boards: stm32h7 enable SPI and serial DMA everywhere

- try to keep board support packages in sync
2026-06-14 15:20:04 +08:00 · 2022-01-10 10:42:13 -05:00
82 changed files with 753 additions and 1818 deletions
@@ -46,6 +46,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -69,7 +70,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -78,8 +78,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -95,6 +95,8 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,17 +33,29 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
-#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
-
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 9,10,11,12
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6, 7, 8
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0   /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0   /* DMA1:40 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 (RX only)
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 1, 2, 3, 4


-// DMAMUX2 (BDMA)
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+// DMAMUX2
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */  // TELEM1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // TELEM2 RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // TELEM2 TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // CONSOLE (RX only)
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /* DMA2:81 */  // RC (RX only)
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1   /* DMA2:83 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1   /* DMA2:84 */
+
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -53,7 +53,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -61,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -83,7 +83,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -103,9 +102,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -181,6 +177,8 @@ CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI1_DMA=y
 CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
@@ -216,24 +214,31 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_IFLOWCONTROL=y
 CONFIG_USART6_OFLOWCONTROL=y
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -94,7 +94,7 @@

 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS4,57600"
+#define INTERFACE_USART_CONFIG         "/dev/ttyS4,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1009
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,11 +34,11 @@
 /**
 * @file init.c
 *
- * FMU-specific early startup code. This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -78,7 +76,6 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);

 	bool last = READ_SPEKTRUM_POWER();
 	/* Keep Spektum on to discharge rail*/
@@ -92,7 +89,6 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	SPEKTRUM_POWER(last);
-	board_control_spi_sensors_power(true, 0xffff);
 	VDD_5V_PERIPH_EN(true);
 }

@@ -132,14 +128,14 @@ __EXPORT void stm32_boardinitialize(void)
 	/* Reset PWM first thing */
 	board_on_reset(-1);

-	/* configure LEDs */
-	board_autoled_initialize();
-
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

 	board_control_spi_sensors_power_configgpio();
+
+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -179,6 +175,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -212,7 +214,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -47,6 +47,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -70,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,8 +79,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -98,6 +98,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -20,6 +20,5 @@ param set-default SENS_TEMP_ID 6946850
 # Set Camera trigger pins to 13/14
 param set-default TRIG_PINS_EX 12288

-
 rgbled_pwm start
 safety_button start
@@ -220,6 +220,7 @@

 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

+
 /* UART/USART */
 #define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
@@ -243,12 +244,14 @@
 #define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */

+
 /* CAN */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

+
 /* SPI */
 #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

@@ -272,6 +275,7 @@
 #define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
 #define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */

+
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,17 +33,29 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
-#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
-
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 9,10,11,12
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6, 7, 8
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0   /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0   /* DMA1:40 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 (RX only)
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 1, 2, 3, 4


-// DMAMUX2 (BDMA)
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+// DMAMUX2
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1 /* DMA2:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1 /* DMA2:44 */  // TELEM1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // TELEM2 RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // TELEM2 TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // CONSOLE (RX only)
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /* DMA2:81 */  // RC (RX only)
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1   /* DMA2:83 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1   /* DMA2:84 */
+
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -102,9 +102,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -180,6 +177,8 @@ CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI1_DMA=y
 CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
@@ -215,24 +214,31 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_IFLOWCONTROL=y
 CONFIG_USART6_OFLOWCONTROL=y
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -109,7 +109,6 @@

 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   14
-#define BOARD_NUM_IO_TIMERS           4

 /* Power supply control and monitoring GPIOs */
 #define BOARD_NUMBER_BRICKS             2
@@ -192,14 +191,9 @@
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
 #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))

-
-/* This board provides a DMA pool and APIs */
+#define BOARD_NUM_IO_TIMERS 4
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
 #define BOARD_HAS_ON_RESET 1
-
-
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -94,7 +94,7 @@

 //#define USE_VBUS_PULL_DOWN
 #define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS4,57600"
+#define INTERFACE_USART_CONFIG         "/dev/ttyS4,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1010
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,11 +34,11 @@
 /**
 * @file init.c
 *
- * FMU-specific early startup code. This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -78,7 +76,6 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);

 	bool last = READ_SPEKTRUM_POWER();
 	/* Keep Spektum on to discharge rail*/
@@ -92,7 +89,6 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	SPEKTRUM_POWER(last);
-	board_control_spi_sensors_power(true, 0xffff);
 	VDD_5V_PERIPH_EN(true);
 }

@@ -132,14 +128,14 @@ __EXPORT void stm32_boardinitialize(void)
 	/* Reset PWM first thing */
 	board_on_reset(-1);

-	/* configure LEDs */
-	board_autoled_initialize();
-
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

 	board_control_spi_sensors_power_configgpio();
+
+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -179,6 +175,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -212,7 +214,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,12 +33,23 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 1, 2, 3, 4
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */  // TELEM1 TX
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */  // TELEM2 RX
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */  // TELEM2 TX

-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */

-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0 /* DMA1:83 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0 /* DMA1:84 */
+// DMAMUX2
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_1  /* DMA2:63 */  // GPS1 RX
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_1  /* DMA2:64 */  // GPS1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // PX4IO RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // PX4IO TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // console (RX only)
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1   /* DMA2:83 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1   /* DMA2:84 */
@@ -54,7 +54,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -62,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -84,7 +84,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -204,9 +203,12 @@ CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
@@ -215,15 +217,21 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -201,9 +201,12 @@ CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
@@ -213,15 +216,21 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -38,7 +38,7 @@
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -126,6 +124,7 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
+
 	board_control_spi_sensors_power_configgpio();

 	/* configure LEDs */
@@ -166,6 +165,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
@@ -192,7 +197,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -42,7 +42,6 @@
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
 #include <debug.h>
-#include <syslog.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,13 +33,28 @@

