migrate remaining sprintf usage -> snprintf

Update submodule libevents to latest Wed Dec 7 00:39:06 UTC 2022
- libevents in PX4/Firmware (ff161d5eca5ee3e605840dc05642984985fcbf5a): https://github.com/mavlink/libevents/commit/179f86a8fc7fd74cb80630e77b1b9435d3c5b748 - libevents current upstream: https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677 - Changes: https://github.com/mavlink/libevents/compare/179f86a8fc7fd74cb80630e77b1b9435d3c5b748...0c8bc543db2f8c78f59214d5bcf959bdadd96677 0c8bc54 2022-11-07 Beat Küng - README: fix typo ca1cce0 2022-11-04 Beat Küng - README: add note for usage of UNIT's
2026-06-08 18:10:05 +08:00 · 2022-12-06 21:09:02 -05:00 · 2022-12-06 19:39:37 -05:00 · 2022-12-06 19:37:39 -05:00 · 2022-12-06 19:35:30 -05:00 · 2022-12-06 18:40:58 -05:00
313 changed files with 15804 additions and 2888 deletions
@@ -61,9 +61,13 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -132,8 +136,12 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -201,8 +209,12 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -270,9 +282,13 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -361,6 +377,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -443,6 +460,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -512,9 +530,13 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -583,8 +605,12 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -659,13 +685,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

-  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
@@ -709,8 +729,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -47,6 +47,8 @@ GTAGS
 *.files
 *.includes

+Tools/jlink-nuttx.so
+
 # CLion ignores
 .idea
 cmake-build-*/
@@ -21,11 +21,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -324,6 +324,10 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

+jlink-nuttx:
+	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
+
+
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -31,6 +31,11 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi

+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi
+
 #
 # Load parameters.
 #
@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -41,7 +40,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,7 +5,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -5,7 +5,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 15
@@ -27,7 +26,6 @@ param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,7 +5,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,9 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -34,14 +33,11 @@ param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

-param set-default FW_USE_NPFG 1
-
 param set-default RWTO_TKOFF 1

 param set-default CA_AIRFRAME 1
@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

@@ -31,7 +30,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -20,7 +20,6 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3

 param set-default NAV_ACC_RAD 20
@@ -20,7 +20,6 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7

 param set-default NAV_ACC_RAD 20
@@ -31,7 +31,6 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

@@ -39,7 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -44,7 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -45,7 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -13,7 +13,6 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -43,7 +43,6 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10

 param set-default MIS_DIST_WPS 5000
-param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -73,4 +73,5 @@ fi
 ant create_run_jar copy_res
 cd out/production

-java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java --add-exports java.base/java.lang=ALL-UNNAMED --add-exports java.desktop/sun.awt=ALL-UNNAMED --add-exports java.desktop/sun.java2d=ALL-UNNAMED \
+	-XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -80,6 +81,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=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
@@ -16,6 +16,11 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-param set-default SYS_USE_IO 1
+if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+then
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
+fi

 safety_button start
@@ -325,7 +325,6 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);
@@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {}

 __EXPORT void stm32_boardinitialize(void)
 {
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
+
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }
@@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */

+	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
@@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
+	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -209,7 +211,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);
@@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.bus_type = px4_mft_device_t::I2C,
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
-	.bus_type =  px4_mft_device_t::I2C,
-	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
-};
-

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
@@ -84,34 +79,11 @@ static const px4_mtd_entry_t base_eeprom = {
 	},
 };

-static const px4_mtd_entry_t imu_eeprom = {
-	.device = &i2c4,
-	.npart = 3,
-	.partd = {
-		{
-			.type = MTD_CALDATA,
-			.path = "/fs/mtd_caldata",
-			.nblocks = 240
-		},
-		{
-			.type = MTD_MFT_REV,
-			.path = "/fs/mtd_mft_rev",
-			.nblocks = 8
-		},
-		{
-			.type = MTD_ID,
-			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
-		}
-	},
-};
-
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 3,
+	.nconfigs   = 2,
 	.entries = {
 		&fmum_fram,
 		&base_eeprom,
-		&imu_eeprom
 	}
 };

@@ -118,7 +118,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

@@ -74,7 +74,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		// ADC_SYSFS_PATH
 		char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};

-		if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
+		if (snprintf(channel_path, sizeof(channel_path), "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
 			PX4_ERR("adc channel: %d\n", channel);
 			return UINT32_MAX; // error
 		}
@@ -82,6 +82,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -73,7 +73,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -74,7 +74,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		// ADC_SYSFS_PATH
 		char channel_path[strlen(ADC_SYSFS_PATH) + 5] {};

