update

boards/cuav/x7pro: add mtd for FM25V05
temp commit
2026-06-13 12:10:04 +08:00 · 2023-02-16 17:38:31 +01:00 · 2023-02-16 16:42:47 +01:00 · 2023-02-16 16:42:15 +01:00 · 2023-02-15 18:01:18 +01:00 · 2023-02-15 17:13:20 +01:00
164 changed files with 7134 additions and 8263 deletions
@@ -769,13 +769,7 @@ void runTests() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params/parameters.bson"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -73,13 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -112,7 +112,21 @@ else
 	#
 	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
-		set PARAM_FILE /fs/mtd_params
+		set PARAM_FILE /fs/mtd_params/parameters.bson
+	else
+		# Revert after the transition period is completed
+		set PARAM_FILE /fs/mtd_params/parameters.bson
+		param select $PARAM_FILE
+		echo "Start parameter transition to LittleFS"
+		if ! param transition
+		then
+			echo "ERROR [init] param transition"
+		else
+			echo "The system will reboot!"
+			# Wait for UART to send messages
+			usleep 200000
+			reboot
+		fi
 	fi

 	#
@@ -48,7 +48,7 @@ do
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params/parameters.bson' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
@@ -94,6 +94,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -153,7 +154,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -74,6 +74,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -128,7 +129,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -74,6 +74,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -130,7 +131,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -74,6 +74,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -130,7 +131,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -105,6 +105,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -189,6 +194,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 1 x 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -45,18 +45,12 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 2,
+	.npart = 1
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -99,6 +99,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -107,6 +107,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -191,7 +192,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -94,6 +94,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -150,7 +151,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -42,18 +42,12 @@ static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X

 static const px4_mtd_entry_t fmu_eeprom = {
 	.device = &i2c1,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 128
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 128
-
+			.nblocks = 256
 		}
 	},
 };
@@ -151,7 +151,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -76,6 +76,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -132,7 +133,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -147,6 +152,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -162,7 +169,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=16
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2023 ModalAI, Inc. All rights reserved.
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,19 +30,48 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-#include <px4_platform_common/log.h>
-#include <uORB/uORBManager.hpp>

-// This function will send a debug or error message up to the apps proc
-// so that it can be displayed and logged. Otherwise the messages are only
-// available with the mini-dm tool that requires adb (i.e. USB cable attached)
-extern "C" void qurt_log_to_apps(int level, const char *message)
-{
-	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spifram = {             // FM25V05 on FMUM 32K 512 X 128
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};

-	if (ch != nullptr) {
-		if (level >= _PX4_LOG_LEVEL_ERROR) { ch->send_message("slpi_error", strlen(message) + 1, (uint8_t *) message); }
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spifram,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 128
+			//.nblocks = 4096
+		},
+	},
+};

-		else { ch->send_message("slpi_debug", strlen(message) + 1, (uint8_t *) message); }
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs = 1,
+	.entries  = {
+		&fmum_fram
 	}
-}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -148,6 +153,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -163,7 +170,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -100,6 +100,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -148,6 +153,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -163,7 +170,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -99,6 +99,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -88,6 +88,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -147,7 +148,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -77,6 +77,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -133,7 +134,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -100,6 +100,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -164,7 +165,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -163,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -99,6 +99,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -100,6 +100,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -158,7 +159,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -161,7 +162,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -100,6 +100,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -167,7 +168,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -41,18 +41,12 @@ static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -1,9 +1,9 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -414,7 +414,7 @@ bool ICM42688P::Configure()
 	return success;
 }

-static bool interrupt_debug = false;
+static bool interrupt_debug = true;
 static uint32_t interrupt_debug_count = 0;
 static const uint32_t interrupt_debug_trigger = 800;
 static hrt_abstime last_interrupt_time = 0;
@@ -17,4 +17,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_ORB_COMMUNICATOR=y
-CONFIG_BOARD_ROOTFSDIR="/data/px4"
@@ -19,3 +19,5 @@ fi
 muorb start

 qshell icm42688p start -s
+
+qshell modal_io start
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -161,7 +162,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -161,7 +162,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -162,7 +163,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -99,6 +99,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -163,7 +164,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -98,6 +98,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -161,7 +162,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -95,6 +95,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -154,7 +155,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -51,6 +51,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -180,7 +181,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -52,6 +52,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -183,7 +184,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -55,6 +55,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -183,7 +184,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -53,6 +53,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -182,7 +183,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -53,6 +53,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -171,6 +176,8 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000
@@ -58,6 +58,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -199,7 +200,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -122,7 +122,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
@@ -111,7 +111,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -94,6 +94,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
@@ -149,7 +150,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -96,6 +96,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -154,7 +155,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -95,6 +95,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -140,6 +145,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -153,7 +160,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -96,6 +96,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -141,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
@@ -95,6 +95,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -140,6 +145,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=393216
 CONFIG_RAM_START=0x20000000
@@ -155,7 +162,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -96,6 +96,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -141,6 +146,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=393216
 CONFIG_RAM_START=0x20000000
@@ -46,7 +46,7 @@ static const px4_mtd_entry_t fmum_fram = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
+			.nblocks = 16384
 		},
 	},
 };
@@ -100,6 +100,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -127,6 +132,8 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
@@ -163,7 +170,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -100,6 +100,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -148,6 +153,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -163,7 +170,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -144,6 +144,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -192,6 +197,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -146,6 +151,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -161,7 +168,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -102,6 +102,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -152,6 +157,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -147,6 +152,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -162,7 +169,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -146,6 +151,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -104,6 +104,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -185,6 +190,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -200,7 +207,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -103,6 +103,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -183,6 +188,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 1 X 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -50,18 +50,12 @@ static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -151,6 +156,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V02A on FMUM 32K 512 X 64
+static const px4_mft_device_t spi2 = {             // FM25V02A on FMUM 32K 1 x 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -47,18 +47,12 @@ static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi2,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -99,6 +99,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -151,6 +156,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -166,7 +173,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -34,25 +34,19 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 1 x 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -105,6 +105,11 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=128
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=8
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -189,6 +194,8 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=0
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=0
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -204,7 +211,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 1 x 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -50,18 +50,12 @@ static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 2