 #pragma once

-// DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */

-#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
-#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
+// DMAMUX1
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 1, 2, 3, 4
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 RX
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */  // GPS2 RX
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */  // TELEM1 TX
+

 // DMAMUX2
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1 /* DMA2:45 */  // TELEM2 RX
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1 /* DMA2:46 */  // TELEM2 TX
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_1  /* DMA2:63 */  // TELEM4 RX
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_1  /* DMA2:64 */  // TELEM4 TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // console (RX only)
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /* DMA2:81 */  // PX4IO RX
+#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /* DMA2:82 */  // PX4IO TX
+
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -209,27 +209,38 @@ CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_TXDMA=y
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -34,35 +34,21 @@
 /**
 * @file init.c
 *
- * PX4FMU-specific early startup code.  This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
 #include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"

@@ -75,28 +61,12 @@
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS

-
 /************************************************************************************
 * Name: board_peripheral_reset
 *
@@ -106,9 +76,7 @@ __END_DECLS
 __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
-
 	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,9 +90,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
-	board_control_spi_sensors_power(true, 0xffff);
 	VDD_5V_PERIPH_EN(true);
-
 }

 /************************************************************************************
@@ -158,27 +124,22 @@ __EXPORT void board_on_reset(int status)
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
+	/* Reset PWM first thing */
+	board_on_reset(-1);

 	/* configure pins */
-
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

 	board_control_spi_sensors_power_configgpio();

 	/* configure USB interfaces */
-
 	stm32_usbinitialize();

+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -192,21 +153,13 @@ stm32_boardinitialize(void)
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
+ *         meaning to NuttX;
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/
-
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -216,10 +169,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-
 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
 		       board_get_hw_type_name());
@@ -229,11 +180,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}

 	/* configure SPI interfaces (after we determined the HW version) */
-
 	stm32_spiinitialize();

 	/* configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -254,12 +203,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

+#ifdef CONFIG_MMCSD
 	// Ensure Power is off for > 10 mS
 	usleep(15 * 1000);
 	VDD_3V3_SD_CARD_EN(true);
 	usleep(500 * 1000);

-#ifdef CONFIG_MMCSD
 	int ret = stm32_sdio_initialize();

 	if (ret != OK) {
@@ -269,7 +218,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -12,8 +12,8 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -47,14 +48,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,17 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -52,7 +52,6 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -1,7 +1,7 @@
 /************************************************************************************
- * nuttx-configs/px4_fmu-v6u/include/board.h
+ * nuttx-config/include/board.h
 *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
 *   Authors: David Sidrane <david.sidrane@nscdg.com>
 *
 * Redistribution and use in source and binary forms, with or without
@@ -32,12 +32,7 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************************/
-#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
+#pragma once

 #include "board_dma_map.h"

@@ -50,12 +45,8 @@
 #include "stm32_rcc.h"
 #include "stm32_sdmmc.h"

-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
 /* Clocking *************************************************************************/
-/* The MatekH743-Slim  board provides the following clock sources:
+/* The board provides the following clock sources:
 *
 *   X1: 8 MHz crystal for HSE
 *
@@ -64,13 +55,12 @@
 *   HSI: 64 MHz RC factory-trimmed
 *   HSE:  8 MHz crystal for HSE
 */
-
 #define STM32_BOARD_XTAL        8000000ul

 #define STM32_HSI_FREQUENCY     16000000ul
 #define STM32_LSI_FREQUENCY     32000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
+#define STM32_LSE_FREQUENCY     0

 /* Main PLL Configuration.
 *
@@ -105,12 +95,7 @@
 *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
 *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
 */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
@@ -123,12 +108,7 @@
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)

 /* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
 #define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
 #define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
 #define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
@@ -141,10 +121,7 @@
 #define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)

 /* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN)
 #define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
 #define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
 #define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
@@ -159,7 +136,6 @@
 /* SYSCLK = PLL1P = 480MHz
 * CPUCLK = SYSCLK / 1 = 480 MHz
 */
-
 #define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
 #define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
 #define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
@@ -169,36 +145,30 @@
 /* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
 * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
 */
-
 #define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
 #define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
 #define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
 #define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */

 /* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
 #define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
 #define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
 #define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
 #define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
 #define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
 #define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
 #define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
 #define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* Timer clock frequencies */

 /* Timers driven from APB1 will be twice PCLK1 */
-
 #define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
@@ -210,7 +180,6 @@
 #define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)

 /* Timers driven from APB2 will be twice PCLK2 */
-
 #define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
@@ -218,76 +187,29 @@
 #define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)

 /* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
+ *  Note: look at Table 54 in ST Manual
 */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 clock source */
-
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
+/* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

 /* SDMMC definitions ********************************************************/
-
 /* Init 480kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

 /* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
 * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
 */
-
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
@@ -301,55 +223,8 @@

 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

-/* LED definitions ******************************************************************/
-/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
- * that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_NLEDS       2
-
-#define BOARD_LED_BLUE    BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/

+/* UART/USART */
 #define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */

@@ -374,59 +249,38 @@
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */


-/* CAN
- *
- * CAN1 is routed to transceiver.
- */
-
+/* CAN */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */

-/* SPI
- *
- * SPI1 is MPU6000
- * SPI2 is MAX7456
- * SPI3 is extern with PD4 and PE2 as CS
- * SPI4 is ICM20602
- */

+/* SPI */
 #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */

+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */

+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3  */
 #define GPIO_SPI3_MISO   GPIO_SPI3_MISO_1               /* PB4  */
 #define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_4               /* PB5  */
-#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3  */

+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */
 #define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
 #define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1               /* PE14 */
-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */

-/* I2C
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */

+/* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */

-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */

-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)

