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Merged
davids5 merged 6 commits into from
Apr 8, 2026
+75 −4
Merged

boards: add saampixv1_1 bootloader target and board type mapping #264

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b351dc3
ci: publish bootloader binaries on release tags
ashwanisihag Mar 28, 2026
713bf85
build: include saampixv1_1_bl in default targets
ashwanisihag Mar 28, 2026
a2ede3b
boards: add saampixv1_1 bootloader hardware config
ashwanisihag Mar 28, 2026
f17c4c6
board_types: fix spacing for SAAMPIX entry
ashwanisihag Mar 31, 2026
e17bf86
saampixv1_1: align bootloader USB PID with autopilot
ashwanisihag Apr 2, 2026
d5297e7
hw_config: correct PID blocks for mindpx and saampix
ashwanisihag Apr 2, 2026
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26 changes: 26 additions & 0 deletions .github/workflows/main.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,15 @@ on:
branches:
- 'main'
- 'master'
tags:
- 'v*'
pull_request:
branches:
- '*'

permissions:
contents: write


jobs:
coverage:
Expand All @@ -27,5 +32,26 @@ jobs:
echo "$(pwd)/gcc-arm-none-eabi-9-2020-q2-update/bin" >> $GITHUB_PATH
- name: Build
run: make

- name: Upload Build Artifacts
uses: actions/upload-artifact@v4
with:
name: px4-bootloader-binaries
path: |
build/*/*.bin
build/*/*.elf
build/*/*.hex

- name: Check style
run: make check_format

- name: Upload Release Assets
if: startsWith(github.ref, 'refs/tags/v')
uses: softprops/action-gh-release@v2
with:
draft: false
prerelease: ${{ contains(github.ref_name, '-rc') || contains(github.ref_name, '-beta') || contains(github.ref_name, '-alpha') }}
files: |
build/*/*.bin
build/*/*.elf
build/*/*.hex
5 changes: 4 additions & 1 deletion Makefile
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Expand Up @@ -69,6 +69,7 @@ TARGETS = \
fmuk66v3_bl \
kakutef7_bl \
mindpxv2_bl \
saampixv1_1_bl \
modalai_fc_v1_bl \
modalai_voxl2_io_bl \
omnibusf4sd_bl \
Expand Down Expand Up @@ -142,7 +143,9 @@ px4fmuv5x_bl:$(MAKEFILE_LIST) $(LIBOPENCM3)

mindpxv2_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=MINDPX_V2 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@

saampixv1_1_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=SAAMPIX_V1_1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@

px4discovery_bl: $(MAKEFILE_LIST) $(LIBOPENCM3)
${MAKE} ${MKFLAGS} -f Makefile.f4 TARGET_HW=PX4_DISCOVERY_V1 LINKER_FILE=stm32f4.ld TARGET_FILE_NAME=$@

Expand Down
2 changes: 1 addition & 1 deletion board_types.txt
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Expand Up @@ -67,7 +67,7 @@ TARGET_HW_ARK_MAG 93
TARGET_HW_ATL_MANTIS_EDU 97
TARGET_HW_THE_PEACH_K1 212
TARGET_HW_THE_PEACH_R1 213

TARGET_HW_SAAMPIX_V1_1 200

Reserved PX4 [BL] FMU v5X.x 51
Reserved "PX4 [BL] FMU v6.x" 52
Expand Down
46 changes: 44 additions & 2 deletions hw_config.h
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Expand Up @@ -470,6 +470,49 @@
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPDEN
# define SERIAL_BREAK_DETECT_DISABLED 1


/****************************************************************************
* TARGET_HW_SAAMPIX_V1_1
****************************************************************************/

#elif defined(TARGET_HW_SAAMPIX_V1_1)

# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMUV2
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "SaamPix BL FMU v1.1"
# define USBPRODUCTID 0x008E
# define BOOT_DELAY_ADDRESS 0x000001a0

# define BOARD_TYPE TARGET_HW_SAAMPIX_V1_1
# define _FLASH_KBYTES (*(uint16_t *)0x1fff7a22)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)

# define OSC_FREQ 8

# define BOARD_PIN_LED_ACTIVITY 0 // no activity LED
# define BOARD_PIN_LED_BOOTLOADER GPIO8
# define BOARD_PORT_LEDS GPIOA
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPAEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set

# define BOARD_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN

# define BOARD_PORT_USART GPIOD
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO5
# define BOARD_PIN_RX GPIO6
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPDEN
# define SERIAL_BREAK_DETECT_DISABLED 1


/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
Expand All @@ -483,7 +526,6 @@
* # define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPEEN
* # define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
*/

/****************************************************************************
* TARGET_HW_PX4_FLOW_V1
****************************************************************************/
Expand Down Expand Up @@ -1650,4 +1692,4 @@
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
#endif

#endif /* HW_CONFIG_H_ */
#endif /* HW_CONFIG_H_ */
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