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -39,6 +39,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
@@ -90,7 +91,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
@@ -99,6 +99,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -155,7 +156,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -94,6 +94,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -153,7 +154,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -31,7 +31,7 @@ bool height_sensor_timeout              #  4 - true when the height sensor has n
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
 bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
+bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
+bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
 bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
@@ -35,7 +35,7 @@ uint8 CS_EV_HGT = 14		# 14 - true when height data from external vision measurem
 uint8 CS_BETA = 15		# 15 - true when synthetic sideslip measurements are being fused
 uint8 CS_MAG_FIELD = 16		# 16 - true when only the magnetic field states are updated by the magnetometer
 uint8 CS_FIXED_WING = 17	# 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
-uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetometer has been declared faulty and is no longer being used
+uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetomer has been declared faulty and is no longer being used
 uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
 uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
 uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected
@@ -15,7 +15,6 @@ uint32 mode_req_global_position
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
-uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
 uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
 uint32 mode_req_other             # other requirements, not covered above (for external modes)

@@ -40,8 +40,6 @@
 #pragma once

 #include <sys/ioctl.h>
-#include <px4_boardconfig.h>
-

 /****************************************************************************
 * Defines for all platforms.
@@ -97,7 +95,7 @@ __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS

-#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
+#define PX4_ROOTFSDIR "."

 #define PX4_STORAGEDIR PX4_ROOTFSDIR

@@ -77,6 +77,24 @@ __EXPORT int  px4_mtd_get_geometry(const mtd_instance_s *instance, unsigned long
 */
 __EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, const char *partname);

+/*
+  Helper function for transition to LittleFS.
+  It will unmount MTD for parameters with LittleFS and mount Block Device
+*/
+__EXPORT int px4_mtd_unmount_littlefs_mount_block_device(void);
+
+/*
+  Helper function for transition to LittleFS.
+  It will unmount MTD for parameters with Block Device and mount LittleFS with force formatting
+*/
+__EXPORT int px4_mtd_unmount_block_device_mount_littlefs(void);
+
+/*
+  Helper function for transition to LittleFS.
+  It will force formatting to LittleFS
+*/
+__EXPORT int px4_mtd_forceformat_littlefs(void);
+
 int px4_at24c_initialize(FAR struct i2c_master_s *dev,
 			 uint8_t address, FAR struct mtd_dev_s **mtd_dev);

@@ -470,7 +470,7 @@ if(NOT NUTTX_DIR MATCHES "external")
 		)

 		# JLINK_RTOS_PATH used by launch.json.in
-		set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx.so)
+		set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx)
 	else()
 		set(JLINK_RTOS_PATH "")
 	endif()
@@ -3,7 +3,6 @@
    "configurations": [
        {
            "name": "jlink (@PX4_BOARD@)",
-            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "rtos": "@JLINK_RTOS_PATH@",
@@ -25,7 +24,6 @@
        },
        {
            "name": "stlink (@PX4_BOARD@)",
-            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "executable": "${command:cmake.launchTargetPath}",
@@ -44,7 +42,6 @@
        },
        {
            "name": "blackmagic (@PX4_BOARD@)",
-            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "executable": "${command:cmake.launchTargetPath}",
@@ -76,9 +76,12 @@ __EXPORT int px4_mft_configure(const px4_mft_s *mft)
 	if (mft != nullptr) {
 		for (uint32_t m = 0; m < mft->nmft; m++) {
 			switch (mft->mfts[m]->type) {
+#if defined(CONFIG_MTD)
+
 			case MTD:
 				px4_mtd_config(static_cast<const px4_mtd_manifest_t *>(mft->mfts[m]->pmft));
 				break;
+#endif // CONFIG_MTD

 			case MFT:
 			default:
@@ -99,9 +102,12 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
 		for (uint32_t m = 0; m < mft->nmft; m++) {
 			if (mft->mfts[m]->type == type)
 				switch (type) {
+#if defined(CONFIG_MTD)
+
 				case MTD:
 					return px4_mtd_query(sub, val, nullptr);
 					break;
+#endif // CONFIG_MTD

 				case MFT:
 				default:
@@ -39,6 +39,8 @@
 * @author David Sidrane <david.sidrane@nscdg.com>
 */

+#if defined(CONFIG_MTD)
+
 #ifndef MODULE_NAME
 #define MODULE_NAME "PX4_MTD"
 #endif
@@ -57,6 +59,7 @@
 #include <nuttx/drivers/drivers.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>

 extern "C" {
 	struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
@@ -67,6 +70,9 @@ static int num_instances = 0;
 static int total_blocks = 0;
 static mtd_instance_s *instances[MAX_MTD_INSTANCES] = {};