 /* SDMMC1
 *
@@ -444,50 +298,3 @@
 // #define GPIO_SDMMC1_D3   GPIO_SDMMC1_D3    /* PC11 */
 // #define GPIO_SDMMC1_CK   GPIO_SDMMC1_CK    /* PC12 */
 // #define GPIO_SDMMC1_CMD  GPIO_SDMMC1_CMD   /* PD2  */
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
-# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-#endif  /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H  */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -33,11 +33,15 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM3UP     DMAMAP_DMA12_TIM3UP_0   /* DMA1:27 */  // DSHOT 1, 2
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 7, 8
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 3, 4, 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */


 // DMAMUX2
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2:83 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2:84 */
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1   /* DMA2:83 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1   /* DMA2:84 */
@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		sdio.c
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -58,7 +57,6 @@ else()
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_spi
-			arch_board_hw_info
 			drivers__led
 			nuttx_arch
 			nuttx_drivers
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -39,25 +39,15 @@

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
-
 #include <stm32_gpio.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
 // #define FLASH_BASED_PARAMS

-
+/* LEDs */
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
 #define GPIO_nLED_BLUE          /* PE3 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_nLED_GREEN         /* PE4 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)

@@ -65,57 +55,39 @@
 #define BOARD_ARMED_STATE_LED           1 // Green LED
 #define BOARD_OVERLOAD_LED              0 // Blue LED

-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-#define ADC1_CH(n)                  (n)
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+/* ADC channels */
 #define PX4_ADC_GPIO  \
 	/* PC0  */  GPIO_ADC123_INP10, \
 	/* PC1  */  GPIO_ADC123_INP11, \
-	/* PA4  */  GPIO_ADC12_INP18, \
-	/* PA7  */  GPIO_ADC12_INP7, \
-	/* PC4  */  GPIO_ADC12_INP4, \
+	/* PA4  */  GPIO_ADC12_INP18,  \
+	/* PA7  */  GPIO_ADC12_INP7,   \
+	/* PC4  */  GPIO_ADC12_INP4,   \
 	/* PC5  */  GPIO_ADC12_INP8

-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC0  */  ADC1_CH(10)
-#define ADC_BATTERY_CURRENT_CHANNEL     /* PC1  */  ADC1_CH(11)
-#define ADC_BATTERY2_VOLTAGE_CHANNEL    /* PA4  */  ADC1_CH(18)
-#define ADC_BATTERY2_CURRENT_CHANNEL    /* PA7  */  ADC1_CH(7)
-#define ADC_AIRSPEED_IN_CHANNEL         /* PC4  */  ADC1_CH(4)
-#define ADC_RSSI_IN_CHANNEL             /* PC5  */  ADC1_CH(8)
+/* Define Channel numbers must match above GPIO pins */
+#define ADC_BATTERY1_VOLTAGE_CHANNEL        10 /* PC0 */
+#define ADC_BATTERY1_CURRENT_CHANNEL        11 /* PC1 */
+#define ADC_BATTERY2_VOLTAGE_CHANNEL        18 /* PA4 */
+#define ADC_BATTERY2_CURRENT_CHANNEL         7 /* PA7 */
+#define ADC_AIRSPEED_IN_CHANNEL              4 /* PC4 */
+#define ADC_RSSI_IN_CHANNEL                  8 /* PC5 */

 #define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
-	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
+	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
+	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY2_CURRENT_CHANNEL)       | \
 	 (1 << ADC_AIRSPEED_IN_CHANNEL) | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

-/* CAN Silence
- *
- * Silent mode control \ ESC Mux select
- */
-
+/* CAN Silence Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PD3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN3)

-
-/* PWM
- */
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
-#define DIRECT_INPUT_TIMER_CHANNELS  8
-
-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

+/* Power supply control and monitoring GPIOs */
+#define BOARD_NUMBER_BRICKS             2

 /* Spare GPIO */

@@ -125,7 +97,6 @@


 /* Tone alarm output */
-
 #define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
 #define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)

@@ -136,13 +107,10 @@


 /* USB OTG FS
- *
 * PE2  OTG_FS_VBUS VBUS sensing
 */
-
 #define GPIO_OTGFS_VBUS         /* PE2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN2)

-
 /* High-resolution timer */
 #define HRT_TIMER               2  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 3 */
@@ -154,75 +122,36 @@

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

-
-/* SD Card */
-#define SDIO_SLOTNO             0  /* Only one slot */
-#define SDIO_MINOR              0
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO, \
-		GPIO_CAN1_TX, \
-		GPIO_CAN1_RX, \
-		GPIO_CAN1_SILENT_S0, \
-		GPIO_nLED_BLUE, \
-		GPIO_nLED_GREEN, \
-		GPIO_TONE_ALARM_IDLE, \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_ADC_BRICK1_VALID  (1)
+#define BOARD_ADC_BRICK2_VALID  (1)

 #define BOARD_NUM_IO_TIMERS 4
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_HAS_ON_RESET 1
+#define BOARD_ENABLE_CONSOLE_BUFFER

+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_nLED_BLUE,                   \
+		GPIO_nLED_GREEN,                  \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_OTGFS_VBUS,                  \
+	}

 __BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
- *
- ****************************************************************************************************/
-
 extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);

 #include <px4_platform_common/board_common.h>
-
 #endif /* __ASSEMBLY__ */
-
 __END_DECLS
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -34,11 +34,11 @@
 /**
 * @file init.c
 *
- * FMU-specific early startup code. This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -113,9 +113,6 @@ __EXPORT void stm32_boardinitialize(void)
 	/* Reset PWM first thing */
 	board_on_reset(-1);

-	/* configure LEDs */
-	board_autoled_initialize();
-
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
@@ -123,9 +120,8 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure SPI interfaces */
 	stm32_spiinitialize();