-		if (sprintf(channel_path, "%s/ch%d", ADC_SYSFS_PATH, channel) == -1) {
+		if (snprintf(channel_path, sizeof(channel_path), "%s/ch%d", ADC_SYSFS_PATH, channel) == -1) {
 			PX4_ERR("adc channel: %d\n", channel);
 			return UINT32_MAX; // error
 		}
@@ -85,6 +85,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -9,19 +9,14 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_EKF2=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_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -33,14 +28,12 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_VER=y
@@ -6,9 +6,48 @@
 # modifications.
 #
 # CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
 # CONFIG_SPI_CALLBACK is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
@@ -20,15 +59,17 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0001
@@ -37,11 +78,14 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="Flywoo"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=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_DISABLE_POSIX_TIMERS=y
+CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -52,6 +96,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -61,37 +106,27 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_BASENAME=y
-CONFIG_NSH_DISABLE_DD=y
-CONFIG_NSH_DISABLE_DIRNAME=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_LOSETUP=y
-CONFIG_NSH_DISABLE_MKFIFO=y
-CONFIG_NSH_DISABLE_MKRD=y
-CONFIG_NSH_DISABLE_PUT=y
-CONFIG_NSH_DISABLE_REBOOT=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_DISABLE_UNAME=y
-CONFIG_NSH_DISABLE_WGET=y
-CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FATDEVNO=0
-CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_MMCSDSPIPORTNO=2
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
+CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
@@ -99,23 +134,24 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -156,7 +192,6 @@ CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
-CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM1=y
 CONFIG_STM32_TIM5=y
@@ -183,5 +218,3 @@ 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"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -258,7 +258,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -147,7 +147,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -342,7 +342,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -219,7 +219,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -276,7 +276,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -15,32 +15,26 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
-CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=280
-CONFIG_MAX_TASKS=2
-CONFIG_MAX_WDOGPARMS=2
+CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_INIT_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
-CONFIG_NFILE_DESCRIPTORS=3
-CONFIG_NFILE_STREAMS=0
 CONFIG_PREALLOC_TIMERS=0
-CONFIG_PREALLOC_WDOGS=1
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
@@ -65,6 +59,3 @@ CONFIG_USART3_RXBUFSIZE=64
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=64
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=1100
-CONFIG_USER_ENTRYPOINT="user_start"
-CONFIG_WDOG_INTRESERVE=0
@@ -72,7 +72,6 @@ SECTIONS
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
-
 	} > flash

 	/*
@@ -47,8 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>

-
-
 /******************************************************************************
 * Definitions
 ******************************************************************************/
@@ -156,6 +154,4 @@

 #define BOARD_NUM_IO_TIMERS 3

-#define BOARD_DISABLE_I2C_SPI
-
 #include <px4_platform_common/board_common.h>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4iov2_init.c
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,11 +84,9 @@

 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */

 	/* Set up for sensing HW */
-
 	stm32_configgpio(GPIO_SENSE_PC14_DN);
 	stm32_configgpio(GPIO_SENSE_PC15_UP);

@@ -456,7 +456,7 @@ void board_peripheral_reset(int ms);
 *
 ************************************************************************************/

-#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
+#if defined(CONFIG_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
 int fmuk66_bringup(void);
 #endif

@@ -462,7 +462,7 @@ void board_peripheral_reset(int ms);
 *
 ************************************************************************************/

-#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
+#if defined(CONFIG_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
 int fmuk66_bringup(void);
 #endif