+static int8_t param_instance = -1;
+static int8_t param_part = -1;
+static int8_t param_block = -1;

 static int ramtron_attach(mtd_instance_s &instance)
 {
@@ -118,15 +124,6 @@ static int ramtron_attach(mtd_instance_s &instance)
 		return -EIO;
 	}

-	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000);
-
-	if (ret != OK) {
-		// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
-		// that but setting the bus speed does fail all the time. Which was then exiting and the board would
-		// not run correctly. So changed to PX4_WARN.
-		PX4_WARN("failed to set bus speed");
-	}
-
 	return 0;
 #endif
 }
@@ -249,25 +246,19 @@ static const px4_mtd_manifest_t default_mtd_config = {

 #else

-const px4_mft_device_t spifram  = {             // FM25V02A on FMUM 32K 512 X 64
+const px4_mft_device_t spifram  = {             // FM25V02A on FMUM 32K 1 X 32768
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };

 const px4_mtd_entry_t fram = {
 	.device = &spifram,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
+			.nblocks = 32768
 		}
 	},
 };
@@ -401,27 +392,54 @@ memoryout:
 			}

 			/* Initialize to provide an FTL block driver on the MTD FLASH interface */
-
 			snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", total_blocks);

-			rv = ftl_initialize(total_blocks, instances[i]->part_dev[part]);
+			printf("blockname: %s, type: %d, name: %s\n", blockname, instances[i]->partition_types[part],
+			       instances[i]->partition_names[part]);

-			if (rv < 0) {
-				PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
-				goto errout;
+			if (instances[i]->partition_types[part] == MTD_PARAMETERS) {
+
+				param_instance = i;
+				param_part = part;
+				param_block = total_blocks;
+
+				rv = register_mtddriver(blockname, instances[i]->part_dev[part], 0755, nullptr);
+
+				if (rv < 0) {
+					PX4_ERR("register_mtddriver %s failed: %d", blockname, rv);
+					goto errout;
+				}
+
+				// Now create a character device on the block device
+				//TODO: after the transition period return "autoformat"
+				rv = nx_mount(blockname, instances[i]->partition_names[part], "littlefs", 0, "");
+
+				printf("nx_mount: blockname: %s partition: %s\n", blockname, instances[i]->partition_names[part]);
+
+				if (rv < 0) {
+					PX4_ERR("nx_mount %s failed: %d", instances[i]->partition_names[part], rv);
+					goto errout;
+				}
+
+			} else {
+				rv = ftl_initialize(total_blocks, instances[i]->part_dev[part]);
+
+				if (rv < 0) {
+					PX4_ERR("ftl_initialize %s failed: %d", blockname, rv);
+					goto errout;
+				}
+
+				/* Now create a character device on the block device */
+				rv = bchdev_register(blockname, instances[i]->partition_names[part], false);
+
+				if (rv < 0) {
+					PX4_ERR("bchdev_register %s failed: %d", instances[i]->partition_names[part], rv);
+					goto errout;
+				}
 			}

 			total_blocks++;

-			/* Now create a character device on the block device */
-
-			rv = bchdev_register(blockname, instances[i]->partition_names[part], false);
-
-			if (rv < 0) {
-				PX4_ERR("bchdev_register %s failed: %d", instances[i]->partition_names[part], rv);
-				goto errout;
-			}
-
 			instances[i]->n_partitions_current++;
 		}

@@ -482,3 +500,88 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)

 	return rv;
 }
+
+int px4_mtd_unmount_littlefs_mount_block_device(void)
+{
+	if ((param_instance == -1) || (param_part == -1) || (param_block == -1)) {
+		PX4_ERR("MTD_PARAMETERS never initialized");
+		return -1;
+	}
+
+	char blockname[32];
+	snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
+
+	// in case LittleFS is mounted, unmount it
+	nx_umount2(instances[param_instance]->partition_names[param_part], 0);
+	unregister_mtddriver(blockname);
+
+	int ret = ftl_initialize(0, instances[param_instance]->part_dev[param_part]);
+
+	if (ret < 0) {
+		PX4_ERR("ftl_initialize failed with error %d, param_block %d, param_instance %d, param_part %d, block_counts %d",
+			ret, param_block, param_instance, param_part, *instances[param_instance]->partition_block_counts);
+
+	} else {
+		ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
+
+		if (ret < 0) {
+			PX4_ERR("bchdev_register failed: %d", ret);
+
+		}
+	}
+
+	return ret;
+}
+
+int px4_mtd_unmount_block_device_mount_littlefs(void)
+{
+	if ((param_instance == -1) || (param_part == -1) || (param_block == -1)) {
+		PX4_ERR("MTD_PARAMETERS never initialized");
+		return -1;
+	}
+
+	char blockname[32];
+	snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
+
+	int ret =  bchdev_unregister(instances[param_instance]->partition_names[param_part]);
+
+	if (ret < 0) {
+		PX4_ERR("bchdev_unregister %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
+
+	} else {
+		ret = unregister_blockdriver(blockname);
+
+		if (ret < 0) {
+			PX4_ERR("unregister_blockdriver %s failed: %d", blockname, ret);
+
+		} else {
+			ret = px4_mtd_forceformat_littlefs();
+		}
+	}
+
+	return ret;
+}
+
+int px4_mtd_forceformat_littlefs(void)
+{
+	char blockname[32];
+	snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
+
+	int ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
+
+	if (ret < 0) {
+		PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
+
+	} else {
+		ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
+
+		if (ret < 0) {
+			PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
+
+		}
+	}
+
+	return ret;
+}
+
+#endif // CONFIG_MTD
@@ -53,7 +53,7 @@