-	/* configure USB interfaces */
-	stm32_usbinitialize();
-
+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -156,6 +152,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -166,13 +168,21 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}

 #ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot

-	if (ret != OK) {
-		led_on(LED_BLUE);
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
 	}

-#endif
+	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+	}
+
+	/* Assume that the SD card is inserted.  What choice do we have? */
+	sdio_mediachange(sdio_dev, true);
+#endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
 	px4_platform_configure();
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */
@@ -35,7 +35,6 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>

-
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
@@ -34,9 +34,9 @@
 #include <px4_arch/io_timer_hw_description.h>

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	// initIOTimer(Timer::Timer15),
 };

@@ -43,25 +43,6 @@
 #include <stm32_otg.h>
 #include <debug.h>

-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32F7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
 /************************************************************************************
 * Name:  stm32_usbsuspend
 *
@@ -40,6 +40,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,8 +72,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,19 +33,27 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0   /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0   /* DMA1:40 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 RX
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */  // GPS1 TX
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 1, 2, 3, 4

-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
-
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_0 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_0 /* DMA1:72 */

 // DMAMUX2
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1  /* DMA2:65 */  // TELEM2 RX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1  /* DMA2:66 */  // TELEM2 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // RC RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // RC TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // TELEM1 RX
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1  /* DMA2:80 */  // TELEM1 TX

-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -53,7 +53,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x0483
 CONFIG_CDCACM_VENDORSTR="ModalAI"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -62,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -86,7 +86,6 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_NCHAINS=24
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -181,13 +180,15 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI2_DMA=y
 CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
@@ -211,19 +212,28 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_BAUD=57600
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
@@ -235,7 +245,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -53,26 +53,6 @@
 * Definitions
 ****************************************************************************************************/

-/* PX4IO connection configuration */
-
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* Configuration ************************************************************************************/
-
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
 /* Trace Clock and D0-D3 are available on the trace connector
 *
 * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -34,35 +34,21 @@
 /**
 * @file init.c
 *
- * PX4FMU-specific early startup code.  This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
 * subsystems and perform board-specific initialization.
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
 #include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"

@@ -75,26 +61,12 @@
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>

-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS

-
 /************************************************************************************
 * Name: board_peripheral_reset
 *
@@ -103,9 +75,6 @@ __END_DECLS
 ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* set the peripheral rails off */
-	board_control_spi_sensors_power(false, 0xffff);
-
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
 	VDD_3V3_SPEKTRUM_POWER_EN(false);
@@ -118,8 +87,6 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
-	board_control_spi_sensors_power(true, 0xffff);
-
 }

 /************************************************************************************
@@ -153,15 +120,11 @@ __EXPORT void board_on_reset(int status)
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void stm32_boardinitialize(void)
 {
 	board_on_reset(-1); /* Reset PWM first thing */

-	/* configure LEDs */

-	board_autoled_initialize();

 	/* configure pins */

@@ -174,10 +137,11 @@ stm32_boardinitialize(void)

 	stm32_spiinitialize();

+	/* configure LEDs */
+	board_autoled_initialize();
+
 	/* configure USB interfaces */
-
 	stm32_usbinitialize();
-
 }

 /****************************************************************************
@@ -191,13 +155,7 @@ stm32_boardinitialize(void)
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
+ *         meaning to NuttX;
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
@@ -213,10 +171,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-
 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
 		       board_get_hw_type_name());
@@ -226,7 +182,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}

 	/* configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -268,6 +268,10 @@
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */

+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
+

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -34,11 +34,23 @@
 #pragma once

 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 1, 2, 3, 4
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */  // TELEM1 TX
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */  // TELEM2 RX
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */  // TELEM2 TX

-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+// DMAMUX2
+//      DMAMAP_TIM8UP     DMAMAP_DMA12_TIM8UP_1   /* DMA2:61 */  // DSHOT 7, 8
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_1  /* DMA2:63 */  // GPS1 RX
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_1  /* DMA2:64 */  // GPS1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // RC (RX only)
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_1   /* DMA2:85 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_1   /* DMA2:86 */

-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -56,13 +56,11 @@ CONFIG_CDCACM_VENDORSTR="mRo"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -185,6 +183,9 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI5_DMA=y
 CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
@@ -208,30 +209,37 @@ CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_RXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -97,17 +97,17 @@
 #define TONE_ALARM_TIMER        2  /* timer 2 */
 #define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */

-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM

 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
 #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2

 /* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)

 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */

 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -146,19 +146,10 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_HAS_ON_RESET 1
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -170,6 +161,11 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -38,7 +38,7 @@
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
+
 	board_control_spi_sensors_power_configgpio();

 	/* configure LEDs */
@@ -168,6 +167,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif

 	/* initial LED state */
 	drv_led_start();
@@ -197,7 +201,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -48,6 +48,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
 	}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),
+	}),
 };

 static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -36,7 +36,7 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer8, DMA{DMA::Index2}),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -264,6 +264,10 @@
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */

+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
+

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -34,11 +34,23 @@
 #pragma once

 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 1, 2, 3, 4
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */  // TELEM1 TX
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */  // TELEM2 RX
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */  // TELEM2 TX

-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+// DMAMUX2
+//      DMAMAP_TIM8UP     DMAMAP_DMA12_TIM8UP_1   /* DMA2:61 */  // DSHOT 7, 8
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_1  /* DMA2:63 */  // GPS1 RX
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_1  /* DMA2:64 */  // GPS1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // RC (RX only)
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_1   /* DMA2:85 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_1   /* DMA2:86 */