@@ -367,7 +367,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
@@ -0,0 +1,30 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+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_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 34,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ucans32k146 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "UCANS32K146",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,53 @@
+# CONFIG_BOARD_ROMFSROOT is not set
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+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_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# FIXME TELEM
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_1_CONFIG 1000
+param set-default MAV_1_BROADCAST 1
+param set-default MAV_1_MODE 0
+param set-default MAV_1_RADIO_CTL 0
+param set-default MAV_1_RATE 100000
+param set-default MAV_1_REMOTE_PRT 14550
+param set-default MAV_1_UDP_PRT 14550
+
+param set-default SENS_EXT_I2C_PRB 0
@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# NXP MR-CANHUBK3 specific board sensors init
+#------------------------------------------------------------------------------
+
+#board_adc start FIXME no ADC drivers
+
+#FMUv5Xbase board orientation
+
+# Internal SPI bus ICM20649
+icm20649 -s -R 6 start
+
+# Internal SPI bus ICM42688p
+icm42688p -R 6 -s start
+
+# Internal magnetometer on I2c
+bmm150 -I start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 2 -R 10 start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
+lis3mdl -X -b 2 -R 2 start
+
+# Disable startup of internal baros if param is set to false
+if param compare SENS_INT_BARO_EN 1
+then
+	bmp388 -I -a 0x77 start
+fi
@@ -0,0 +1,8 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_MR_CANHUBK3
+
+endif # ARCH_BOARD_MR_CANHUBK3
@@ -0,0 +1,324 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+#ifndef __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H
+#define __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+/* The MR-CANHUBK3 is fitted with a 16 MHz crystal */
+
+#define BOARD_XTAL_FREQUENCY  16000000
+
+/* The S32K344 will run at 160 MHz */
+
+#define MR_CANHUBK3_SYSCLK_FREQUENCY  160000000
+
+/* MX25L QuadSPI Flash ******************************************************/
+
+#ifdef CONFIG_S32K3XX_QSPI
+#  ifdef CONFIG_MTD_MX25RXX
+#    define HAVE_MX25L
+#      ifdef CONFIG_FS_LITTLEFS
+#        define HAVE_MX25L_LITTLEFS
+#      else
+#        ifdef CONFIG_FS_NXFFS
+#          define HAVE_MX25L_NXFFS
+#        else
+#          define HAVE_MX25L_CHARDEV
+#        endif
+#      endif
+#  endif
+#endif
+
+#define MX25L_MTD_MINOR    0
+#define MX25L_SMART_MINOR  0
+
+/* LED definitions **********************************************************/
+
+/* The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * 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 RGB
+ * components.
+ *
+ * The RGB components could, alternatively be controlled through PWM using
+ * the common RGB LED driver.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED_R       0
+#define BOARD_LED_G       1
+#define BOARD_LED_B       2
+#define BOARD_NLEDS       3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED_R_BIT   (1 << BOARD_LED_R)
+#define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
+#define BOARD_LED_B_BIT   (1 << BOARD_LED_B)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
+ * the MR-CANHUBK3.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *      SYMBOL            Meaning                         LED state
+ *                                                        RED    GREEN  BLUE
+ *      ----------------  -----------------------------  -------------------
+ */
+
+#define LED_STARTED       1 /* NuttX has been started     OFF    OFF    OFF */
+#define LED_HEAPALLOCATE  2 /* Heap has been allocated    OFF    OFF    ON  */
+#define LED_IRQSENABLED   0 /* Interrupts enabled         OFF    OFF    ON  */
+#define LED_STACKCREATED  3 /* Idle stack created         OFF    ON     OFF */