 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
-static LockstepScheduler lockstep_scheduler {true};
+static LockstepScheduler lockstep_scheduler {};
 #endif

 // Intervals in usec
@@ -46,7 +46,7 @@
 class LockstepComponents
 {
 public:
-	LockstepComponents(bool no_cleanup_on_destroy = false);
+	LockstepComponents();
 	~LockstepComponents();

 	/**
@@ -69,7 +69,6 @@ public:
 	void wait_for_components();

 private:
-	const bool _no_cleanup_on_destroy;

 	px4_sem_t _components_sem;

@@ -46,7 +46,6 @@
 class LockstepScheduler
 {
 public:
-	LockstepScheduler(bool no_cleanup_on_destroy = false) : _components(no_cleanup_on_destroy) {}
 	~LockstepScheduler();

 	void set_absolute_time(uint64_t time_us);
@@ -42,19 +42,14 @@
 #include <px4_platform_common/tasks.h>
 #include <limits.h>

-LockstepComponents::LockstepComponents(bool no_cleanup_on_destroy)
-	: _no_cleanup_on_destroy(no_cleanup_on_destroy)
+LockstepComponents::LockstepComponents()
 {
 	px4_sem_init(&_components_sem, 0, 0);
 }

 LockstepComponents::~LockstepComponents()
 {
-	// Trying to destroy a condition variable with threads currently blocked on it results in undefined behavior.
-	// Therefore we allow the caller not to cleanup and let the OS take care of that.
-	if (!_no_cleanup_on_destroy) {
-		px4_sem_destroy(&_components_sem);
-	}
+	px4_sem_destroy(&_components_sem);
 }

 int LockstepComponents::register_component()
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- * Copyright (C) 2022-2023 ModalAI, Inc. All rights reserved.
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -39,9 +39,7 @@

 __BEGIN_DECLS

-extern void qurt_log_to_apps(int level, const char *message);
-
-// Defining hap_debug
+//Defining hap_debug
 void HAP_debug(const char *msg, int level, const char *filename, int line);

 static __inline void qurt_log(int level, const char *file, int line,
@@ -53,8 +51,6 @@ static __inline void qurt_log(int level, const char *file, int line,
 	vsnprintf(buf, sizeof(buf), format, args);
 	va_end(args);
 	HAP_debug(buf, level, file, line);
-
-	qurt_log_to_apps(level, buf);
 }

