Merge branch 'feature/gz_strivermini' of github.com:tiiuae/px4-firmwa…

…re into feature/gz_strivermini

.github/workflows/tiiuae-codeql.yaml

@@ -0,0 +1,43 @@
+name: "CodeQL"
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      security-events: write
+      actions: read
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [c-cpp]
+        product: [ssrc_saluki-v2_default, ssrc_saluki-nxp93_flat]
+
+    container:
+      image: ghcr.io/tiiuae/px4-firmware-builder-base:latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          token: ${{ secrets.GH_REPO_TOKEN }}
+          submodules: recursive
+          fetch-depth: 0
+      - name: Initialize CodeQL
+        uses: github/codeql-action/init@v3
+        with:
+          languages: ${{ matrix.language }}
+      - name: Build
+        run: |
+          git config --global --add safe.directory '*'
+          ./packaging/build_px4fw.sh ${{ matrix.product }}
+      - name: Perform CodeQL Analysis
+        uses: github/codeql-action/analyze@v3

.github/workflows/tiiuae-pixhawk-and-saluki.yaml

@@ -11,7 +11,7 @@ on:
   workflow_dispatch:
     inputs:
       jfrog-upload:
-        description: 'upload to Artifactory'
+        description: 'upload to UAE Artifactory'
         required: false
         default: false
         type: boolean
@@ -30,22 +30,28 @@ on:
         required: false
         default: ''
         type: string
-
+      saluki-fmu2-manual-fpga-version:
+        description: 'saluki-fmu2 optional fpga version (e.g. sha-cd7bb6b)'
+        required: false
+        default: ''
+        type: string
 permissions:
   contents: read
   packages: write
 
 env:
-  saluki_pi_fpga_version: "sha-b7e842d"
-  saluki_v2_fpga_version: "sha-b7e842d"
-  saluki_v3_fpga_version: "sha-b7e842d"
+  saluki_fpga_repo: "ghcr.io/tiiuae/saluki-fpga"
+  saluki_pi_fpga_version: "4.14.0"
+  saluki_v2_fpga_version: "4.14.0"
+  saluki_v3_fpga_version: "4.14.0"
+  saluki_fmu2_fpga_version: "4.14.0"
 
 jobs:
   fc_matrix:
     strategy:
       fail-fast: false
       matrix:
-        product: [pixhawk, fmu-v6xrt, saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat]
+        product: [pixhawk, fmu-v6xrt, saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat, saluki-nxp93_flat]
         include:
           - product: saluki-v2_custom_keys
             keys: Tools/saluki-sec-scripts/custom_keys/saluki-v2/px4_bin_ed25519_private.pem
@@ -69,6 +75,7 @@ jobs:
       saluki_v2_fpga_version: ${{ steps.variables.outputs.saluki_v2_fpga_version }}
       saluki_v3_fpga_version: ${{ steps.variables.outputs.saluki_v3_fpga_version }}
       saluki_pi_fpga_version: ${{ steps.variables.outputs.saluki_pi_fpga_version }}
+      saluki_fmu2_fpga_version: ${{ steps.variables.outputs.saluki_fmu2_fpga_version }}
     steps:
       - name: Print input variables
         id: variables
@@ -91,14 +98,22 @@ jobs:
             saluki_pi_fpga_version=${{ github.event.inputs.saluki-pi-manual-fpga-version }}
           fi
 
+          # use saluki-fmu2-fpga default version if custom is not provided
+          saluki_fmu2_fpga_version=${{ env.saluki_fmu2_fpga_version }}
+          if [ -n "${{ github.event.inputs.saluki-fmu2-manual-fpga-version }}" ]; then
+            saluki_fmu2_fpga_version=${{ github.event.inputs.saluki-fmu2-manual-fpga-version }}
+          fi
+
           echo "saluki_v2_fpga_version=${saluki_v2_fpga_version}" >> $GITHUB_OUTPUT
           echo "saluki_v3_fpga_version=${saluki_v3_fpga_version}" >> $GITHUB_OUTPUT
           echo "saluki_pi_fpga_version=${saluki_pi_fpga_version}" >> $GITHUB_OUTPUT
+          echo "saluki_fmu2_fpga_version=${saluki_fmu2_fpga_version}" >> $GITHUB_OUTPUT
           echo "jfrog_upload=${{ github.event.inputs.jfrog-upload }}" >> $GITHUB_OUTPUT
 
           echo "saluki_v2_fpga_version: ${saluki_v2_fpga_version}"
           echo "saluki_v3_fpga_version: ${saluki_v3_fpga_version}"
           echo "saluki_pi_fpga_version: ${saluki_pi_fpga_version}"
+          echo "saluki_fmu2_fpga_version: ${saluki_fmu2_fpga_version}"
           echo "jfrog_upload: ${{ github.event.inputs.jfrog-upload }}"
 