+#define LED_INIRQ         0 /* In an interrupt           (No change)        */
+#define LED_SIGNAL        0 /* In a signal handler       (No change)        */
+#define LED_ASSERTION     0 /* An assertion failed       (No change)        */
+#define LED_PANIC         4 /* The system has crashed     FLASH  OFF    OFF */
+#undef  LED_IDLE            /* S32K344 is in sleep mode  (Not used)         */
+
+/* Button definitions *******************************************************/
+
+/* The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+#define BUTTON_SW1        0
+#define BUTTON_SW2        1
+#define NUM_BUTTONS       2
+
+#define BUTTON_SW1_BIT    (1 << BUTTON_SW1)
+#define BUTTON_SW2_BIT    (1 << BUTTON_SW2)
+
+/* UART selections **********************************************************/
+
+/* By default, the serial console will be provided on the DCD-LZ UART
+ * (available on the 7-pin DCD-LZ debug connector P6):
+ *
+ *   DCD-LZ UART RX  PTA8  (LPUART2_RX)
+ *   DCD-LZ UART TX  PTA9  (LPUART2_TX)
+ */
+
+#define PIN_LPUART2_RX    (PIN_LPUART2_RX_1 | PIN_INPUT_PULLUP)   /* PTA8 */
+#define PIN_LPUART2_TX    PIN_LPUART2_TX_1   /* PTA9 */
+
+/* LPUART0   P2 UART (with flow control) connector */
+
+#define PIN_LPUART0_CTS   PIN_LPUART0_CTS_1  /* PTA0 */
+#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_1  /* PTA1 */
+#define PIN_LPUART0_RX    (PIN_LPUART0_RX_1 | PIN_INPUT_PULLUP)   /* PTA2 */
+#define PIN_LPUART0_TX    PIN_LPUART0_TX_1   /* PTA3 */
+
+/* LPUART1   P5 UART (with flow control) connector */
+
+#define PIN_LPUART1_CTS   PIN_LPUART1_CTS_2  /* PTE2 */
+#define PIN_LPUART1_RTS   PIN_LPUART1_RTS_2  /* PTE6 */
+#define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
+#define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */
+
+/* LPUART9   P24 UART connector */
+
+#define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
+#define PIN_LPUART9_TX    PIN_LPUART9_TX_1   /* PTB3 */
+
+/* LPUART10  P24 UART connector */
+
+#define PIN_LPUART10_RX   (PIN_LPUART10_RX_1 | PIN_INPUT_PULLUP)  /* PTC12 */
+#define PIN_LPUART10_TX   PIN_LPUART10_TX_1  /* PTC13 */
+
+/* LPUART13  P25 UART connector */
+
+#define PIN_LPUART13_RX   (PIN_LPUART13_RX_1 | PIN_INPUT_PULLUP)  /* PTB19 */
+#define PIN_LPUART13_TX   PIN_LPUART13_TX_1  /* PTB18 */
+
+/* LPUART14  P25 UART connector */
+
+#define PIN_LPUART14_RX   (PIN_LPUART14_RX_1 | PIN_INPUT_PULLUP)  /* PTB21 */
+#define PIN_LPUART14_TX   PIN_LPUART14_TX_1  /* PTB20 */
+
+/* SPI selections ***********************************************************/
+
+/* LPSPI1  P1A external SPI connector */
+
+#define PIN_LPSPI1_SCK    PIN_LPSPI1_SCK_3   /* PTA28 */
+#define PIN_LPSPI1_MISO   PIN_LPSPI1_SOUT_2  /* PTA30 */
+#define PIN_LPSPI1_MOSI   PIN_LPSPI1_SIN_3   /* PTA29 */
+#define PIN_LPSPI1_PCS0   PIN_LPSPI1_PCS0_2  /* PTA21 */
+#define PIN_LPSPI1_PCS1   PIN_LPSPI1_PCS1_6  /* PTE4  */
+
+#define PIN_LPSPI1_PCS    (PIN_PTA21 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA21 */
+
+/* LPSPI2  P1B external SPI connector */
+
+#define PIN_LPSPI2_SCK    PIN_LPSPI2_SCK_1   /* PTB29 */
+#define PIN_LPSPI2_MISO   PIN_LPSPI2_SOUT_3  /* PTB27 */
+#define PIN_LPSPI2_MOSI   PIN_LPSPI2_SIN_2   /* PTB28 */
+#define PIN_LPSPI2_PCS0   PIN_LPSPI2_PCS0_2  /* PTB25 */
+#define PIN_LPSPI2_PCS1   PIN_LPSPI2_PCS1_3  /* PTC19 */
+
+#define PIN_LPSPI2_PCS    (PIN_PTB25 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTB25 */
+
+/* LPSPI3  FS26 Safety SBC */
+
+#define PIN_LPSPI3_SCK    PIN_LPSPI3_SCK_2   /* PTD1  */
+#define PIN_LPSPI3_MISO   PIN_LPSPI3_SOUT_2  /* PTD0  */
+#define PIN_LPSPI3_MOSI   PIN_LPSPI3_SIN_3   /* PTE10 */
+#define PIN_LPSPI3_PCS    (PIN_PTD17 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE) /* PTD17 */
+
+/* LPSPI4  P8B I/O connector / P26 external IMU connector */
+
+#define PIN_LPSPI4_SCK    PIN_LPSPI4_SCK_1   /* PTB10 */
+#define PIN_LPSPI4_MISO   PIN_LPSPI4_SOUT_1  /* PTB9  */
+#define PIN_LPSPI4_MOSI   PIN_LPSPI4_SIN_1   /* PTB11 */
+#define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
+#define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */
+
+#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+
+/* LPSPI5  P26 external IMU connector */
+
+#define PIN_LPSPI5_SCK    PIN_LPSPI5_SCK_3   /* PTD26 */
+#define PIN_LPSPI5_MISO   PIN_LPSPI5_SOUT_2  /* PTD27 */
+#define PIN_LPSPI5_MOSI   PIN_LPSPI5_SIN_3   /* PTD28 */
+#define PIN_LPSPI5_PCS1   PIN_LPSPI5_PCS1_1  /* PTA14 */
+
+#define PIN_LPSPI5_PCS    (PIN_PTA14 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA14 */
+
+/*      PIN_LPSPI5_PCS2                         PTD29 */
+
+/* I2C selections ***********************************************************/
+
+/* LPI2C0  P4 LCD header / P26 external IMU connector */
+
+#define PIN_LPI2C0_SCL    PIN_LPI2C0_SCL_2   /* PTD14 */
+#define PIN_LPI2C0_SDA    PIN_LPI2C0_SDA_2   /* PTD13 */
+
+/* LPI2C1  P3 external I2C connector / SE050 EdgeLock Secure Element */
+
+#define PIN_LPI2C1_SCL    PIN_LPI2C1_SCL_4   /* PTD9 */
+#define PIN_LPI2C1_SDA    PIN_LPI2C1_SDA_4   /* PTD8 */
+
+/* CAN selections ***********************************************************/
+
+/* CAN0  TJA1443 CAN transceiver */
+
+#define PIN_CAN0_RX       PIN_CAN0_RX_1      /* PTA6 */
+#define PIN_CAN0_TX       PIN_CAN0_TX_1      /* PTA7 */
+#define PIN_CAN0_STB      (PIN_PTC21 | GPIO_OUTPUT)
+#define CAN0_STB_OUT      1
+#define PIN_CAN0_ENABLE   (PIN_PTC24 | GPIO_OUTPUT)
+#define CAN0_ENABLE_OUT   1
+#define PIN_CAN0_LED      (PIN_PTC18 | GPIO_OUTPUT)
+#define CAN0_LED_OUT      0
+#define PIN_CAN0_ERRN     (PIN_PTC20 | GPIO_INPUT)
+
+/* CAN1  TJA1443 CAN transceiver */
+
+#define PIN_CAN1_RX       PIN_CAN1_RX_4      /* PTC9 */
+#define PIN_CAN1_TX       PIN_CAN1_TX_4      /* PTC8 */
+#define PIN_CAN1_STB      (PIN_PTD2  | GPIO_OUTPUT)
+#define CAN1_STB_OUT      1
+#define PIN_CAN1_ENABLE   (PIN_PTD23 | GPIO_OUTPUT)
+#define CAN1_ENABLE_OUT   1
+#define PIN_CAN1_LED      (PIN_PTE5  | GPIO_OUTPUT)
+#define CAN1_LED_OUT      0
+#define PIN_CAN1_ERRN     (PIN_PTD3  | GPIO_INPUT)
+
+/* CAN2  TJA1463 CAN transceiver */
+
+#define PIN_CAN2_RX       PIN_CAN2_RX_5      /* PTE25 */
+#define PIN_CAN2_TX       PIN_CAN2_TX_5      /* PTE24 */
+#define PIN_CAN2_STB      (PIN_PTD22 | GPIO_OUTPUT)
+#define CAN2_STB_OUT      1
+#define PIN_CAN2_ENABLE   (PIN_PTD4  | GPIO_OUTPUT)
+#define CAN2_ENABLE_OUT   1
+#define PIN_CAN2_LED      (PIN_PTD20 | GPIO_OUTPUT)
+#define CAN2_LED_OUT      0
+#define PIN_CAN2_ERRN     (PIN_PTD21 | GPIO_INPUT)
+
+/* CAN3  TJA1463 CAN transceiver */
+
+#define PIN_CAN3_RX       PIN_CAN3_RX_2      /* PTC29 */
+#define PIN_CAN3_TX       PIN_CAN3_TX_2      /* PTC28 */
+#define PIN_CAN3_STB      (PIN_PTB1  | GPIO_OUTPUT)
+#define CAN3_STB_OUT      1
+#define PIN_CAN3_ENABLE   (PIN_PTB0  | GPIO_OUTPUT)
+#define CAN3_ENABLE_OUT   1
+#define PIN_CAN3_LED      (PIN_PTB24 | GPIO_OUTPUT)
+#define CAN3_LED_OUT      0
+#define PIN_CAN3_ERRN     (PIN_PTC27 | GPIO_INPUT)
+
+/* CAN4  TJA1153 CAN transceiver */
+
+#define PIN_CAN4_RX       PIN_CAN4_RX_2      /* PTC31 */
+#define PIN_CAN4_TX       PIN_CAN4_TX_2      /* PTC30 */
+#define PIN_CAN4_STB      (PIN_PTC25 | GPIO_OUTPUT)
+#define CAN4_STB_OUT      0
+#define PIN_CAN4_ENABLE   (PIN_PTC26 | GPIO_OUTPUT)
+#define CAN4_ENABLE_OUT   1
+#define PIN_CAN4_LED      (PIN_PTB26 | GPIO_OUTPUT)
+#define CAN4_LED_OUT      0
+#define PIN_CAN4_ERRN     (PIN_PTC23 | GPIO_INPUT)
+
+/* CAN5  TJA1153 CAN transceiver */
+
+#define PIN_CAN5_RX       PIN_CAN5_RX_1      /* PTC11 */
+#define PIN_CAN5_TX       PIN_CAN5_TX_1      /* PTC10 */
+#define PIN_CAN5_STB      (PIN_PTE17 | GPIO_OUTPUT)
+#define CAN5_STB_OUT      0
+#define PIN_CAN5_ENABLE   (PIN_PTD30 | GPIO_OUTPUT)
+#define CAN5_ENABLE_OUT   1
+#define PIN_CAN5_LED      (PIN_PTD31 | GPIO_OUTPUT)
+#define CAN5_LED_OUT      0
+#define PIN_CAN5_ERRN     (PIN_PTD24 | GPIO_INPUT)
+
+/* ENET selections **********************************************************/
+
+#define PIN_EMAC_MII_RMII_TXD0    PIN_EMAC_MII_RMII_TXD0_1     /* PTB5  */
+#define PIN_EMAC_MII_RMII_TXD1    PIN_EMAC_MII_RMII_TXD1_1     /* PTB4  */
