Merge remote-tracking branch 'upstream/nuttx_bringup' into ros_messagelayer_merge_nuttx_bringup

Conflicts:
	NuttX

8 files changed, 26 insertions, 10 deletions

diff --git a/NuttX b/NuttX
-Subproject d6d68d7d117318c7e1eadf40e989e28cba57941
+Subproject 69283d36b665ba41085021eb36066bfa074c688
diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig
index 141e1d9a0..dcb132e01 100644
--- a/nuttx-configs/aerocore/nsh/defconfig
+++ b/nuttx-configs/aerocore/nsh/defconfig
@@ -318,6 +318,7 @@ CONFIG_ARCH_DMA=y
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_STACK_COLORATION=y
 # CONFIG_ENDIAN_BIG is not set
 # CONFIG_ARCH_HAVE_RAMFUNCS is not set
 CONFIG_ARCH_HAVE_RAMVECTORS=y
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index f5adc4c4a..5bb7bed15 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -407,6 +407,7 @@ CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARCH_USE_MPU is not set
 # CONFIG_ARCH_IRQPRIO is not set
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_STACK_COLORATION=y
 # CONFIG_ENDIAN_BIG is not set
 # CONFIG_ARCH_IDLE_CUSTOM is not set
 # CONFIG_ARCH_HAVE_RAMFUNCS is not set
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index 2aeef89b5..ba39a3125 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -44,6 +44,7 @@ CONFIG_ARCH_MATH_H=y
 # CONFIG_DEBUG is not set
 CONFIG_ARCH_HAVE_STACKCHECK=y
 CONFIG_ARCH_HAVE_HEAPCHECK=y
+CONFIG_STACK_COLORATION=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_ARCH_HAVE_CUSTOMOPT=y
 CONFIG_DEBUG_NOOPT=y
@@ -1079,7 +1080,6 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_THTTPD is not set
 # CONFIG_EXAMPLES_TIFF is not set
 # CONFIG_EXAMPLES_TOUCHSCREEN is not set
-# CONFIG_EXAMPLES_UDP is not set
 # CONFIG_EXAMPLES_WEBSERVER is not set
 # CONFIG_EXAMPLES_USBSERIAL is not set
 # CONFIG_EXAMPLES_USBTERM is not set
diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig
index 54161dc77..10a278801 100755
--- a/nuttx-configs/px4io-v1/nsh/defconfig
+++ b/nuttx-configs/px4io-v1/nsh/defconfig
@@ -372,6 +372,7 @@ CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARCH_USE_MPU is not set
 # CONFIG_ARCH_IRQPRIO is not set
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_STACK_COLORATION=y
 # CONFIG_ENDIAN_BIG is not set
 # CONFIG_ARCH_IDLE_CUSTOM is not set
 # CONFIG_ARCH_HAVE_RAMFUNCS is not set
diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig
index 00cf17427..bfd6f9ba9 100755
--- a/nuttx-configs/px4io-v2/nsh/defconfig
+++ b/nuttx-configs/px4io-v2/nsh/defconfig
@@ -43,6 +43,7 @@ CONFIG_ARCH_MATH_H=y
 #
 # CONFIG_DEBUG is not set
 CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_STACK_COLORATION=y
 CONFIG_ARCH_HAVE_HEAPCHECK=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_ARCH_HAVE_CUSTOMOPT=y
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 928e2dab8..91f11eea1 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -217,6 +217,9 @@ PX4IO_serial::~PX4IO_serial()
 	stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
 	stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
 
+	/* Disable APB clock for the USART peripheral */
+    modifyreg32(STM32_RCC_APB2ENR, RCC_APB2ENR_USART6EN, 0);
+
 	/* and kill our semaphores */
 	sem_destroy(&_completion_semaphore);
 	sem_destroy(&_bus_semaphore);
@@ -239,12 +242,17 @@ PX4IO_serial::~PX4IO_serial()
 int
 PX4IO_serial::init()
 {
+
 	/* allocate DMA */
 	_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
 	_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
 	if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
 		return -1;
 
+
+	/* Enable the APB clock for the USART peripheral */
+    modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_USART6EN);
+
 	/* configure pins for serial use */
 	stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
 	stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
@@ -258,6 +266,7 @@ PX4IO_serial::init()
 	(void)rSR;
 	(void)rDR;
 
+
 	/* configure line speed */
 	uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
 	uint32_t mantissa = usartdiv32 >> 5;
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
index 37e913040..03a049386 100644
--- a/src/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c
@@ -41,6 +41,7 @@
  */
 
 #include <nuttx/config.h>
+#include <nuttx/arch.h>
 #include <stdio.h>
 #include <fcntl.h>
 #include <stdbool.h>
@@ -217,18 +218,20 @@ top_main(void)
 						   );
 				}
 
-				unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
-					(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
-				unsigned stack_free = 0;
-				uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
 
-				while (stack_free < stack_size) {
-					if (*stack_sweeper++ != 0xff)
-						break;
+				size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
+				ssize_t stack_free = 0;
 
-					stack_free++;
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
+				if (system_load.tasks[i].tcb->pid == 0) {
+					stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
+					stack_free = up_check_intstack_remain();
+				} else {
+#endif
+					stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
+#if CONFIG_ARCH_INTERRUPTSTACK > 3
 				}
-
+#endif
 				printf(CL "%4d %*-s %8lld %2d.%03d %5u/%5u %3u (%3u) ",
 					   system_load.tasks[i].tcb->pid,
 					   CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,