   px4fwupdater:
@@ -137,6 +152,8 @@ jobs:
   upload-px4fwupdater:
     name: upload px4fwupdater to docker registry
     runs-on: ubuntu-latest
+    env:
+      FPGA_DIR: fpga
     needs:
       - px4fwupdater
       - variables
@@ -146,11 +163,18 @@ jobs:
         with:
           path: px4-firmware
           fetch-depth: 0
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: arm64
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       - name: Download pixhawk artifacts
         uses: actions/download-artifact@v4
         with:
-          name: pixhawk
           path: bin
+          pattern: saluki-*
+          merge-multiple: true
       - name: Firmware flasher - Container metadata
         id: containermeta # referenced from later step
         uses: docker/metadata-action@v5
@@ -167,18 +191,38 @@ jobs:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
+      - name: fetch fpga files
+        run: |
+          echo "fetching fpga files from ${{ env.saluki_fpga_repo }}"
+          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v2_fpga_version }} saluki_v2 ${{ env.FPGA_DIR }}/saluki-v2
+          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v3_fpga_version }} saluki_v3 ${{ env.FPGA_DIR }}/saluki-v3
+          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_pi_fpga_version }} saluki_pi ${{ env.FPGA_DIR }}/saluki-pi
+          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_fmu2_fpga_version }} saluki_fmu2 ${{ env.FPGA_DIR }}/saluki-fmu2
+
+          # combine fpga json files to one file
+          python px4-firmware/Tools/collect_json_files.py ${{ env.FPGA_DIR }} ${{ env.FPGA_DIR }}/fpga-file-info.json
+
+          # generate saluki file info json with project basic info
+          # fetched info from git so has to be ran inside the repo
+          pushd px4-firmware
+          Tools/generate_basic_build_info.sh ../build_basic_info.json
+          popd
+
+          # combine saluki file info json with fpga json and px4 json files to one file
+          python px4-firmware/Tools/compile_px4_build_info.py saluki_file_info.json bin ${{ env.FPGA_DIR }}/fpga-file-info.json build_basic_info.json
+
       - name: Firmware flasher - Build and push
         uses: docker/build-push-action@v5
         with:
           push: true
           context: .
+          # build for x86 and arm64
+          platforms: linux/amd64,linux/arm64
           file: px4-firmware/Tools/px_uploader.Dockerfile
           tags: ${{ steps.containermeta.outputs.tags }}
           labels: ${{ steps.containermeta.outputs.labels }}
           build-args: |
-            "saluki_pi_fpga_version=${{ needs.variables.outputs.saluki_pi_fpga_version }}"
-            "saluki_v2_fpga_version=${{ needs.variables.outputs.saluki_v2_fpga_version }}"
-            "saluki_v3_fpga_version=${{ needs.variables.outputs.saluki_v3_fpga_version }}"
+            "saluki_fpga_directory=${{ env.FPGA_DIR }}"
       - name: Build overview
         run: |
           echo "### Build overview:" >> $GITHUB_STEP_SUMMARY
@@ -188,6 +232,7 @@ jobs:
           echo "  saluki_pi_fpga_version: ${{ needs.variables.outputs.saluki_pi_fpga_version }}"
           echo "  saluki_v2_fpga_version: ${{ needs.variables.outputs.saluki_v2_fpga_version }}"
           echo "  saluki_v3_fpga_version: ${{ needs.variables.outputs.saluki_v3_fpga_version }}"
+          echo "  saluki_fmu2_fpga_version: ${{ needs.variables.outputs.saluki_fmu2_fpga_version }}"
 
           # in case more than one tag is generated, use the one which mentions commit sha
           if (( $(echo "${{ steps.containermeta.outputs.tags }}" | wc -l) > 1 )); then
@@ -205,6 +250,7 @@ jobs:
           echo "FPGA-V2[(Saluki-v2 FPGA\n${{ needs.variables.outputs.saluki_v2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
           echo "FPGA-V3[(Saluki-v3 FPGA\n${{ needs.variables.outputs.saluki_v3_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
           echo "FPGA-PI[(Saluki-pi FPGA\n${{ needs.variables.outputs.saluki_pi_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
+          echo "FPGA-PI[(Saluki-fmu2 FPGA\n${{ needs.variables.outputs.saluki_fmu2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
           echo "PX4-SHA[${{ github.repository }}\n$GITHUB_REF]" >> $GITHUB_STEP_SUMMARY
 
           # build
@@ -218,6 +264,7 @@ jobs:
           echo "FPGA-V2 --> BUILD"                 >> $GITHUB_STEP_SUMMARY
           echo "FPGA-V3 --> BUILD"                 >> $GITHUB_STEP_SUMMARY
           echo "FPGA-PI --> BUILD"                 >> $GITHUB_STEP_SUMMARY
+          echo "FPGA-FMU2 --> BUILD"               >> $GITHUB_STEP_SUMMARY
           echo "BUILD --> OUTPUT"                  >> $GITHUB_STEP_SUMMARY
           # end mermaid flowchart
           echo '```'                               >> $GITHUB_STEP_SUMMARY
@@ -283,7 +330,6 @@ jobs:
           echo '```' >> $GITHUB_STEP_SUMMARY
           echo 'For more info please see: https://github.com/tiiuae/fpga-flashing/#usage' >> $GITHUB_STEP_SUMMARY
 
-
   upload-px4fwupdater-uae:
     name: upload px4fwupdater to UAE docker registry
     # temporarily disabled until we get new token from UAR
@@ -338,6 +384,7 @@ jobs:
             "saluki_pi_fpga_version=${{ needs.variables.outputs.saluki_pi_fpga_version }}"
             "saluki_v2_fpga_version=${{ needs.variables.outputs.saluki_v2_fpga_version }}"
             "saluki_v3_fpga_version=${{ needs.variables.outputs.saluki_v3_fpga_version }}"
+            "saluki_fmu2_fpga_version=${{ needs.variables.outputs.saluki_fmu2_fpga_version }}"
 
   artifactory-uae:
     name: upload builds to UAE artifactory