AIFoundry Erbium

main (PX4 v2.0)

WARNING

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.

Erbium is an AIFoundry RISC-V chip whose design is open source. Its CPU subsystem has eight dual-threaded 64-bit ET-Minion cores (RV64IMFC), derived from the Esperanto ET-SoC-1. The PX4 target aifoundry_erbium_default runs NuttX on a single hart.

Development Status

Erbium silicon is not yet available. The target only runs on the erbium_emu system emulator from ET-platform, and has not been tested on hardware.

The target has no sensor or actuator drivers. It boots the SIH quadcopter (airframe 1100) and keeps parameters and dataman in RAM, so they are lost on reboot. In the emulator it has been tested to pass the preflight checks, arm, and take off.

The target is not built in PX4 CI, because the CI image does not include a RISC-V toolchain.

Building Firmware

The build uses the riscv-none-elf toolchain (xPack GNU RISC-V Embedded GCC, tested with 14.3.0-1). Add its bin directory to PATH, then build PX4 for this target:

make aifoundry_erbium_default

Running in the Emulator

Build erbium_emu as described in the NuttX Erbium Minion documentation, then start PX4 with:

erbium_emu -elf_load build/aifoundry_erbium_default/aifoundry_erbium_default.elf \
  -reset_pc 0x40000200 -single_thread -max_cycles 100000000000

The NuttX shell runs on the emulator console.