 __END_DECLS
@@ -37,7 +37,6 @@ set(QURT_LAYER_SRCS
 	tasks.cpp
 	px4_qurt_impl.cpp
 	main.cpp
-	qurt_log.cpp
 	)

 add_library(px4_layer
@@ -80,7 +80,7 @@
 #define DRV_IMU_DEVTYPE_ICM42605 0x29
 #define DRV_IMU_DEVTYPE_ICM42670P 0x2A
 #define DRV_IMU_DEVTYPE_IIM42652 0x2B
-#define DRV_IMU_DEVTYPE_IAM20680HP 0x2C
+
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32
 #define DRV_ACC_DEVTYPE_MPU6050  0x33
@@ -1,47 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__imu__invensense__iam20680hp
-	MAIN iam20680hp
-	COMPILE_FLAGS
-	SRCS
-		IAM20680HP.cpp
-		IAM20680HP.hpp
-		iam20680hp_main.cpp
-		InvenSense_IAM20680HP_registers.hpp
-	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
-		px4_work_queue
-	)
@@ -1,641 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-#include "IAM20680HP.hpp"
-
-using namespace time_literals;
-
-static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
-{
-	return (msb << 8u) | lsb;
-}
-
-IAM20680HP::IAM20680HP(const I2CSPIDriverConfig &config) :
-	SPI(config),
-	I2CSPIDriver(config),
-	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
-{
-	if (_drdy_gpio != 0) {
-		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
-	}
-
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
-}
-
-IAM20680HP::~IAM20680HP()
-{
-	perf_free(_bad_register_perf);
-	perf_free(_bad_transfer_perf);
-	perf_free(_fifo_empty_perf);
-	perf_free(_fifo_overflow_perf);
-	perf_free(_fifo_reset_perf);
-	perf_free(_drdy_missed_perf);
-}
-
-int IAM20680HP::init()
-{
-	int ret = SPI::init();
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("SPI::init failed (%i)", ret);
-		return ret;
-	}
-
-	return Reset() ? 0 : -1;
-}
-
-bool IAM20680HP::Reset()
-{
-	_state = STATE::RESET;
-	DataReadyInterruptDisable();
-	ScheduleClear();
-	ScheduleNow();
-	return true;
-}
-
-void IAM20680HP::exit_and_cleanup()
-{
-	DataReadyInterruptDisable();
-	I2CSPIDriverBase::exit_and_cleanup();
-}
-
-void IAM20680HP::print_status()
-{
-	I2CSPIDriverBase::print_status();
-
-	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
-
-	perf_print_counter(_bad_register_perf);
-	perf_print_counter(_bad_transfer_perf);
-	perf_print_counter(_fifo_empty_perf);
-	perf_print_counter(_fifo_overflow_perf);
-	perf_print_counter(_fifo_reset_perf);
-	perf_print_counter(_drdy_missed_perf);
-}
-
-bool IAM20680HP::StoreCheckedRegisterValue(Register reg)
-{
-	// 3 retries
-	for (int i = 0; i < 3; i++) {
-		uint8_t read1 = RegisterRead(reg);
-		uint8_t read2 = RegisterRead(reg);
-
-		if (read1 == read2) {
-			for (auto &r : _register_cfg) {
-				if (r.reg == reg) {
-					r.set_bits = read1;
-					r.clear_bits = ~read1;
-					return true;
-				}
-			}
-
-		} else {
-			PX4_ERR("0x%02hhX read 1 != read 2 (0x%02hhX != 0x%02hhX)", static_cast<uint8_t>(reg), read1, read2);
-		}
-	}
-
-	return false;
-}
-
-int IAM20680HP::probe()
-{
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
-
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-void IAM20680HP::RunImpl()
-{
-	const hrt_abstime now = hrt_absolute_time();
-
-	switch (_state) {
-	case STATE::RESET:
-		// PWR_MGMT_1: Device Reset
-		RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
-		_reset_timestamp = now;
-		_failure_count = 0;
-		_state = STATE::WAIT_FOR_RESET;
-		ScheduleDelayed(100_ms);
-		break;
-
-	case STATE::WAIT_FOR_RESET:
-
-		// The reset value is 0x00 for all registers other than the registers below
-		//  Document Number: DS-000114 Page Page 35 of 53
-		if (RegisterRead(Register::WHO_AM_I) == WHOAMI) {
-
-			// offset registers (factory calibration) should not change during normal operation
-			StoreCheckedRegisterValue(Register::XA_OFFSET_H);
-			StoreCheckedRegisterValue(Register::XA_OFFSET_L);
-			StoreCheckedRegisterValue(Register::YA_OFFSET_H);
-			StoreCheckedRegisterValue(Register::YA_OFFSET_L);
-			StoreCheckedRegisterValue(Register::ZA_OFFSET_H);
-			StoreCheckedRegisterValue(Register::ZA_OFFSET_L);
-
-			// Wakeup and reset digital signal path
-			RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
-			RegisterWrite(Register::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::ACCEL_RST | SIGNAL_PATH_RESET_BIT::TEMP_RST);
-			RegisterWrite(Register::USER_CTRL, USER_CTRL_BIT::SIG_COND_RST | USER_CTRL_BIT::I2C_IF_DIS);
-
-			// if reset succeeded then configure
-			_state = STATE::CONFIGURE;
-			ScheduleDelayed(35_ms); // max 35 ms start-up time from sleep
-
-		} else {
-			// RESET not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Reset failed, retrying");
-				_state = STATE::RESET;
-				ScheduleDelayed(100_ms);
-
-			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
-			}
-		}
-
-		break;
-
-	case STATE::CONFIGURE:
-		if (Configure()) {
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
-
-		} else {
-			// CONFIGURE not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Configure failed, resetting");
-				_state = STATE::RESET;
-
-			} else {
-				PX4_DEBUG("Configure failed, retrying");
-			}
-
-			ScheduleDelayed(100_ms);
-		}
-
-		break;
-
-	case STATE::FIFO_READ: {
-			hrt_abstime timestamp_sample = now;
-
-			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
