Duplicate an address environment into freshly allocated pages mapped at the
same virtual addresses, which is what POSIX fork() is built on.
x86_64_fork_syscall() then lets the child run at the parent's stack addresses.
A pointer to a stack local taken before fork() must name the same object in
the child that it named in the parent, so the child adopts the parent's stack
geometry rather than being given a relocated copy; the parent's stack is
already in the duplicate, at the parent's address, with its contents. That
shows up as a zero offset, which also means the copy would have the same
source and destination, so both the copy and the frame-pointer relocation are
skipped.
Build-verified on qemu-intel64:knsh_romfs. NuttX on qemu-intel64 requires
tsc-deadline and pcid, which TCG does not implement, so it cannot be run on
this host.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
Add a Features bullet and a "uart" configuration section to the
RTL8730E EVB board page describing UART0-2 as /dev/ttyS1-3 at
115200 8N1, the serialrx / serialblaster loopback examples and the
runtime TERMIOS support, following the pke8721daf board format.
Signed-off-by: dechao_gong <dechao_gong@realsil.com.cn>
Assisted-by: Claude <noreply@anthropic.com>
Add an ioe_setpwm operation (guarded by CONFIG_IOEXPANDER_PWM) for
expanders that can modulate their outputs, e.g. through a LED driver
engine.
Assisted-by: Claude Code
Signed-off-by: raiden00pl <raiden00@railab.me>
Add the ET-Minion core diagram from the Erbium documentation
(aifoundry-org/erbium, Apache-2.0) and a short description of the
ET-Minion neighborhood, as suggested in review. Link the Erbium core,
interrupt, memory map and UART documentation and ET-platform, and note
that silicon uses a 10 MHz mtime while the emulator default is 2 MHz.
Signed-off-by: Afonso Oliveira <afonso.oliveira707@gmail.com>
Describe the Erbium architecture and the Minion board: supported scope,
memory map and interrupts, toolchain constraints, Make and CMake
configurations, how to build the pinned public emulator, and how to run
the NSH and ostest images in it.
Signed-off-by: Afonso Oliveira <afonso.oliveira707@gmail.com>
A MIMXRT1176 flight controller built to the Pixhawk FMUv6X-RT standard, so
the port also covers the NXP MR-VMU-RT1176.
Board data comes from PX4, which already carries it as a NuttX board config:
the clock tree, the LPUART1 pinmux, and the Macronix octal flash
configuration block the boot ROM reads at offset 0x400.
The board ships with the PX4 bootloader in the first 128 KB of QSPI, so the
image links at 0x30020000 and is loaded by it rather than written to the
flash base. The console is CDC/ACM as on teensy-4.x, so a USB cable is the
only thing needed to run NuttX here.
Signed-off-by: Royyan Zahir <royzah@gmail.com>
- Switch board image directive from .. image:: to .. figure:: with
:scale: 50 % and a caption line, matching the format used by other
Ameba board docs (rtl8721dx, rtl8721f).
- Move rtl8730e_evb.png from img/ subdirectory to the same level as
index.rst, consistent with other boards.
- Add gpio configuration section describing the three registered pins
(PB19 output /dev/gpio0, PB20 input /dev/gpio1, PB11 interrupt
/dev/gpio2), usage examples and pin encoding notes.
- Add GPIO to the "Supported in this NuttX port" feature list.
Signed-off-by: dechao_gong <dechao_gong@realsil.com.cn>
Assisted-by: Claude <noreply@anthropic.com>
Follow-up to apache/nuttx#20194. The KissFFT page only described how
NuttX vendors the package. State that it is a small open-source FFT
implementation used in many embedded projects.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
Record the vhost-net link in the board's Peripheral Support list and
describe the netnsh configuration alongside nsh, including how to bring
the interface up on both sides.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
Adopt the zbus message bus on the linum-stm32h753bi (first adopter
board):
- scripts/flash.ld: include the iterable sections common fragments
(2 lines: common-rom.ld inside .text, common-ram.ld inside .data).
- configs/zbus/defconfig: board configuration enabling zbus with all
observer types, the zbus example and its cmocka test suite
(./tools/configure.sh linum-stm32h753bi:zbus).
- Board documentation: describe the new configuration.
Validated on hardware: the 16-test cmocka suite passes twice in the
same boot and the zbus example produces the expected output.
Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
NuttX-side support for the zbus message bus port (apps/system/zbus in
nuttx-apps), built on the link-time iterable sections infrastructure
added in a companion PR:
- include/nuttx/linker/common-rom.ld and common-insert.ld: register the
zbus channel, observer and channel observation iterable sections
(ITERABLE_SECTION blocks guarded by CONFIG_ZBUS, no-op otherwise) for
the include and the zero-touch INSERT modes respectively;
common-ram.ld: note that zbus needs no RAM sections.
- Documentation/applications/system/zbus: Sphinx documentation for the
zbus application, with the upstream Zephyr diagrams (Apache-2.0).
- .codespellrc: skip the reused zbus SVG diagrams (embedded base64
raster data trips the spell checker).
Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
Record the rptun/rpmsg link to the Linux A53 in the board's Peripheral
Support list.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
The STM32H7 page did not say anything about the Ethernet MAC.
- Describe the time counter of the MAC, the STM32_ETH_PTP option and its
behavior when the interface goes down.
- Describe the pulse-per-second output and the pins it can use.
- Describe the /dev/ptp0 clock the driver registers and the operations it
offers, and show a configuration that enables all of it.
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Assisted-by: Claude:claude-sonnet-5
The page described how to write a lower-half driver but did not say
which ones are in the tree.
- List the two lower-half drivers that register a PTP clock, the dummy
driver and the Ethernet MAC of the STM32, with the option that
enables each.
- Say that the clock of the STM32 driver is the PTP counter of the MAC,
which is also the time base of the timestamps of the received
packets, and not CLOCK_REALTIME.
- Say that both use the device number 0 by default and so cannot be
registered at the same time.
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Assisted-by: Claude:claude-sonnet-5
The STM32F4 page did not say anything about the Ethernet MAC.
- Describe the time counter of the MAC and the options that enable the
timestamping of received packets, the pulse-per-second output and
the use of the counter as a high-resolution RTC.
- Describe the /dev/ptp0 clock that the driver registers: the
operations it offers, the numbering, and that the timestamps of the
received packets are values of the MAC counter and not of
CLOCK_REALTIME, so they have to be compared with /dev/ptp0.
- Show how to start ptpd with them and a configuration that enables
everything above.
- Say that the driver does not timestamp transmitted packets.
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Assisted-by: Claude:claude-sonnet-5
Document the common DMA driver framework and its usage.
Describe the DMA controller and client interfaces, channel and
transfer lifecycle, DMA links, controller implementation
requirements, and existing in-tree users.
Add references to the audio DMA and 16550 UART implementations
to provide concrete usage examples.
Signed-off-by: Arnav Sharma <2006arnavsharma@gmail.com>
Describe the jail, leftover pre-opened fds, the NSH command-form scrub,
and the flat-build trust boundary shared with credentials.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
The page did not match the code in several places.
- Describe struct ptp_ops_s as it is: adjfine takes parts per billion,
adjphase, getres and control exist, there is no getcaps, and gettime
has a system timestamp argument. State which operations are optional
and give the real ptp_clock_register() arguments.
- Replace the CLOCKFD() macro, which does not exist, with the clock
identifier built from CLOCK_SHIFT and CLOCK_FD, in all examples.
- Fix the frequency values: struct timex freq is in parts per million
with 16 fractional bits, so +10 ppm is 655360.
- List the modes clock_adjtime() handles for a PTP clock
(ADJ_SETOFFSET, ADJ_FREQUENCY, ADJ_OFFSET for the phase) and say that
the others return -ENOTSUP.
- PTP_CLOCK_GETTIME and PTP_CLOCK_SETTIME take a struct timespec. Add
the ioctls that were missing.
- The dummy driver uses CLOCK_REALTIME, not the monotonic clock.
- Point to ptpd instead of ptp4l and timemaster, which are not part of
NuttX, and use the real CONFIG_DEBUG_PTP options.
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Assisted-by: Claude:claude-sonnet-5
The tflm tool registered DEPTHWISE_CONV_2D in nuttx-apps#3773, but the
docs still listed eight operators. Document the unused -C compile path,
that the sim helper uses heap I/O, and the pinned TFLM/CMSIS/NNABLA
versions. Add missing gemmlowp, KissFFT, Ruy, and FlatBuffers pages,
document the AI-engine character driver, and wire it into CMake.