-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -56,13 +56,11 @@ CONFIG_CDCACM_VENDORSTR="mRo"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -158,6 +156,7 @@ CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -182,6 +181,9 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI5_DMA=y
 CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
@@ -205,30 +207,37 @@ CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_RXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -97,17 +97,17 @@
 #define TONE_ALARM_TIMER        2  /* timer 2 */
 #define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */

-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM

 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
 #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2

 /* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)

 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */

 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -146,19 +146,10 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_HAS_ON_RESET 1
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -168,6 +159,11 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -38,7 +38,7 @@
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
+
 	board_control_spi_sensors_power_configgpio();

 	/* configure LEDs */
@@ -168,6 +167,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif

 	/* initial LED state */
 	drv_led_start();
@@ -197,7 +201,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -48,6 +48,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
 	}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),
+	}),
 };

 static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -36,7 +36,7 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer8, DMA{DMA::Index2}),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -38,6 +38,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -61,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -72,8 +72,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,16 +33,27 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM1UP     DMAMAP_DMA12_TIM1UP_0   /* DMA1:15 */  // DSHOT 1, 2, 3, 4
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /* DMA1:43 */  // TELEM1 RX
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /* DMA1:44 */  // TELEM1 TX
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /* DMA1:45 */  // TELEM2 RX
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /* DMA1:46 */  // TELEM2 TX

-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */

-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
+// DMAMUX2
+//      DMAMAP_TIM8UP     DMAMAP_DMA12_TIM8UP_1   /* DMA2:61 */  // DSHOT 7, 8
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_1  /* DMA2:63 */  // GPS1 RX
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_1  /* DMA2:64 */  // GPS1 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // RC (RX only)
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_1   /* DMA2:85 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_1   /* DMA2:86 */
+

 // BDMA
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX   /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX   /* BDMA:12 */
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -103,9 +103,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -206,7 +203,9 @@ CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
@@ -218,14 +217,19 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -118,7 +118,6 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -147,8 +146,8 @@

 #define BOARD_NUM_IO_TIMERS 3
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
-#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_HAS_ON_RESET 1
 #define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -38,7 +38,7 @@
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

 #include "board_config.h"
@@ -60,8 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-#include <mpu.h>
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -129,6 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
+
 	board_control_spi_sensors_power_configgpio();

 	/* configure LEDs */
@@ -168,6 +167,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}

+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -195,5 +200,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
 	return OK;
 }
@@ -36,7 +36,7 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer8, DMA{DMA::Index2}),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -43,6 +43,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -65,7 +66,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,8 +74,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,16 +33,29 @@

 #pragma once

-// DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */

-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
+// DMAMUX1
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0   /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0   /* DMA1:40 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 RX
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */  // GPS1 TX
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 1, 2, 3, 4
+

 // DMAMUX2
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1   /* DMA2:61 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1   /* DMA2:62 */
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1  /* DMA2:65 */  // TELEM2 RX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1  /* DMA2:66 */  // TELEM2 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // RC RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // RC TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // TELEM1 RX
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1  /* DMA2:80 */  // TELEM1 TX

-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -181,7 +181,7 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI2_DMA=y
 CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
@@ -215,19 +215,28 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_BAUD=57600
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
@@ -239,7 +248,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,35 +34,21 @@
 /**
 * @file init.c
 *
- * PX4FMU-specific early startup code.  This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
 * subsystems and perform board-specific initialization.
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
 #include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"

@@ -75,26 +61,12 @@
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>

-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS

-
 /************************************************************************************
 * Name: board_peripheral_reset
 *
@@ -104,9 +76,7 @@ __END_DECLS
 __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
-
 	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -121,10 +91,8 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
-	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
-
 }

 /************************************************************************************
@@ -158,18 +126,12 @@ __EXPORT void board_on_reset(int status)
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
+	/* Reset PWM first thing */
+	board_on_reset(-1);

 	/* configure pins */
-
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

@@ -180,9 +142,10 @@ stm32_boardinitialize(void)
 	stm32_spiinitialize();

 	/* configure USB interfaces */
-
 	stm32_usbinitialize();

+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -196,21 +159,13 @@ stm32_boardinitialize(void)
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
+ *         meaning to NuttX;
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/
-
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -222,10 +177,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-
 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
 		       board_get_hw_type_name());
@@ -235,7 +188,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}

 	/* configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -256,12 +208,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

+#ifdef CONFIG_MMCSD
 	// Ensure Power is off for > 10 mS
 	usleep(15 * 1000);
 	VDD_3V3_SD_CARD_EN(true);
 	usleep(500 * 1000);

-#ifdef CONFIG_MMCSD
 	int ret = stm32_sdio_initialize();

 	if (ret != OK) {
@@ -271,7 +223,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -39,6 +39,7 @@ CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -61,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -70,8 +70,8 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,19 +33,29 @@

 #pragma once

+
 // DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+//      DMAMAP_TIM4UP     DMAMAP_DMA12_TIM4UP_0   /* DMA1:32 */  // DSHOT 5, 6
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* DMA1:38 */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0   /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0   /* DMA1:40 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /* DMA1:41 */  // GPS1 RX
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /* DMA1:42 */  // GPS1 TX
+//      DMAMAP_TIM5UP     DMAMAP_DMA12_TIM5UP_0   /* DMA1:59 */  // DSHOT 1, 2, 3, 4

-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
-
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_0 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_0 /* DMA1:72 */

 // DMAMUX2
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1   /* DMA2:61 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1   /* DMA2:62 */
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1  /* DMA2:65 */  // TELEM2 RX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1  /* DMA2:66 */  // TELEM2 TX
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA2:71 */  // PX4IO RX
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA2:72 */  // PX4IO TX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1  /* DMA2:79 */  // TELEM1 RX
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1  /* DMA2:80 */  // TELEM1 TX

