WIP - RP2350 with Nuttx master

.gitmodules

@@ -16,12 +16,12 @@
 	branch = main
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	url = https://github.com/vidma/PX4-NuttX.git
+	branch = px4_master
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = master
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git

CMakeLists.txt

@@ -341,6 +341,11 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()
 
+# FIXME: temporary debug
+message(STATUS "CMAKE_C_FLAGS: ${CMAKE_C_FLAGS}")
+message(STATUS "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
+message(STATUS "CFLAGS: ${CFLAGS}")
+
 #=============================================================================
 # board cmake init (optional)
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -2,7 +2,7 @@
 # Un comment and use set +e to ignore and set -e to enable 'exit on error control'
 set +e
 # Un comment the line below to help debug scripts by printing a trace of the script commands
-#set -x
+# set -x
 # PX4FMU startup script.
 #
 # NOTE: environment variable references:
@@ -27,7 +27,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set PARAM_FILE ""
+set PARAM_FILE "/flash/params.txt"
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no

boards/raspberrypi/pico-2/default.px4board

@@ -0,0 +1,80 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+# quite important to set this
+CONFIG_RP23XX_BOARD_W=n
+CONFIG_BOARD_ARCHITECTURE="cortex-m33"
+# FIXME - rename the dir
+CONFIG_BOARD_PARAM_FILE="/flash/px4params"
+#CONFIG_BOARD_ROMFSROOT=""
+#CONFIG_BOARD_ROOT_PATH="/fs/microsd"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+#CONFIG_DRIVERS_RC_CRSF_RC=y
+# CONFIG_EXAMPLES_FAKE_GPS=y
+# CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+# CONFIG_DRIVERS_RC_INPUT depends on CONFIG_MODULES_RC_UPDATE
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_BATTERY_STATUS=n
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_GYRO_CALIBRATION=n
+CONFIG_MODULES_LAND_DETECTOR=n
+# FIXME?
+CONFIG_SYSTEMCMDS_PERF=y
+# CONFIG_SYSTEMCMDS_TOP=y
+# FIXME? is it needed?
+CONFIG_MODULES_LOAD_MON=n
+# FIXME  CONFIG_MODULES_LOGGER maybe thats why I am not seeing some logs?
+CONFIG_MODULES_LOGGER=n
+CONFIG_SYSTEMCMDS_TOP=n
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+# FIXME ?
+CONFIG_MODULES_NAVIGATOR=y
+# FIXME was n
+CONFIG_MODULES_AVOIDANCE=n
+CONFIG_NAVIGATOR_ADSB=n
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+# are these needed even if not used?
+CONFIG_SYSTEMCMDS_WORK_QUEUE=n
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_EXAMPLES_HELLO=n
+
+# fixme why are these needed? or how to disable? nope these dont help
+#CONFIG_SYSTEMCMDS_MFT=y
+#CONFIG_SYSTEMCMDS_MTD=y

boards/raspberrypi/pico-2/default_.px4boar_backup

@@ -0,0 +1,57 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m33"
+CONFIG_ARCH_CHIP="rp23xx"
+CONFIG_ARCH_CHIP_RP23XX=y
+CONFIG_ARCH_CORTEXM33=y
+# CONFIG_ARCH_FPU is not set
+# CONFIG_ARMV8M_USEBASEPRI  is not set
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/raspberrypi/pico-2/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 4344,
+    "magic": "RASPBERRYPIPICO2",
+    "description": "Firmware for the raspberry pi Pico 2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "RaspberrypiPico2",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/raspberrypi/pico-2/init/rc.board_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+#param set-default BAT1_V_DIV 13.653333333
+#param set-default BAT1_A_PER_V 36.367515152
+
+# system_power unavailable
+#param set-default CBRK_SUPPLY_CHK 894281
+param set-default MAV_TYPE 1

boards/raspberrypi/pico-2/init/rc.board_mavlink

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+#mavlink start -d /dev/ttyS1
+mavlink start -d /dev/ttyACM0

boards/raspberrypi/pico-2/init/rc.board_sensors

@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# try starting an IMU on external SPI
+# fixme - specify interrupt pin somewhere
+# icm45686 start -S
+
+# or internal spi
+# icm45686 start -s
+
+# on external I2C1
+mpu9250_i2c start -X
+mpu9250_i2c status
+
+# icm45686 start -s -c 5 -m 3 -f 1000
+
+# icm45686 status
+
+# try starting a bmp280 barometer on external SPI
+# bmp280 start -S