boards/linum-stm32h753bi: Add zbus board integration and configuration by JorgeGzm · Pull Request #19916 · apache/nuttx

JorgeGzm · 2026-08-21T02:20:00Z

Summary

Integration of the zbus message bus port (apache/nuttx-apps#3743) on
top of the iterable sections infrastructure (#19927), in two commits:

zbus linker support: include/nuttx/linker/zbus.ld + a
tools/Config.mk hook (CONFIG_ZBUS_LINKER_INSERT), an optional
zero-touch mode using GNU ld INSERT AFTER for boards that do not
include the common fragments (constraints documented in the file);
plus the zbus Sphinx documentation.
linum-stm32h753bi adoption (first adopter board): 2 #include
lines in flash.ld and a zbus board configuration enabling the
zbus example and its cmocka test suite, reproducible with
./tools/configure.sh linum-stm32h753bi:zbus.

Impact

Users: zbus becomes usable out of the box on the
linum-stm32h753bi through the new :zbus configuration; any other
board can adopt it the same way (two linker-script lines, or the
INSERT mode with no board edit).
Existing boards/configs: none. The included fragments expand to
nothing unless CONFIG_ZBUS is enabled (verified: the stock :nsh
map has zero zbus sections), and the Config.mk hook is inert unless
CONFIG_ZBUS_LINKER_INSERT=y.
Build process: Make and CMake both supported (both preprocess the
board linker script, so the #include lines work on either).
Hardware: only the linum-stm32h753bi board is touched.
Documentation: zbus application pages and a zbus entry in the
board configuration list.
Tooling: the reused zbus SVG diagrams are added to the
.codespellrc skip list (their embedded base64 raster data trips the
spell checker with false positives).
Security / compatibility: no changes to existing runtime code.

Testing

Target: linum-stm32h753bi (STM32H753BI),

:zbus build (Make and CMake): OK, the three _zbus_*_list sections
collected name-sorted in flash as required by the zbus VDED algorithm.
On hardware: the 16-test zbus cmocka suite passes twice
in the same boot and the zbus example produces the expected output,
with the fourth message correctly masked for the listener and the
listener notified before the subscriber:

nsh> zbus
zbus: publishing 5 messages to acc_chan
zbus:  listener: x=1 y=10 z=100
zbus:  subscriber: x=1 y=10 z=100
zbus:  listener: x=2 y=20 z=200
zbus:  subscriber: x=2 y=20 z=200
zbus:  listener: x=3 y=30 z=300
zbus: listener masked
zbus:  subscriber: x=3 y=30 z=300
zbus: listener unmasked
zbus:  subscriber: x=4 y=40 z=400
zbus:  listener: x=5 y=50 z=500
zbus:  subscriber: x=5 y=50 z=500
zbus: done

INSERT mode validated in a standalone ld harness (placement, sorting,
no overlap).
tools/checkpatch.sh -c -u -m -g on both commits (nxstyle +
codespell, same flags as CI): all checks pass. sphinx-build -W:
clean.

ostest log:
log_ostest.txt

Depends-On: apache/nuttx-apps#3743

github-actions · 2026-08-21T02:36:29Z

MemBrowse Memory Report

No memory changes detected for:

xiaoxiang781216 · 2026-08-21T02:48:06Z

@JorgeGzm could you split iterator section from zbus to new pr?

github-actions · 2026-08-21T06:10:46Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 69a6237b74

CI run: https://github.com/apache/nuttx/actions/runs/32439921078

linguini1 · 2026-08-21T13:13:47Z

Do not list "new files". This is visible in the diff already. Please review the AI-generated PR descriptions and revise them for correctness and simplicity.

JorgeGzm · 2026-08-21T19:41:52Z

@JorgeGzm could you split iterator section from zbus to new pr?

Done, the PR #19927 whas created.

github-actions · 2026-08-21T21:37:30Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 69a6237b74

CI run: https://github.com/apache/nuttx/actions/runs/32515058484

github-actions · 2026-08-22T02:00:41Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 69a6237b74
include/nuttx: Add link-time iterable sections infrastructure #19927 @ 7b31777

CI run: https://github.com/apache/nuttx/actions/runs/32531266071

github-actions · 2026-08-24T21:41:36Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 5d9cd00bad
include/nuttx: Add link-time iterable sections infrastructure #19927 @ 7b31777

CI run: https://github.com/apache/nuttx/actions/runs/32757958806

github-actions · 2026-08-25T20:10:36Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ dfd91d6e53
include/nuttx: Add link-time iterable sections infrastructure #19927 @ 7f9181b

CI run: https://github.com/apache/nuttx/actions/runs/32880838739

github-actions · 2026-08-26T00:01:28Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 45592db873
include/nuttx: Add link-time iterable sections infrastructure #19927 @ be668f7

CI run: https://github.com/apache/nuttx/actions/runs/32901775310

github-actions · 2026-08-26T16:32:09Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 45592db873
include/nuttx: Add link-time iterable sections infrastructure #19927 @ df56863

CI run: https://github.com/apache/nuttx/actions/runs/32973406735

linguini1

Can you run and attach an OSTest on the board? Since the linker scripts were modified.