-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
+
+// BDMA
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX     /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX     /* BDMA:12 */
@@ -219,7 +219,7 @@ CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
 CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI2_DMA=y
 CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
@@ -255,19 +255,28 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_BAUD=57600
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
@@ -279,7 +288,9 @@ CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2016, 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,20 +34,14 @@
 /**
 * @file board_config.h
 *
- * PX4FMU-v6x internal definitions
+ * Board internal definitions
 */

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
-
-
 #include <stm32_gpio.h>

 /****************************************************************************************************
@@ -1,12 +1,37 @@
-/*
- * hw_config.h
+/****************************************************************************
 *
- *  Created on: May 17, 2015
- *      Author: david_s5
- */
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/

-#ifndef HW_CONFIG_H_
-#define HW_CONFIG_H_
+#pragma once

 /****************************************************************************
 * 10-8--2016:
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,35 +34,21 @@
 /**
 * @file init.c
 *
- * PX4FMU-specific early startup code.  This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
 * subsystems and perform board-specific initialization.
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
 #include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"

@@ -75,26 +61,12 @@
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>

-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS

-
 /************************************************************************************
 * Name: board_peripheral_reset
 *
@@ -104,9 +76,7 @@ __END_DECLS
 __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
-
 	VDD_5V_PERIPH_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -121,10 +91,8 @@ __EXPORT void board_peripheral_reset(int ms)

 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
-	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);
-
 }

 /************************************************************************************
@@ -158,18 +126,12 @@ __EXPORT void board_on_reset(int status)
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
+	/* Reset PWM first thing */
+	board_on_reset(-1);

 	/* configure pins */
-
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

@@ -180,11 +142,12 @@ stm32_boardinitialize(void)
 	stm32_spiinitialize();

 	/* configure USB interfaces */
-
 	stm32_usbinitialize();

-	VDD_3V3_ETH_POWER_EN(true);
+	/* configure LEDs */
+	board_autoled_initialize();

+	VDD_3V3_ETH_POWER_EN(true);
 }

 /****************************************************************************
@@ -198,21 +161,13 @@ stm32_boardinitialize(void)
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
+ *         meaning to NuttX;
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/
-
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -224,10 +179,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-
 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
 		       board_get_hw_type_name());
@@ -237,7 +190,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}

 	/* configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -258,12 +210,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

+#ifdef CONFIG_MMCSD
 	// Ensure Power is off for > 10 mS
 	usleep(15 * 1000);
 	VDD_3V3_SD_CARD_EN(true);
 	usleep(500 * 1000);

-#ifdef CONFIG_MMCSD
 	int ret = stm32_sdio_initialize();

 	if (ret != OK) {
@@ -273,7 +225,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -91,9 +91,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS      4

-// Has pwm outputs
-#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
-
 /*
 * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
 * this board support the ADC system_power interface, and therefore
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -35,7 +36,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -1,7 +1,8 @@
 #!/bin/sh
 #
-# SP Racing H7 EXTREME specific board sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
+
 board_adc start

 # Internal SPI bus ICM-20602
@@ -13,5 +14,3 @@ icm20602 -s -b 3 -R 4 start # SPI 3
 # Internal I2C bus
 bmp388 -I start

-
-
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/spracing/h7extreme/include/board.h
+ * nuttx-config/include/board.h
 *
 *   Copyright (C) 2016-2020 Gregory Nutt. All rights reserved.
 *   Authors: Igor Misic <igy1000mb@gmail.com>
@@ -32,12 +32,8 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************************/
-#ifndef __NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H
+#pragma once

-/************************************************************************************
- * Included Files
- ************************************************************************************/
 #include "board_dma_map.h"

 #include <nuttx/config.h>
@@ -49,12 +45,8 @@
 #include "stm32_rcc.h"
 #include "stm32_sdmmc.h"

-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
 /* Clocking *************************************************************************/
-/* The sp racing h7 extreme  board provides the following clock sources:
+/* The board provides the following clock sources:
 *
 *   X1: 8 MHz crystal for HSE
 *
@@ -63,13 +55,12 @@
 *   HSI: 64 MHz RC factory-trimmed
 *   HSE:  8 MHz crystal for HSE
 */
-
 #define STM32_BOARD_XTAL        8000000ul

 #define STM32_HSI_FREQUENCY     16000000ul
 #define STM32_LSI_FREQUENCY     32000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
+#define STM32_LSE_FREQUENCY     0

 /* Main PLL Configuration.
 *
@@ -104,12 +95,7 @@
 *   PLL1Q = PLL1_VCO/4  = 800 MHz / 4  =  200 MHz
 *   PLL1R = PLL1_VCO/2  = 800 MHz / 2   = 400 MHz - locked for H750
 */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(2)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(200)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
@@ -122,12 +108,7 @@
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)

 /* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
 #define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
 #define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(260)
 #define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
@@ -140,12 +121,7 @@
 #define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)

 /* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP3EN | \
-				 RCC_PLLCFGR_DIVQ3EN | \
-				 RCC_PLLCFGR_DIVR3EN)
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVP3EN|RCC_PLLCFGR_DIVQ3EN|RCC_PLLCFGR_DIVR3EN)
 #define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
 #define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(50)
 #define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
@@ -160,7 +136,6 @@
 /* SYSCLK = PLL1P = 400MHz
 * CPUCLK = SYSCLK / 1 = 400 MHz
 */
-
 #define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
 #define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
 #define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
@@ -170,36 +145,30 @@
 /* AHB clock (HCLK) is SYSCLK/2 (200 MHz max)
 * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 200
 */
-
 #define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
 #define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
 #define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
 #define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */

 /* APB1 clock (PCLK1) is HCLK/2 (100 MHz) */
-
 #define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
 #define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB2 clock (PCLK2) is HCLK/2 (50 MHz) */
-
 #define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
 #define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB3 clock (PCLK3) is HCLK/2 (50 MHz) */
-
 #define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
 #define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* APB4 clock (PCLK4) is HCLK/4 (50 MHz) */
-
 #define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
 #define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)