Signed-off-by: Abhishek Mishra <mishra.abhishek2808@gmail.com>
Add the documentation for the new supported board configurations and for the architecture,
Assisted-by: Claude Code:claude-opus-4-7
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
Record the eCAP1 and eCAP2 APWM outputs in the board's Peripheral
Support list.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
Add support for the Microchip TC74 digital temperature sensor using the
Sensor Driver Framework (uORB). The TC74 is an 8-bit I2C temperature
sensor with a measurement range from -40C to +125C and a resolution
of 1C.
The driver registers as a uORB topic (/dev/uorb/sensor_temp<n>) and
polls on the low-priority work queue. It supports dynamic interval
configuration and automatically enters low-power standby mode when
the topic is deactivated.
Validated against a real TC74A5-3.3 on a custom STM32H743BI board.
Assisted-by: Gemini:gemini-3.8-pro
Signed-off-by: Daniel P. Carvalho <danieloak@gmail.com>
Record the EPWM0 and EPWM1 outputs in the board's Peripheral Support
list.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
Document the purpose of the rv-virt elf and libcxx64 configurations and clarify that the LEDs used by leds64 are virtual/log-only and are not backed by a NuttX GPIO controller.
This addresses issue #20174.
Record the WKUP_I2C0 master in the board's Peripheral Support list.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
The memory report builds this pull request merged into master, together
with the nuttx-apps default branch, and nothing else, so a companion or
predecessor pull request it declares is absent. For a breaking change the
target then fails to build and no report is produced at all, even though
the Build workflow already tests the declared sources through Depends-On.
Apply the declared dependencies before building, reusing the parser and
the fetch/cherry-pick sequence that build.yml uses, and mapping each
repository to its checkout exactly as build.yml does. A stacked nuttx
dependency is no more optional than an apps one: a pull request that uses
an API its predecessor introduces does not build without it.
As build.yml does, read the description through the API rather than
trusting the event payload, so that a manual re-run after editing a
Depends-On line applies the current declaration instead of the one the run
was created with. Unlike build.yml, a failed read stops the job rather
than falling back to the payload: build.yml resolves this once and hands
every target the same tree, while this job runs per target, so a fallback
could leave targets on different declarations while their results are
filed under one SHA.
A declared dependency that cannot be applied fails the job, and so does a
missing parser, a parser crash, or a status this step does not recognise:
each of those means the declaration was never evaluated, and continuing
would measure a combination nobody asked for. build.yml fails Fetch-Source
on the same conditions, and no other step in this job carries
continue-on-error, so falling back silently would be inconsistent with
both. A declaration that parses to nothing valid only warns, again
matching build.yml.
Forward the parser's warnings too. --print-state prints only the state, so
an entry the parser drops -- an unsupported repository, say -- would
otherwise leave no trace here at all, although build.yml annotates it, and
the source set named below would be silently incomplete.
The report is filed under the pull request head SHA rather than the SHA of
the tree that was built, so the measurement cannot be reproduced from that
SHA alone and cannot be split per dependency. That limits provenance, not
the measurement: a combined result is what the declaration asks for, and a
regression that only appears in combination is still a regression. Name
the whole source set in the step summary so the reader knows which heads
went into the number.
Note in the parser that the --print-state output is a parsed contract; the
edit gate that used to be its only caller is gone.
Update the CI documentation to match. Its Pull Request Dependencies
section attributes dependency application to build.yml's Fetch-Source
job alone, so after this change it would read as if the memory report
measured the normal source selection. Cross-reference the two sections
rather than restating the rules, which stay shared.
Signed-off-by: zhangning21 <zhangning21@xiaomi.com>
Document the Python format and lint tools enforced by checkpatch.sh and CI,
and show how to run the existing Python auto-format path.
Assisted-by: ChatGPT:gpt-5.6-sol
Signed-off-by: Taha Zarif <tahazarif380@gmail.com>
Add a Peripheral Support section to the board page listing the GPIO and
MCU_MCSPI0 drivers, and replace the "UART console only" warning on both
the chip and board pages -- it no longer describes the port. The
replacement states what actually constrains the port: NuttX runs on the
R5F under RemoteProc and depends on the bootloader or Linux Device
Manager having powered and clocked the peripherals, because there is no
TISCI client yet.