-				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
-
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
-					timestamp_sample = drdy_timestamp_sample;
-
-				} else {
-					perf_count(_drdy_missed_perf);
-				}
-
-				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
-			}
-
-			// always check current FIFO count
-			bool success = false;
-			const uint16_t fifo_count = FIFOReadCount();
-
-			if (fifo_count >= FIFO::SIZE) {
-				FIFOReset();
-				perf_count(_fifo_overflow_perf);
-
-			} else if (fifo_count == 0) {
-				perf_count(_fifo_empty_perf);
-
-			} else {
-				// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
-				uint8_t samples = fifo_count / sizeof(FIFO::DATA);
-
-				// tolerate minor jitter, leave sample to next iteration if behind by only 1
-				if (samples == _fifo_gyro_samples + 1) {
-					timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-					samples--;
-				}
-
-				if (samples > FIFO_MAX_SAMPLES) {
-					// not technically an overflow, but more samples than we expected or can publish
-					FIFOReset();
-					perf_count(_fifo_overflow_perf);
-
-				} else if (samples >= SAMPLES_PER_TRANSFER) {
-					if (FIFORead(timestamp_sample, samples)) {
-						success = true;
-
-						if (_failure_count > 0) {
-							_failure_count--;
-						}
-					}
-				}
-			}
-
-			if (!success) {
-				_failure_count++;
-
-				// full reset if things are failing consistently
-				if (_failure_count > 10) {
-					Reset();
-					return;
-				}
-			}
-
-			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
-				if (RegisterCheck(_register_cfg[_checked_register])) {
-					_last_config_check_timestamp = now;
-					_checked_register = (_checked_register + 1) % size_register_cfg;
-
-				} else {
-					// register check failed, force reset
-					perf_count(_bad_register_perf);
-					Reset();
-				}
-
-			} else {
-				// periodically update temperature (~1 Hz)
-				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
-					_temperature_update_timestamp = now;
-				}
-			}
-		}
-
-		break;
-	}
-}
-
-void IAM20680HP::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void IAM20680HP::ConfigureGyro()
-{
-	const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (FS_SEL) {
-	case FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));	//灵敏度为16.4 LSB/dps
-	_px4_gyro.set_range(math::radians(range_dps));	//陀螺仪量程
-}
-
-void IAM20680HP::ConfigureSampleRate(int sample_rate)
-{
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
-
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
-
-	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
-}
-
-bool IAM20680HP::Configure()
-{
-	// first set and clear all configured register bits
-	for (const auto &reg_cfg : _register_cfg) {
-		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
-	}
-
-	// now check that all are configured
-	bool success = true;
-
-	for (const auto &reg_cfg : _register_cfg) {
-		if (!RegisterCheck(reg_cfg)) {
-			success = false;
-		}
-	}
-
-	ConfigureAccel();
-	ConfigureGyro();
-
-	return success;
-}
-
-int IAM20680HP::DataReadyInterruptCallback(int irq, void *context, void *arg)
-{
-	static_cast<IAM20680HP *>(arg)->DataReady();
-	return 0;
-}
-
-void IAM20680HP::DataReady()
-{
-	// at least the required number of samples in the FIFO
-	if (++_drdy_count >= _fifo_gyro_samples) {
-		_drdy_timestamp_sample.store(hrt_absolute_time());
-		_drdy_count -= _fifo_gyro_samples;
-		ScheduleNow();
-	}
-}
-
-bool IAM20680HP::DataReadyInterruptConfigure()
-{
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
-}
-
-bool IAM20680HP::DataReadyInterruptDisable()
-{
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
-}
-
-bool IAM20680HP::RegisterCheck(const register_config_t &reg_cfg)
-{
-	bool success = true;
-
-	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
-
-	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
-		success = false;
-	}
-
-	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
-		success = false;
-	}
-
-	return success;
-}
-
-uint8_t IAM20680HP::RegisterRead(Register reg)
-{
-	uint8_t cmd[2] {};
-	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
-	transfer(cmd, cmd, sizeof(cmd));
-	return cmd[1];
-}
-
-void IAM20680HP::RegisterWrite(Register reg, uint8_t value)
-{
-	uint8_t cmd[2] { (uint8_t)reg, value };
-	transfer(cmd, cmd, sizeof(cmd));
-}
-
-void IAM20680HP::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
-{
-	const uint8_t orig_val = RegisterRead(reg);
-
-	uint8_t val = (orig_val & ~clearbits) | setbits;
-
-	if (orig_val != val) {
-		RegisterWrite(reg, val);
-	}
-}
-
-uint16_t IAM20680HP::FIFOReadCount()
-{
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
-
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return 0;
-	}
-
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
-}
-
-bool IAM20680HP::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
-{
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
-
-	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return false;
-	}
-
-
-	ProcessGyro(timestamp_sample, buffer.f, samples);
-	return ProcessAccel(timestamp_sample, buffer.f, samples);
