feat(platforms): upgrade NuttX to 12.12.0

.gitmodules

@@ -17,11 +17,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-12.12.0+
 [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 = px4_firmware_nuttx-12.12.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git

boards/3dr/ctrl-n1/nuttx-config/bootloader/defconfig

@@ -17,11 +17,11 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743VI=y
 CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
@@ -39,11 +39,11 @@ CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3DR"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FILE_STREAM=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
@@ -52,9 +52,7 @@ CONFIG_INIT_STACKSIZE=3194
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
+CONFIG_LIBM_TOOLCHAIN=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -68,7 +66,7 @@ CONFIG_SPI=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_DISABLE_BUFFERING=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_OTGFS=y

boards/3dr/ctrl-n1/nuttx-config/nsh/defconfig

@@ -8,8 +8,11 @@
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_FS_PROCFS_EXCLUDE_MEMINFO is not set
+# CONFIG_LIBC_GAISTRERROR_ERRNUM is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_IOCSUPPORT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
@@ -22,10 +25,10 @@
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_EXPORT is not set
 # CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
@@ -34,6 +37,7 @@
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PS is not set
 # CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
 # CONFIG_NSH_DISABLE_PWD is not set
@@ -56,18 +60,18 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743VI=y
 CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y
 CONFIG_ARCH_INTERRUPTSTACK=2048
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_CRASHDUMP_CUSTOM=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
@@ -83,24 +87,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETC_CROMFS=y
+CONFIG_ETC_ROMFS=y
+CONFIG_ETC_ROMFSSECTSIZE=128
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FILE_STREAM=y
 CONFIG_FS_BINFS=y
 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_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -116,8 +121,9 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
+CONFIG_LIBC_STRERROR_SHORT=y
+CONFIG_LIBM_TOOLCHAIN=y
+CONFIG_LINE_MAX=120
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -131,18 +137,12 @@ CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
@@ -159,7 +159,6 @@ CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
@@ -173,7 +172,6 @@ CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
 CONFIG_SIG_SIGUSR1_ACTION=y
 CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
@@ -269,3 +267,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
+CONFIG_WQUEUE_NOTIFIER=y

boards/3dr/ctrl-zero-h7-oem-revg/bootloader.px4board

@@ -1,3 +1,4 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
+CONFIG_ARCH_CHIP_STM32H7=y

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -41,8 +41,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -93,3 +93,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/bootloader/defconfig

@@ -17,11 +17,11 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743II=y
 CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
@@ -39,11 +39,11 @@ CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3DR"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FILE_STREAM=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
@@ -52,9 +52,7 @@ CONFIG_INIT_STACKSIZE=3194
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
+CONFIG_LIBM_TOOLCHAIN=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -68,7 +66,7 @@ CONFIG_SPI=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_DISABLE_BUFFERING=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_OTGFS=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig

@@ -8,8 +8,10 @@
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_FS_PROCFS_EXCLUDE_MEMINFO is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_IOCSUPPORT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
@@ -25,7 +27,6 @@
 # CONFIG_NSH_DISABLE_EXPORT is not set
 # CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
@@ -48,6 +49,7 @@
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_LIBC_GAISTRERROR_ERRNUM is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config"
@@ -56,18 +58,18 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
 CONFIG_ARCH_CHIP_STM32H743II=y
 CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_CHIP_STM32H7_CORTEXM7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_CRASHDUMP_CUSTOM=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
@@ -83,24 +85,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETC_CROMFS=y
+CONFIG_ETC_ROMFS=y
+CONFIG_ETC_ROMFSSECTSIZE=128
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FILE_STREAM=y
 CONFIG_FS_BINFS=y
 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_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -116,8 +119,9 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
+CONFIG_LIBC_STRERROR_SHORT=y
+CONFIG_LIBM_TOOLCHAIN=y
+CONFIG_LINE_MAX=120
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -131,19 +135,13 @@ CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
 CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
@@ -160,7 +158,6 @@ CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
@@ -174,7 +171,6 @@ CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
 CONFIG_SIG_SIGUSR1_ACTION=y
 CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11

boards/accton-godwit/ga1/bootloader.px4board

@@ -1,3 +1,4 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
+CONFIG_ARCH_CHIP_STM32H7=y