Assisted-by: Claude Code:claude-opus-5
Signed-off-by: Ulaş Sertan Kemeç <sertan.usk@gmail.com>
Allow sim HCI socket users to select the host-side HCI target at runtime
with --bt-dev. Passing --bt-dev=hciN overrides CONFIG_SIM_HCISOCKET_DEVID
for the BlueZ HCI user channel, while omitting the option keeps the existing
configured default behavior.
Also allow --bt-dev=/path/to/socket to connect to an H:4 stream exposed
through a Unix-domain socket. This lets sim applications use a controller
provided by another host process or by a UART-to-Unix-socket bridge without
requiring BlueZ raw HCI privileges for the NuttX process.
Use host-side output for early --bt-dev parse errors, since NuttX stdio is
not initialized before nx_start().
Document the BlueZ and Unix socket modes, including the capability
requirements for BlueZ and the socat bridge example for Unix socket mode.
Testing:
Host: Ubuntu 22.04 x86_64
Board/config: sim:bthcisock
Style checks:
git diff --check HEAD~2..HEAD
PATH=/home/mi/bsim-auto-test/.venv/bin:$PATH \
./tools/checkpatch.sh -c -u -m -g HEAD~2..HEAD
Clean build:
make distclean
./tools/configure.sh -l -a ../../nuttx-apps sim:bthcisock
kconfig-tweak --file .config --set-val STACK_USAGE_WARNING 0
make olddefconfig
make -j16
Invalid runtime argument smoke test:
./nuttx --bt-dev=invalid
Verified the command exits with status 1 and reports the invalid target
without crashing before nx_start().
Unix socket HCI smoke test:
socat -d -d UNIX-LISTEN:/tmp/hci.sock,fork,reuseaddr \
/dev/ttyACM2,b1000000,raw,echo=0,crtscts=1
printf 'ifconfig\nbt bnep0 info\npoweroff\n' | \
timeout 20s ./nuttx --bt-dev=/tmp/hci.sock
Verified the sim registers the Bluetooth network device as bnep0 and
bt bnep0 info reads the controller state through the Unix-socket HCI
path, including BDAddr aa:bb:cc:dd:ee:ff from the attached controller.
Assisted-by: OpenAI Codex
Signed-off-by: Lingao Meng <menglingao@xiaomi.com>
Add support for using a BabbleSim PHY as the monotonic time source for
the Linux sim target. When CONFIG_SIM_BSIM_TIME is enabled, the sim
host build links a small host-side time helper against the BabbleSim
PhyCom and Util libraries. The helper joins the BabbleSim PHY wait
protocol and advances NuttX monotonic time through PB_MSG_WAIT requests
instead of Linux wall-time sleeps.
A SIM binary built with CONFIG_SIM_BSIM_TIME enabled joins BabbleSim time
at startup. Runtime options allow the test runner to select the
BabbleSim simulation id, PHY id, and device number:
--sim-bsim-sid=<simulation-id>
--sim-bsim-pid=<phy-id>
--sim-bsim-dev=<device-number>
Keep the integration inside the sim host time path rather than exposing
a new application API. RTC/realtime reads still use the host realtime
clock; the BabbleSim source is used only for monotonic time after the sim
has joined the PHY. The Kconfig option depends on the sleep based
walltime mode and is disabled for SMP and non-Linux hosts.
The build requires BSIM_COMPONENTS_PATH for headers and either
BSIM_OUT_PATH or BSIM_LIBS_DIR for shared libraries. The path checks are
skipped for clean, distclean, clean_context, and context targets so a
tree with CONFIG_SIM_BSIM_TIME enabled can still be cleaned without
exporting the BabbleSim environment first.
Document the configuration, build environment, runtime options, and the
requirement that the BabbleSim PHY process is started separately by the
test runner.
