px4iofirmware: add dual-MCU IO support for H7#26536
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px4iofirmware: add dual-MCU IO support for H7#26536
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Add platform-level support for running PX4IO firmware on STM32H7, enabling dual-MCU boards where the IO coprocessor is an H7 rather than the traditional STM32F100 (io-v2). Platform changes: - Add H7 IWDG watchdog (stm32h7/watchdog/) — register-compatible with F7, needed by px4iofirmware's arch_watchdog_iwdg dependency - Split px4iofirmware serial.cpp into per-arch platform libraries: stm32h7/io_serial (ISR/ICR/RDR/TDR registers, struct-based DMA, D-cache coherence) and stm32_common/io_serial (SR/DR registers, positional DMA) — mirrors the FMU-side px4io_serial pattern - Guard px4io.h ENABLE_SBUS_OUT and VDD_SERVO_FAULT macros on GPIO existence so boards without those pins compile cleanly Bootloader/uploader: - Add secondary MCU serial forwarding in bootloader - Extend px4_uploader.py for secondary firmware upload - Add SYS_SECONDARY_FW_UPDATE parameter
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Summary
arch_io_serial), moving bare-metal USART/DMA code out ofsrc/modules/px4iofirmware/intoplatforms/nuttx/src/px4/stm/ENABLE_SBUS_OUTandVDD_SERVO_FAULTmacros in px4io.h behind GPIO availability checksPROTO_SERIAL_FORWARD) for uploading firmware to a secondary MCU through the primary--update-modeoption to px4_uploader.py supporting primary/secondary/both/auto upload modesSYS_SEC_UPDATEparameter for triggering secondary firmware update via bootloader rebootTest plan
make px4_io-v2_default— verifies F1 io_serial refactoring doesn't break existing IO boards (39.8KB flash)make cubepilot_cubeorangeplus_default— verifies H7 FMU builds unaffected by new io_serial/watchdog subdirs (EXCLUDE_FROM_ALL)python3 -m pytest test/test_px4_uploader.py— 9/9 tests pass (upload plan resolution, secondary upload flow, timeout handling)