-}
-
-void IAM20680HP::FIFOReset()
-{
-	perf_count(_fifo_reset_perf);
-
-	// FIFO_EN: disable FIFO
-	RegisterWrite(Register::FIFO_EN, 0);
-
-	// USER_CTRL: reset FIFO
-	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
-
-	// reset while FIFO is disabled
-	_drdy_count = 0;
-	_drdy_timestamp_sample.store(0);
-
-	// FIFO_EN: enable both gyro and accel
-	// USER_CTRL: re-enable FIFO
-	for (const auto &r : _register_cfg) {
-		if ((r.reg == Register::FIFO_EN) || (r.reg == Register::USER_CTRL)) {
-			RegisterSetAndClearBits(r.reg, r.set_bits, r.clear_bits);
-		}
-	}
-}
-
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
-{
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
-
-bool IAM20680HP::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void IAM20680HP::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void IAM20680HP::UpdateTemperature()
-{
-	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return;
-	}
-
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
-	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
-	}
-}
@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-
-#pragma once
-
-#include "InvenSense_IAM20680HP_registers.hpp"
-
-#include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <lib/geo/geo.h>
-#include <lib/perf/perf_counter.h>
-#include <px4_platform_common/atomic.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <lib/drivers/device/Device.hpp>
-
-using namespace InvenSense_IAM20680HP;
-
-class IAM20680HP : public device::SPI, public I2CSPIDriver<IAM20680HP>
-{
-public:
-	IAM20680HP(const I2CSPIDriverConfig &config);
-	~IAM20680HP() override;
-
-	static void print_usage();
-
-	void RunImpl();
-
-	int init() override;
-	void print_status() override;
-
-private:
-	void exit_and_cleanup() override;
-
-	// Sensor Configuration
-	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                     // ensure at least 1 new accel sample per transfer
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};              // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER};  // 4000 Hz accel
-
-	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
-
-	struct register_config_t {
-		Register reg;
-		uint8_t set_bits{0};
-		uint8_t clear_bits{0};
-	};
-
-	int probe() override;
-
-	bool Reset();
-
-	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
-	void ConfigureSampleRate(int sample_rate);
-
-	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
-	void DataReady();
-	bool DataReadyInterruptConfigure();
-	bool DataReadyInterruptDisable();
-
-	bool RegisterCheck(const register_config_t &reg_cfg);
-	bool StoreCheckedRegisterValue(Register reg);
-
-	uint8_t RegisterRead(Register reg);
-	void RegisterWrite(Register reg, uint8_t value);
-	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
-
-	uint16_t FIFOReadCount();
-	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
-	void FIFOReset();
-
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
-
-	const spi_drdy_gpio_t _drdy_gpio;
-
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
-
-	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
-	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
-	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
-	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
-	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
-	perf_counter_t _drdy_missed_perf{nullptr};
-
-	hrt_abstime _reset_timestamp{0};
-	hrt_abstime _last_config_check_timestamp{0};
-	hrt_abstime _temperature_update_timestamp{0};
-	int _failure_count{0};
-
-	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
-	int32_t _drdy_count{0};
-	bool _data_ready_interrupt_enabled{false};
-
-	enum class STATE : uint8_t {
-		RESET,
-		WAIT_FOR_RESET,
-		CONFIGURE,
-		FIFO_READ,
-	} _state{STATE::RESET};
-
-	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
-
-	uint8_t _checked_register{0};
-	static constexpr uint8_t size_register_cfg{16};
-	register_config_t _register_cfg[size_register_cfg] {
-		// Register                | Set bits, Clear bits
-		{ Register::CONFIG,         CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
-		{ Register::SMPLRT_DIV,     SMPLRT_DIV_BIT::SPEED, 0 },//输出速率100hz
-		{ Register::GYRO_CONFIG,    GYRO_CONFIG_BIT::FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },//陀螺仪±2000dps量程
-		{ Register::ACCEL_CONFIG,   ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },//加速度计±16G量程
-		{ Register::ACCEL_CONFIG2,  ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B, ACCEL_CONFIG2_BIT::FIFO_SIZE },//加速度计低通滤波BW=21.2Hz
-		{ Register::FIFO_EN,        FIFO_EN_BIT::XG_FIFO_EN | FIFO_EN_BIT::YG_FIFO_EN | FIFO_EN_BIT::ZG_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN, FIFO_EN_BIT::TEMP_FIFO_EN },
-		{ Register::INT_PIN_CFG,    INT_PIN_CFG_BIT::INT_LEVEL, 0 },
-		{ Register::INT_ENABLE,     INT_ENABLE_BIT::DATA_RDY_INT_EN, 0 },
-		{ Register::USER_CTRL,      USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_IF_DIS, 0 },
-		{ Register::PWR_MGMT_1,     PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::SLEEP },
-		{ Register::XA_OFFSET_H,    0, 0 },
-		{ Register::XA_OFFSET_L,    0, 0 },