+#define PIN_EMAC_MII_RMII_TX_EN   PIN_EMAC_MII_RMII_TX_EN_3    /* PTE9  */
+#define PIN_EMAC_MII_RMII_RXD0    PIN_EMAC_MII_RMII_RXD0_1     /* PTC0  */
+#define PIN_EMAC_MII_RMII_RXD1    PIN_EMAC_MII_RMII_RXD1_2     /* PTC1  */
+#define PIN_EMAC_MII_RMII_RX_DV   PIN_EMAC_MII_RMII_RX_DV_1    /* PTC15 */
+#define PIN_EMAC_MII_RMII_RX_ER   PIN_EMAC_MII_RMII_RX_ER_1    /* PTC14 */
+#define PIN_EMAC_MII_RMII_MDC     PIN_EMAC_MII_RMII_MDC_3      /* PTC8  */
+#define PIN_EMAC_MII_RMII_MDIO    PIN_EMAC_MII_RMII_MDIO_2     /* PTD16 */
+#define PIN_EMAC_MII_RMII_TX_CLK  PIN_EMAC_MII_RMII_TX_CLK_2   /* PTD6 */
+
+#endif  /* __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H */
@@ -0,0 +1,247 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/mr-canhubk3/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="s32k3xx"
+CONFIG_ARCH_CHIP_S32K344=y
+CONFIG_ARCH_CHIP_S32K3XX=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=14539
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_BUSFAULT=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=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_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS26_SPI_FREQUENCY=5000000
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=800
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/qspi/mtd_net"
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPI2C0_DMA=y
+CONFIG_LPI2C1_DMA=y
+CONFIG_LPUART2_SERIAL_CONSOLE=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPICLOCK=7500000
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_MX25RXX=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PARTITION_NAMES=y
+CONFIG_MX25RXX_LXX=y
+CONFIG_MX25RXX_PAGE128=y
+CONFIG_MX25RXX_QSPI_FREQUENCY=80000000
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=1
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNET=y
+CONFIG_NSH_TELNET_LOGIN=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=272000
+CONFIG_RAM_START=0x20400000
+CONFIG_RAW_BINARY=y
+CONFIG_S32K3XX_DTCM_HEAP=y
+CONFIG_S32K3XX_EDMA=y
+CONFIG_S32K3XX_EDMA_EDBG=y
+CONFIG_S32K3XX_EDMA_NTCD=64
+CONFIG_S32K3XX_EIRQINTS=y
+CONFIG_S32K3XX_ENET=y
+CONFIG_S32K3XX_ENET_NTXBUFFERS=4
+CONFIG_S32K3XX_FLEXCAN0=y
+CONFIG_S32K3XX_FLEXCAN1=y
+CONFIG_S32K3XX_FLEXCAN2=y
+CONFIG_S32K3XX_FLEXCAN3=y
+CONFIG_S32K3XX_FS26=y
+CONFIG_S32K3XX_GPIOIRQ=y
+CONFIG_S32K3XX_LPI2C0=y
+CONFIG_S32K3XX_LPI2C1=y
+CONFIG_S32K3XX_LPI2C_DMA=y
+CONFIG_S32K3XX_LPSPI1=y
+CONFIG_S32K3XX_LPSPI1_PINCFG=3
+CONFIG_S32K3XX_LPSPI2=y
+CONFIG_S32K3XX_LPSPI2_DMA=y
+CONFIG_S32K3XX_LPSPI2_PINCFG=3
+CONFIG_S32K3XX_LPSPI3=y
+CONFIG_S32K3XX_LPSPI3_PINCFG=3
+CONFIG_S32K3XX_LPSPI4=y
+CONFIG_S32K3XX_LPSPI4_PINCFG=3
+CONFIG_S32K3XX_LPSPI5=y
+CONFIG_S32K3XX_LPSPI5_DMA=y
+CONFIG_S32K3XX_LPSPI5_PINCFG=3
+CONFIG_S32K3XX_LPSPI_DMA=y
+CONFIG_S32K3XX_LPUART0=y
+CONFIG_S32K3XX_LPUART10=y
+CONFIG_S32K3XX_LPUART13=y
+CONFIG_S32K3XX_LPUART14=y
+CONFIG_S32K3XX_LPUART1=y
+CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART9=y
+CONFIG_S32K3XX_LPUART_INVERT=y
+CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
+CONFIG_S32K3XX_QSPI=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1768
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
@@ -0,0 +1,162 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/scripts/flash.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* TO DO: ADD DESCRIPTION
+ *
+ *   0x00400000 - 0x007fffff  4194304  Program Flash (last 64K sBAF)
+ *   0x10000000 - 0x1003ffff   262144  Data Flash (last 32K HSE_NVM)
+ *   0x20400000 - 0x20408000    32768  Standby RAM_0 (32K)
+ *   0x20400000 - 0x20427fff   163840  SRAM_0
+ *   0x20428000 - 0x2044ffff   163840  SRAM_1
+ *
+ *   Last  48 KB of SRAM_1 reserved by HSE Firmware
+ *   Last 128 KB of CODE_FLASH_3 reserved by HSE Firmware
+ *   Last 128 KB of DATA_FLASH reserved by HSE Firmware (not supported in this linker file)
+ *
+ *   Note Standby RAM and SRAM overlaps in NuttX since we dont use the Standby functionality
+ *
+ */
+
+MEMORY
+{
+  BOOT_HEADER (R)   : ORIGIN = 0x00400000, LENGTH = 0x00001000  /* 0x00400000 - 0x00400fff */
