From 9b20228ffb37b7b94725e5f0fcb31b6649e73b2e Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Dec 2022 10:45:30 -0500
Subject: [PATCH] boards: modalai_voxl2-io NuttX upgrade fixes and sync with
 px4-io-v2

---
 .../modalai/voxl2-io/nuttx-config/nsh/defconfig | 17 ++++-------------
 .../voxl2-io/nuttx-config/scripts/script.ld     |  1 -
 boards/modalai/voxl2-io/src/board_config.h      |  4 ----
 boards/modalai/voxl2-io/src/init.c              |  4 +---
 4 files changed, 5 insertions(+), 21 deletions(-)

diff --git a/boards/modalai/voxl2-io/nuttx-config/nsh/defconfig b/boards/modalai/voxl2-io/nuttx-config/nsh/defconfig
index 037ad29f18..2fec96fb26 100644
--- a/boards/modalai/voxl2-io/nuttx-config/nsh/defconfig
+++ b/boards/modalai/voxl2-io/nuttx-config/nsh/defconfig
@@ -15,32 +15,26 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
-CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=280
-CONFIG_MAX_TASKS=2
-CONFIG_MAX_WDOGPARMS=2
+CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_INIT_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
-CONFIG_NFILE_DESCRIPTORS=3
-CONFIG_NFILE_STREAMS=0
 CONFIG_PREALLOC_TIMERS=0
-CONFIG_PREALLOC_WDOGS=1
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
@@ -65,6 +59,3 @@ CONFIG_USART3_RXBUFSIZE=64
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=64
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=1100
-CONFIG_USER_ENTRYPOINT="user_start"
-CONFIG_WDOG_INTRESERVE=0
diff --git a/boards/modalai/voxl2-io/nuttx-config/scripts/script.ld b/boards/modalai/voxl2-io/nuttx-config/scripts/script.ld
index 7ad13773f0..c84215389d 100644
--- a/boards/modalai/voxl2-io/nuttx-config/scripts/script.ld
+++ b/boards/modalai/voxl2-io/nuttx-config/scripts/script.ld
@@ -72,7 +72,6 @@ SECTIONS
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
-
 	} > flash
 
 	/*
diff --git a/boards/modalai/voxl2-io/src/board_config.h b/boards/modalai/voxl2-io/src/board_config.h
index 9ddfce0034..d69aee59b2 100644
--- a/boards/modalai/voxl2-io/src/board_config.h
+++ b/boards/modalai/voxl2-io/src/board_config.h
@@ -47,8 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-
-
 /******************************************************************************
  * Definitions
  ******************************************************************************/
@@ -156,6 +154,4 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DISABLE_I2C_SPI
-
 #include <px4_platform_common/board_common.h>
diff --git a/boards/modalai/voxl2-io/src/init.c b/boards/modalai/voxl2-io/src/init.c
index 52dfc5d7f8..1e432eb71f 100644
--- a/boards/modalai/voxl2-io/src/init.c
+++ b/boards/modalai/voxl2-io/src/init.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,11 +84,9 @@
 
 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */
 
 	/* Set up for sensing HW */
-
 	stm32_configgpio(GPIO_SENSE_PC14_DN);
 	stm32_configgpio(GPIO_SENSE_PC15_UP);