DroneCAN SocketCAN driver add FMU support

boards/nxp/mr-canhubk3/default.px4board

@@ -15,8 +15,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -2,14 +2,14 @@
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
+CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -38,7 +38,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -47,7 +46,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -15,3 +15,11 @@ param set-default MAV_1_REMOTE_PRT 14550
 param set-default MAV_1_UDP_PRT 14550
 
 param set-default SENS_EXT_I2C_PRB 0
+
+if param greater -s UAVCAN_ENABLE 0
+then
+	ifup can0
+	ifup can1
+	ifup can2
+	ifup can3
+fi

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -78,6 +78,7 @@ CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -103,7 +104,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=800
+CONFIG_IDLETHREAD_STACKSIZE=900
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
@@ -145,7 +146,10 @@ CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
+CONFIG_NET_CAN_EXTID=y
+CONFIG_NET_CAN_NOTIFIER=y
 CONFIG_NET_CAN_RAW_FILTER_MAX=1
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
@@ -155,6 +159,7 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y