+  flash       (rx)  : ORIGIN = 0x00401000, LENGTH = 0x003cffff  /* 0x00401000 - (0x007fffff - 0x20000 (128 KB) = 0x007dffff) */
+  sram0_stdby (rwx) : ORIGIN = 0x20400000, LENGTH = 32K
+  sram        (rwx) : ORIGIN = 0x20400000, LENGTH = 272K
+  itcm        (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
+  dtcm        (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(boot_header)
+ENTRY(_stext)
+
+SECTIONS
+{
+
+  .boot_header :
+  {
+    KEEP(*(.boot_header))
+  } > BOOT_HEADER
+
+  .text :
+  {
+    _stext = ABSOLUTE(.);
+    *(.vectors)
+    *(.text.__start)
+    *(.text .text.*)
+    *(.fixup)
+    *(.gnu.warning)
+    *(.rodata .rodata.*)
+    *(.gnu.linkonce.t.*)
+    *(.glue_7)
+    *(.glue_7t)
+    *(.got)
+    *(.gcc_except_table)
+    *(.gnu.linkonce.r.*)
+    _etext = ABSOLUTE(.);
+  } > flash
+
+  .init_section :
+  {
+    _sinit = ABSOLUTE(.);
+    KEEP(*(.init_array .init_array.*))
+    _einit = ABSOLUTE(.);
+  } > flash
+
+  .ARM.extab :
+  {
+    *(.ARM.extab*)
+  } >flash
+
+  .ARM.exidx :
+  {
+    __exidx_start = ABSOLUTE(.);
+    *(.ARM.exidx*)
+    __exidx_end = ABSOLUTE(.);
+  } >flash
+
+  /* Due ECC initialization sequence __data_start__ and __data_end__ should be aligned on 8 bytes */
+  .data :
+  {
+    . = ALIGN(8);
+    _sdata = ABSOLUTE(.);
+    *(.data .data.*)
+    *(.gnu.linkonce.d.*)
+    CONSTRUCTORS
+    . = ALIGN(8);
+    _edata = ABSOLUTE(.);
+  } > sram AT > flash
+
+  _eronly = LOADADDR(.data);
+
+  .ramfunc ALIGN(8):
+  {
+    _sramfuncs = ABSOLUTE(.);
+    *(.ramfunc  .ramfunc.*)
+    _eramfuncs = ABSOLUTE(.);
+  } > sram AT > flash
+
+  _framfuncs = LOADADDR(.ramfunc);
+
+  /* Due ECC initialization sequence __bss_start__ and __bss_end__ should be aligned on 8 bytes */
+  .bss :
+  {
+    . = ALIGN(8);
+    _sbss = ABSOLUTE(.);
+    *(.bss .bss.*)
+    *(.gnu.linkonce.b.*)
+    *(COMMON)
+    . = ALIGN(8);
+    _ebss = ABSOLUTE(.);
+  } > sram
+
+  CM7_0_START_ADDRESS = ORIGIN(flash);
+
+  /* Stabs debugging sections. */
+
+  .stab 0 : { *(.stab) }
+  .stabstr 0 : { *(.stabstr) }
+  .stab.excl 0 : { *(.stab.excl) }
+  .stab.exclstr 0 : { *(.stab.exclstr) }
+  .stab.index 0 : { *(.stab.index) }
+  .stab.indexstr 0 : { *(.stab.indexstr) }
+  .comment 0 : { *(.comment) }
+  .debug_abbrev 0 : { *(.debug_abbrev) }
+  .debug_info 0 : { *(.debug_info) }
+  .debug_line 0 : { *(.debug_line) }
+  .debug_pubnames 0 : { *(.debug_pubnames) }
+  .debug_aranges 0 : { *(.debug_aranges) }
+
+  SRAM_BASE_ADDR         = ORIGIN(sram);
+  SRAM_END_ADDR          = ORIGIN(sram) + LENGTH(sram);
+  SRAM_STDBY_BASE_ADDR   = ORIGIN(sram0_stdby);
+  SRAM_STDBY_END_ADDR    = ORIGIN(sram0_stdby) + LENGTH(sram0_stdby);
+  SRAM_INIT_END_ADDR     = ORIGIN(sram) + 320K;
+  ITCM_BASE_ADDR         = ORIGIN(itcm);
+  ITCM_END_ADDR          = ORIGIN(itcm) + LENGTH(itcm);
+  DTCM_BASE_ADDR         = ORIGIN(dtcm);
+  DTCM_END_ADDR          = ORIGIN(dtcm) + LENGTH(dtcm);
+  FLASH_BASE_ADDR        = ORIGIN(BOOT_HEADER);
+  FLASH_END_ADDR         = ORIGIN(flash) + LENGTH(flash);
+}
@@ -0,0 +1,78 @@
+############################################################################
+#
+#   Copyright (c) 2016, 2018 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.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		can_boot.c
+		led.cpp
+		clockconfig.c
+		periphclocks.c
+		timer_config.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+			arch_io_pins
+			arch_led_pwm
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+
+	add_library(drivers_board
+		s32k3xx_autoleds.c
+		s32k3xx_boot.c
+		s32k3xx_bringup.c
+		s32k3xx_buttons.c
+		s32k3xx_clockconfig.c
+		i2c.cpp
+		init.c
+		mtd.cpp
+		s32k3xx_periphclocks.c
+		spi.cpp
+		timer_config.cpp
+		s32k3xx_userleds.c
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			drivers__led # drv_led_start
+			px4_layer
+			arch_io_pins
+		)
+endif()
@@ -0,0 +1,200 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/board_config.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+#pragma once
