_info(int action, char **pmesg, bool *pstate)
 	}
 
 	if (action == 0) {
-		arch_disable_dcache();
+		up_disable_dcache();
 	}
 
 	if (action == 1) {
-		arch_enable_dcache();
+		up_enable_dcache();
 	}
 
 	if (pmesg) {

src/drivers/boards/common/board_reset.c

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <[email protected]>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/arch.h>
+
+#include <nuttx/board.h>
+
+#ifdef CONFIG_BOARDCTL_RESET
+
+/****************************************************************************
+ * Public functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_reset
+ *
+ * Description:
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+int board_reset(int status)
+{
+	up_systemreset();
+	return 0;
+}
+
+#endif /* CONFIG_BOARDCTL_RESET */

src/drivers/px4io/px4io_serial_f7.cpp

@@ -42,7 +42,7 @@
 #ifdef PX4IO_INTERFACE_F7
 
 #include "stm32_uart.h"
-#include "cache.h"
+#include <nuttx/cache.h>
 
 /* serial register accessors */
 #define REG(_x)		(*(volatile uint32_t *)(PX4IO_SERIAL_BASE + (_x)))
@@ -288,8 +288,8 @@ PX4IO_serial_f7::_bus_exchange(IOPacket *_packet)
 	stm32_dmastart(_rx_dma, _dma_callback, this, false);
 
 	/* Clean _current_packet, so DMA can see the data */
-	arch_clean_dcache((uintptr_t)_current_packet,
-			  (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+	up_clean_dcache((uintptr_t)_current_packet,
+			(uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
 
 	/* start TX DMA - no callback if we also expect a reply */
 	/* DMA setup time ~3µs */
@@ -458,8 +458,8 @@ PX4IO_serial_f7::_do_interrupt()
 		/* if there is DMA reception going on, this is a short packet */
 		if (_rx_dma_status == _dma_status_waiting) {
 			/* Invalidate _current_packet, so we get fresh data from RAM */
-			arch_invalidate_dcache((uintptr_t)_current_packet,
-					       (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+			up_invalidate_dcache((uintptr_t)_current_packet,
+					     (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
 
 			/* verify that the received packet is complete */
 			size_t length = sizeof(*_current_packet) - stm32_dmaresidual(_rx_dma);

src/drivers/stm32/armv7-m_dcache/armv7-m_dcache.cpp

@@ -46,7 +46,7 @@
 
 #include <parameters/param.h>
 
-#include "cache.h"
+#include <nuttx/cache.h>
 
 #if defined(CONFIG_ARMV7M_DCACHE) && defined(CONFIG_ARMV7M_DCACHE_WRITETHROUGH)
 

src/lib/systemlib/print_load_nuttx.c

@@ -147,7 +147,7 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
 		print_state->interval_time_ms_inv = 1.f / ((float)((print_state->new_time - print_state->interval_start_time) / 1000));
 
 		/* header for task list */
-		snprintf(buffer, buffer_length, "%4s %*-s %8s %6s %11s %10s %-5s %2s",
+		snprintf(buffer, buffer_length, "%4s %-*s %8s %6s %11s %10s %-5s %2s",
 			 "PID",
 			 CONFIG_TASK_NAME_SIZE, "COMMAND",
 			 "CPU(ms)",
@@ -282,7 +282,7 @@ void print_load_buffer(uint64_t t, char *buffer, int buffer_length, print_load_c
 		}
 
 		// print output
-		int print_len = snprintf(buffer, buffer_length, "%4d %*-s %8d %2d.%03d %5u/%5u %3u (%3u) ",
+		int print_len = snprintf(buffer, buffer_length, "%4d %-*s %8d %2d.%03d %5u/%5u %3u (%3u) ",
 					 tcb_pid,
 					 CONFIG_TASK_NAME_SIZE, tcb_name,
 					 total_runtime[i],