Testing:
Host: Ubuntu 22.04 x86_64
Board/config: sim:nsh
Style check:
git diff --check
Default sim build and smoke test:
./tools/configure.sh -l -a ../nuttx-apps sim:nsh
make -j16
printf 'help\npoweroff\n' | timeout 20s ./nuttx
BabbleSim-enabled build:
kconfig-tweak --file .config \
-e SIM_WALLTIME_SLEEP \
-d SIM_WALLTIME_SIGNAL \
-e SIM_BSIM_TIME
make olddefconfig
BSIM_OUT_PATH=/tmp/bsworld/build/babblesim/bsim \
BSIM_COMPONENTS_PATH=/tmp/bsworld/build/babblesim/bsim/components \
make -j16
Verified actual BabbleSim PHY time integration without a controller by
starting bs_2G4_phy_v1 and running NSH usleep through the PHY wait
barrier:
bs_2G4_phy_v1 -s=<sid> -D=1 -defmodem=BLE_simple -nodump
printf 'usleep 1000000\npoweroff\n' | \
./nuttx --sim-bsim-sid=<sid> \
--sim-bsim-pid=2G4 \
--sim-bsim-dev=0
The same 1 second simulated sleep completed in 19 ms wall time when no
handbrake device was present. With handbrake registered as device 1:
bs_2G4_phy_v1 -s=<sid> -D=2 -defmodem=BLE_simple -nodump
bs_device_handbrake -s=<sid> -p=2G4 -d=1 -pp=50000 -r=1
the same NuttX usleep test completed in 985 ms wall time. A shorter
200 ms check showed the same behavior: 27 ms without handbrake and
172 ms with handbrake. This verifies that NuttX sim time advances
through the BabbleSim PHY and that the handbrake affects the NuttX sim
device.
Also verified make distclean succeeds after CONFIG_SIM_BSIM_TIME was
enabled and without exporting BSIM_COMPONENTS_PATH.
BSWorld out-of-tree native BLE examples:
./tools/configure.sh -l /path/to/bsim-auto-test/tests/nuttx/native_ble/source/advertiser/config
make -j16
exodus --tarball -o /path/to/bsim-auto-test/tests/nuttx/native_ble/source/advertiser/prebuilt/nuttx.tgz nuttx
./tools/configure.sh -l /path/to/bsim-auto-test/tests/nuttx/native_ble/source/scanner/config
make -j16
exodus --tarball -o /path/to/bsim-auto-test/tests/nuttx/native_ble/source/scanner/prebuilt/nuttx.tgz nuttx
pytest tests/nuttx/native_ble -q --no-ellisys
Assisted-by: OpenAI Codex
Signed-off-by: Lingao Meng <menglingao@xiaomi.com>
bitbucket.org/nuttx/buildroot returns 404, as does every other repository
under that Bitbucket organisation. The buildroot that still carries the
NuttX toolchain, ldnxflat included, is github.com/patacongo/buildroot.
Thirty three files carried the dead address, most of them as a "Bitbucket
download site" for a board's toolchain. There are no downloads to offer, so
those now name the repository, and the surrounding prose says so.
The other dead Bitbucket addresses are left alone: nuttx/nuttx, nuttx/tools,
nuttx/uclibc and nuttx/nxwidgets need a decision each about what replaces
them, which is not this patch. patacongo/obsoleted is still there.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
The download link is dead: bitbucket.org/nuttx/buildroot is gone, and the
buildroot that still carries ldnxflat is github.com/patacongo/buildroot.
The instructions were also more than is needed. mknxflat came in tree with
PR #19600, so only ldnxflat has to be built, and an ordinary arm-none-eabi
GCC compiles and links NXFLAT modules: a board does not have to select
CONFIG_ARM_TOOLCHAIN_BUILDROOT to use them. What ldnxflat does need is a
binutils source and build tree, because it reads its input through libbfd.
The CI test list said mknxflat is what the container lacks. It is in tree
now; ldnxflat is the one that is missing.
Assisted-by: Claude Opus 5 (1M context) <noreply@anthropic.com>
Signed-off-by: Marco Casaroli <marco.casaroli@gmail.com>
Document the per-service "console [<device>]" option added to nxinit
by the companion apache/nuttx-apps PR: what it does (open the given
device, or CONFIG_SYSTEM_NXINIT_CONSOLE_DEV if omitted, and dup it onto
the service's stdin/stdout/stderr before spawning), why a plain shell
service needs it (unlike nsh, it never opens a console device on its
own), and why a USB gadget console additionally needs the gadget
brought up first (e.g. via "exec -- sercon"), since the device does not
exist until then.
Assisted-by: Kiro:claude-sonnet-5
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