 /* Timer clock frequencies */

 /* Timers driven from APB1 will be twice PCLK1 */
-
 #define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
 #define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
@@ -211,7 +180,6 @@
 #define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)

 /* Timers driven from APB2 will be twice PCLK2 */
-
 #define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
@@ -219,65 +187,25 @@
 #define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)

 /* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_APB
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_HSI48
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* QSPI clock source */
-#define STM32_RCC_D1CCIPR_QSPISEL    RCC_D1CCIPR_QSPISEL_PLL2
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
+ *  Note: look at Table 54 in ST Manual
 */
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1 /* SPI123 clock source */
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_APB   /* SPI45 clock source */
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_HSI48   /* USB 1 and 2 clock source */
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D1CCIPR_QSPISEL    RCC_D1CCIPR_QSPISEL_PLL2    /* QSPI clock source */

+/* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

 /* SDMMC definitions ********************************************************/
-
 /* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

 /* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
 * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
 */
-
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
@@ -291,118 +219,64 @@

 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

-/* LED definitions ******************************************************************/
-/* The sp racing h7 extreme board has three, LED_GREEN a Green LED, LED_BLUE
- * Red LED can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */

-/* LED index values for use with board_userled() */
+/* UART/USART */
+#define GPIO_USART1_RX   GPIO_USART1_RX_1   /* PB15 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_1   /* PB14 */

-#define BOARD_LED1        0
-#define BOARD_NLEDS       1
+#define GPIO_USART2_RX   0                  /* Not in use */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */

-#define BOARD_LED_RED     BOARD_LED1
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */

-/* LED bits for use with board_userled_all() */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PD1 */

-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define GPIO_UART5_RX    GPIO_UART5_RX_2    /* PB5 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */

-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6 */

-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is in sleep mode     ON     OFF   OFF  */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_1      /* PB15 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_1      /* PB14 */
-
-#define GPIO_USART2_RX   0                     /* Not in use */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_2       /* PB5 */
-#define GPIO_UART5_TX    GPIO_UART5_TX_1       /* PB13 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1      /* PC6 */
-
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
-
-/* SPI
- * SPI2 is gyro 1
- * SPI3 is gyro 2
- * SPI4 is BARO
- */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */


-//#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-//#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
-//#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+/* SPI */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2   /* PC2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PC3 */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3 */
+//#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+//#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6 */
+//#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7 */

-#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_1   /* PB4 */
-#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_1   /* PD6 */
-#define GPIO_SPI3_SCK    GPIO_SPI3_SCK_1    /* PB3 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3 */

-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE14 */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE12 */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3 */
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_1               /* PB4  */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_1               /* PD6 */

-/* I2C
- *
- *   Each I2C is associated with a U[S]ART
- *   hence the naming I2C2_SDA_UART4 in FMU USAGE spreadsheet
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1               /* PE14 */

+
+/* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)

 /* SDMMC1
 *
- *      VDD 3.3
- *      GND
- *      SDMMC1_CK                           PC12
- *      SDMMC1_CMD                          PD2
- *      SDMMC1_D0                           PC8
- *      SDMMC1_D1                           PC9
- *      SDMMC1_D2                           PC10
- *      SDMMC1_D3                           PC11
- *      GPIO_SDMMC1_NCD                     PG0
+ *      SDMMC1_D0                          PC8
+ *      SDMMC1_D1                          PC9
+ *      SDMMC1_D2                          PC10
+ *      SDMMC1_D3                          PC11
+ *      SDMMC1_CK                          PC12
+ *      SDMMC1_CMD                         PD2
+ *      GPIO_SDMMC1_NCD                    PG0
 */

 /* USB
@@ -412,47 +286,6 @@
 *      VBUS                                PA9
 */

-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN10)  /* PA10 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)   /* PE9  AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 FMU_CAP6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  FMU_CAP5 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  FMU_CAP4 */
-# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN5)   /* PA5  FMU_CAP3 */
-# define PROBE_10   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)   /* PB3  FMU_CAP2 */
-# define PROBE_11   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)  /* PB11 FMU_CAP1 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-		if ((mask)& PROBE_N(10)) { stm32_configgpio(PROBE_10); } \
-		if ((mask)& PROBE_N(11)) { stm32_configgpio(PROBE_11); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
 /* QSPI configuration */

 #define CONFIG_STM32H7_QUADSPI
@@ -466,41 +299,3 @@
 #define GPIO_QSPI_IO2	GPIO_QUADSPI_BK1_IO2_1	/* PE2 */
 #define GPIO_QSPI_IO3	GPIO_QUADSPI_BK1_IO3_2	/* PD13 */
 #define GPIO_QSPI_SCK	GPIO_QUADSPI_CLK_1		/* PB2 */
-
-/************************************************************************************
- * Public Data
- ************************************************************************************/
-#ifndef __ASSEMBLY__
-
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C"
-{
-#else
-#define EXTERN extern
-#endif
-
-/************************************************************************************
- * Public Function Prototypes
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-void stm32_boardinitialize(void);
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif  /*__NUTTX_CONFIG_SPRACING_H7EXTREME_INCLUDE_BOARD_H  */
@@ -35,7 +35,6 @@ add_library(drivers_board
 	i2c.cpp
 	init.c
 	led.c
-	sdio.c
 	spi.cpp
 	timer_config.cpp
 	usb.c
@@ -35,61 +35,44 @@
 /**
 * @file board_config.h
 *
- * sp racing h7 extreme internal definitions
+ * Board internal definitions
 */

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
-
 #include <stm32_gpio.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
 #define FLASH_BASED_PARAMS
 #define BOARD_USE_EXTERNAL_FLASH //Configuration and firmware are in external flash