-		{ Register::YA_OFFSET_H,    0, 0 },
-		{ Register::YA_OFFSET_L,    0, 0 },
-		{ Register::ZA_OFFSET_H,    0, 0 },
-		{ Register::ZA_OFFSET_L,    0, 0 },
-	};
-};
@@ -1,193 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-#pragma once
-
-#include <cstdint>
-
-// TODO: move to a central header
-static constexpr uint8_t Bit0 = (1 << 0);
-static constexpr uint8_t Bit1 = (1 << 1);
-static constexpr uint8_t Bit2 = (1 << 2);
-static constexpr uint8_t Bit3 = (1 << 3);
-static constexpr uint8_t Bit4 = (1 << 4);
-static constexpr uint8_t Bit5 = (1 << 5);
-static constexpr uint8_t Bit6 = (1 << 6);
-static constexpr uint8_t Bit7 = (1 << 7);
-
-namespace InvenSense_IAM20680HP
-{
-static constexpr uint32_t SPI_SPEED = 8 * 1000 * 1000; // 8MHz SPI serial interface
-static constexpr uint8_t DIR_READ = 0x80;
-
-static constexpr uint8_t WHOAMI = 0xF8; //whoami默认值
-
-static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C 灵敏度
-static constexpr float TEMPERATURE_OFFSET = 25.f; // C 温度偏移
-//寄存器地址
-enum class Register : uint8_t {
-	SMPLRT_DIV        = 0X19,
-	CONFIG            = 0x1A,
-	GYRO_CONFIG       = 0x1B,
-	ACCEL_CONFIG      = 0x1C,
-	ACCEL_CONFIG2     = 0x1D,
-
-	FIFO_EN           = 0x23,
-
-	INT_PIN_CFG       = 0x37,
-	INT_ENABLE        = 0x38,
-
-	TEMP_OUT_H        = 0x41,
-	TEMP_OUT_L        = 0x42,
-
-	SIGNAL_PATH_RESET = 0x68,
-
-	USER_CTRL         = 0x6A,
-	PWR_MGMT_1        = 0x6B,
-
-	FIFO_COUNTH       = 0x72,
-	FIFO_COUNTL       = 0x73,
-	FIFO_R_W          = 0x74,
-	WHO_AM_I          = 0x75,
-
-	XA_OFFSET_H       = 0x77,
-	XA_OFFSET_L       = 0x78,
-
-	YA_OFFSET_H       = 0x7A,
-	YA_OFFSET_L       = 0x7B,
-
-	ZA_OFFSET_H       = 0x7D,
-	ZA_OFFSET_L       = 0x7E,
-};
-
-// CONFIG
-enum CONFIG_BIT : uint8_t {
-	FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
-
-	DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
-};
-
-// GYRO_CONFIG
-enum GYRO_CONFIG_BIT : uint8_t {
-	// FS_SEL [4:3]
-	FS_SEL_250_DPS	= 0,           // 0b00000
-	FS_SEL_500_DPS	= Bit3,        // 0b01000
-	FS_SEL_1000_DPS	= Bit4,        // 0b10000
-	FS_SEL_2000_DPS	= Bit4 | Bit3, // 0b11000
-
-	// FCHOICE_B [1:0]
-	FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0   8 kHz
-};
-
-// ACCEL_CONFIG
-enum ACCEL_CONFIG_BIT : uint8_t {
-	// ACCEL_FS_SEL [4:3]
-	ACCEL_FS_SEL_2G  = 0,           // 0b00000
-	ACCEL_FS_SEL_4G  = Bit3,        // 0b01000
-	ACCEL_FS_SEL_8G  = Bit4,        // 0b10000
-	ACCEL_FS_SEL_16G = Bit4 | Bit3, // 0b11000
-};
-
-// ACCEL_CONFIG2
-enum ACCEL_CONFIG2_BIT : uint8_t {
-	FIFO_SIZE       = Bit7 | Bit6, // 0=512bytes,
-	ACCEL_FCHOICE_B = Bit3,        // Used to bypass DLPF (DS-000114 Page 40 of 53)
-};
-
-// FIFO_EN
-enum FIFO_EN_BIT : uint8_t {
-	TEMP_FIFO_EN  = Bit7,
-	XG_FIFO_EN    = Bit6,
-	YG_FIFO_EN    = Bit5,
-	ZG_FIFO_EN    = Bit4,
-	ACCEL_FIFO_EN = Bit3,
-};
-
-// INT_PIN_CFG
-enum INT_PIN_CFG_BIT : uint8_t {
-	INT_LEVEL = Bit7,
-};
-
-// INT_ENABLE
-enum INT_ENABLE_BIT : uint8_t {
-	DATA_RDY_INT_EN = Bit0,
-};
-
-// SIGNAL_PATH_RESET
-enum SIGNAL_PATH_RESET_BIT : uint8_t {
-	ACCEL_RST = Bit1,
-	TEMP_RST  = Bit0,
-};
-
-// USER_CTRL
-enum USER_CTRL_BIT : uint8_t {
-	FIFO_EN      = Bit6,
-	I2C_IF_DIS   = Bit4,
-	FIFO_RST     = Bit2,
-	SIG_COND_RST = Bit0,
-};
-
-// PWR_MGMT_1
-enum PWR_MGMT_1_BIT : uint8_t {
-	DEVICE_RESET = Bit7,
-	SLEEP        = Bit6,
-
-	// CLKSEL[2:0]
-	CLKSEL_0     = Bit0, // It is required that CLKSEL[2:0] be set to 001 to achieve full gyroscope performance.
-};
-enum SMPLRT_DIV_BIT : uint8_t {
-	SPEED     = Bit3 | Bit0, // It is required that CLKSEL[2:0] be set to 001 to achieve full gyroscope performance.
-};
-namespace FIFO
-{
-static constexpr size_t SIZE = 512; // max is 4 KB, but limited in software to 512 bytes via ACCEL_CONFIG2
-
-// FIFO_DATA layout when FIFO_EN has both {X, Y, Z}G_FIFO_EN and ACCEL_FIFO_EN set
-struct DATA {
-	uint8_t ACCEL_XOUT_H;
-	uint8_t ACCEL_XOUT_L;
-	uint8_t ACCEL_YOUT_H;
-	uint8_t ACCEL_YOUT_L;
-	uint8_t ACCEL_ZOUT_H;
-	uint8_t ACCEL_ZOUT_L;
-	uint8_t GYRO_XOUT_H;
-	uint8_t GYRO_XOUT_L;
-	uint8_t GYRO_YOUT_H;
-	uint8_t GYRO_YOUT_L;
-	uint8_t GYRO_ZOUT_H;
-	uint8_t GYRO_ZOUT_L;
-};
-}
-
-} // namespace InvenSense_IAM20680HP
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_IMU_INVENSENSE_IAM20680HP
-	bool "iam20680hp"
-	default n
-	---help---
-		Enable support for iam20680hp
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Igor Mišić	3574e0d5da	update	2023-02-16 17:38:31 +01:00
Igor Mišić	535fb80779	boards/cuav/x7pro: add mtd for FM25V05	2023-02-16 16:42:47 +01:00
Igor Mišić	6062a006c7	temp commit	2023-02-16 16:42:15 +01:00
Igor Mišić	02fb5be838	boards: update test variants LittleFS	2023-02-15 18:01:18 +01:00
Igor Mišić	72ffcae61d	Improvement when params are corrupted	2023-02-15 17:13:20 +01:00
Igor Mišić	b32ef40af7	mtd: update to 1-byte FRAM granularity	2023-02-15 16:51:00 +01:00
Igor Mišić	fa31c128dd	Parameter transition from block device to LittleFS This commit can be reverted after the transition period	2023-02-15 11:34:24 +01:00
Daniel Agar	80cb515095	[RFC] NuttX use littlefs for F-RAM parameter storage	2023-01-27 17:08:49 +01:00