Please add the Assisted-by field to your commits to indicate AI assistance.

JorgeGzm · 2026-08-26T18:12:41Z

Can you run and attach an OSTest on the board? Since the linker scripts were modified.

Please add the Assisted-by field to your commits to indicate AI assistance.

nsh> ostest
stdio_test: write fd=1
stdio_test: Standard I/O Check: printf
stdio_test: write fd=2
...
user_main: Exiting
ostest_main: Exiting with status 0
stdio_test: Standard I/O Check: fprintf to stderr
nsh>

github-actions · 2026-08-26T18:37:22Z

❌ Cross-repo dependency could not be applied

The Build report says the declared dependency PR(s) could not be applied, so CI did not run against the combined code:

Reason: cherry-pick failed (if your PR has merge commits, rebase instead)

CI run: https://github.com/apache/nuttx/actions/runs/32998517896

OS tested. However, in the future, please include the full OS test log either in the test section as text or as an attached text file.

github-actions · 2026-08-26T21:39:47Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 080614982b

CI run: https://github.com/apache/nuttx/actions/runs/33009500013

xiaoxiang781216 · 2026-08-27T11:06:10Z

ci was fixed, please rebase your change to the last master. @JorgeGzm

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>

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>

github-actions · 2026-08-27T18:00:44Z

🔗 Cross-repo PR dependencies

The read-only Build run reported the following dependent PR(s) and fetched head SHA(s):

system/zbus: Port the Zephyr zbus message bus to NuttX nuttx-apps#3743 @ 1c29f07842

CI run: https://github.com/apache/nuttx/actions/runs/33078932636

JorgeGzm requested review from hartmannathan, jerpelea, linguini1, raiden00pl, rcsim and xiaoxiang781216 as code owners August 21, 2026 02:20

github-actions Bot added Area: Build system Size: XL The size of the change in this PR is very large. Consider breaking down the PR into smaller pieces. Board: arm labels Aug 21, 2026

JorgeGzm force-pushed the port_zbus branch from baa0a73 to d40bbd3 Compare August 21, 2026 02:27

JorgeGzm force-pushed the port_zbus branch from d40bbd3 to 2bd39bd Compare August 21, 2026 18:46

github-actions Bot added Size: L The size of the change in this PR is large and removed Size: XL The size of the change in this PR is very large. Consider breaking down the PR into smaller pieces. labels Aug 21, 2026

JorgeGzm mentioned this pull request Aug 21, 2026

include/nuttx: Add link-time iterable sections infrastructure #19927

Merged

JorgeGzm changed the title ~~include/nuttx: Add link-time iterable sections infrastructure~~ boards/linum-stm32h753bi: Add zbus board integration and configuration Aug 21, 2026

JorgeGzm force-pushed the port_zbus branch from 2bd39bd to a60090d Compare August 21, 2026 22:02

JorgeGzm force-pushed the port_zbus branch from a60090d to d38b91a Compare August 24, 2026 17:40

jerpelea previously approved these changes Aug 25, 2026

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JorgeGzm dismissed jerpelea’s stale review via 974b9d5 August 25, 2026 17:56

JorgeGzm force-pushed the port_zbus branch from d38b91a to 974b9d5 Compare August 25, 2026 17:56

github-actions Bot added Size: XL The size of the change in this PR is very large. Consider breaking down the PR into smaller pieces. and removed Size: L The size of the change in this PR is large labels Aug 25, 2026

xiaoxiang781216 reviewed Aug 25, 2026

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JorgeGzm force-pushed the port_zbus branch from 974b9d5 to 867b5b3 Compare August 25, 2026 21:35

xiaoxiang781216 reviewed Aug 26, 2026

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Comment thread include/nuttx/linker/zbus.ld Outdated

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JorgeGzm force-pushed the port_zbus branch from 867b5b3 to a796f37 Compare August 26, 2026 13:18

xiaoxiang781216 previously approved these changes Aug 26, 2026

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linguini1 previously requested changes Aug 26, 2026

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JorgeGzm dismissed xiaoxiang781216’s stale review via 592d85b August 26, 2026 18:13

JorgeGzm force-pushed the port_zbus branch from a796f37 to 592d85b Compare August 26, 2026 18:13

github-actions Bot added Area: Documentation Improvements or additions to documentation Size: L The size of the change in this PR is large and removed Area: Build system Size: XL The size of the change in this PR is very large. Consider breaking down the PR into smaller pieces. labels Aug 26, 2026

JorgeGzm force-pushed the port_zbus branch from 592d85b to 73caf3a Compare August 26, 2026 20:15

JorgeGzm added 2 commits August 27, 2026 10:46

JorgeGzm force-pushed the port_zbus branch from 73caf3a to d813e97 Compare August 27, 2026 13:50

xiaoxiang781216 approved these changes Aug 28, 2026

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