-#define BOARD_HAS_USB_VALID            1 // LTC Has No USB valid
-
+/* LEDs */
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
 #define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)

-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
 #define BOARD_ARMED_STATE_LED  LED_RED
 #define BOARD_OVERLOAD_LED     LED_RED

-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+/* ADC channels */
 #define PX4_ADC_GPIO  \
-	/* PC4 */  GPIO_ADC12_INP4,  \
-	/* PC1 */  GPIO_ADC123_INP11, \
-	/* PC0 */  GPIO_ADC123_INP10
+	/* PC4  */  GPIO_ADC12_INP4,   \
+	/* PC1  */  GPIO_ADC123_INP11, \
+	/* PC0  */  GPIO_ADC123_INP10

+/* Define Channel numbers must match above GPIO pins */
+#define ADC_RSSI_IN_CHANNEL                 4 /* PC4 */
+#define ADC_BATTERY_VOLTAGE_CHANNEL        11 /* PC1 */
+#define ADC_BATTERY_CURRENT_CHANNEL        10 /* PC0 */

-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_RSSI_IN_CHANNEL                 /* PC4 */  4
-#define ADC_BATTERY_VOLTAGE_CHANNEL         /* PC1 */  11
-#define ADC_BATTERY_CURRENT_CHANNEL         /* PC0 */  10
+#define ADC_CHANNELS \
+	((1 << ADC_RSSI_IN_CHANNEL)               | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
+	 (1 << ADC_BATTERY_VOLTAGE_CHANNEL))

-#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11)
-
-/* PWM
- */
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8

 /* Tone alarm output */
@@ -97,8 +80,7 @@
 #define GPIO_TONE_ALARM_GPIO    /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)

 /* USB OTG FS
- *
- * PA8  OTG_FS_VBUS VBUS sensing
+ * PA9  OTG_FS_VBUS VBUS sensing
 */
 #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)

@@ -108,71 +90,32 @@


 /* RC Serial port */
-
 #define RC_SERIAL_PORT          "/dev/ttyS0"

 #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

-#define SDIO_SLOTNO             0  /* Only one slot */
-#define SDIO_MINOR              0
-
-
-/* This board provides a DMA pool and APIs */
+#define BOARD_NUM_IO_TIMERS 3
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7};
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
 #define BOARD_HAS_ON_RESET 1
+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
+		GPIO_RSSI_IN,                     \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_RSSI_IN,                \
+		GPIO_OTGFS_VBUS,                  \
 	}

-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 3
-
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7};
-
 __BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
- *
- ****************************************************************************************************/
-
 extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);

 #include <px4_platform_common/board_common.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -34,42 +34,28 @@
 /**
 * @file init.c
 *
- * Board-specific early startup code.  This file implements the
+ * board-specific early startup code. This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
 *
 * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
 */

-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
 #include "board_config.h"

-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
 #include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"

-#include <px4_arch/io_timer.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -78,19 +64,6 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif

-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -139,32 +112,23 @@ __EXPORT void board_on_reset(int status)
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
+__EXPORT void stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
+	/* Reset PWM first thing */
+	board_on_reset(-1);

 	/* configure pins */
-
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

 	/* configure SPI interfaces */
-
 	stm32_spiinitialize();

-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
 	/* configure external memory*/
 	flash_w25q128_init();

+	/* configure LEDs */
+	board_autoled_initialize();
 }

 /****************************************************************************
@@ -178,29 +142,19 @@ stm32_boardinitialize(void)
 * Input Parameters:
 *   arg - The boardctl() argument is passed to the board_app_initialize()
 *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
+ *         meaning to NuttX;
 *
 * Returned Value:
 *   Zero (OK) is returned on success; a negated errno value is returned on
 *   any failure to indicate the nature of the failure.
 *
 ****************************************************************************/
-
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

 	/* configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -219,15 +173,23 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

-
 #ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot

-	if (ret != OK) {
-		led_on(LED_RED);
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
 	}

-#endif
+	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+	}
+
+	/* Assume that the SD card is inserted.  What choice do we have? */
+	sdio_mediachange(sdio_dev, true);
+#endif /* CONFIG_MMCSD */
+

 	up_udelay(20);

@@ -277,7 +239,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif

 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();

 	return OK;
@@ -32,9 +32,9 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
- * PX4FMU LED backend.
+ * LED backend.
 */

 #include <px4_platform_common/px4_config.h>
@@ -62,27 +62,14 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS

-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-};
-
-#else
-
 #  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_RED                      // Indexed by LED_RED
 };

-#endif
-
 __EXPORT void led_init(void)
 {
+	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		if (g_ledmap[l] != 0) {
 			stm32_configgpio(g_ledmap[l]);
@@ -93,7 +80,6 @@ __EXPORT void led_init(void)
 static void phy_set_led(int led, bool state)
 {
 	/* Drive Low to switch on */
-
 	if (g_ledmap[led] != 0) {
 		stm32_gpiowrite(g_ledmap[led], !state);
 	}
@@ -123,96 +109,3 @@ __EXPORT void led_toggle(int led)
 {
 	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
 }
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		break;
-
-	case LED_IRQSENABLED:
-		break;
-
-	case LED_STACKCREATED:
-		break;
-
-	case LED_INIRQ:
-		break;
-
-	case LED_SIGNAL:
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		break;
-
-	case LED_INIRQ:
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */
@@ -45,7 +45,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortE, GPIO::Pin11}),
 	}),
-
 };

 static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021 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
@@ -32,61 +32,16 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */

-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
+#include "board_config.h"
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
 #include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -98,7 +53,6 @@ __EXPORT void stm32_usbinitialize(void)
 *   while the USB is suspended.
 *
 ************************************************************************************/
-
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);