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+#include "hardware/s32k344_pinmux.h"
+#include "s32k3xx_periphclocks.h"
+#include "s32k3xx_pin.h"
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#define HRT_TIMER              1  /* FIXME */
+
+/* MR-CANHUBK3 GPIOs ********************************************************/
+
+/* LEDs.  The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * An output of '0' illuminates the LED.
+ */
+
+#define GPIO_LED_R     (PIN_EMIOS0_CH19_4)
+#define GPIO_LED_G     (PIN_EMIOS1_CH10_1)
+#define GPIO_LED_B     (PIN_EMIOS1_CH5_3)
+
+/* Buttons.  The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+#define GPIO_SW1       (PIN_EIRQ31_2 | PIN_INT_BOTH)  /* PTD15 */
+#define GPIO_SW2       (PIN_EIRQ5_2  | PIN_INT_BOTH)  /* PTA25 */
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ONBOARD_HZ      400000
+#define PX4_I2C_BUS_EXPANSION_HZ      400000
+
+#define PX4_I2C_BUS_MTD	1
+
+#define BOARD_NUMBER_I2C_BUSES  2
+
+/* Count of peripheral clock user configurations */
+
+#define NUM_OF_PERIPHERAL_CLOCKS_0 28
+
+/* Timer I/O PWM and capture */
+
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+#define RC_SERIAL_PORT          "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_INVERT_RX_ONLY
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/* User peripheral configuration structure 0 */
+
+extern const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0];
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP MR-CANHUB board.
+ *
+ ************************************************************************************/
+
+void s32k3xx_spidev_initialize(void);
+
+/************************************************************************************
+ * Name: s32k3xx_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+int  s32k3xx_spi_bus_initialize(void);
+
+
+/****************************************************************************
+ * Name: s32k3xx_bringup
+ *
+ * Description:
+ *   Perform architecture-specific initialization
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y :
+ *     Called from board_late_initialize().
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y && CONFIG_BOARDCTL=y :
+ *     Called from the NSH library
+ *
+ ****************************************************************************/
+
+int s32k3xx_bringup(void);
+
+/****************************************************************************
+ * Name: s32k3xx_i2cdev_initialize
+ *
+ * Description:
+ *   Initialize I2C driver and register /dev/i2cN devices.
+ *
+ ****************************************************************************/
+
+int s32k3xx_i2cdev_initialize(void);
+
+/****************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Configure chip select pins, initialize the SPI driver and register
+ *   /dev/spiN devices.
+ *
+ ****************************************************************************/
+
+void s32k3xx_spidev_initialize(void);
+
+/****************************************************************************
+ * Name: s32k3xx_tja1153_initialize
+ *
+ * Description:
+ *   Initialize a TJA1153 CAN PHY connected to a FlexCAN peripheral (0-5)
+ *
+ ****************************************************************************/
+
+int s32k3xx_tja1153_initialize(int bus);
+
+/****************************************************************************
+ * Name: s32k3xx_selftest
+ *
+ * Description:
+ *   Runs basic routines to verify that all board components are up and
+ *   running.  Results are send to the syslog, it is recommended to
+ *   enable all output levels (error, warning and info).
+ *
+ ****************************************************************************/
+
+void s32k3xx_selftest(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+};
@@ -0,0 +1,163 @@
+/****************************************************************************
+ * boards/arm/s32k1xx/ucans32k146/src/s32k1xx_appinit.c
+ *
+ *   Copyright (C) 2019 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 <nuttx/board.h>
+
+#include "board_config.h"
+
+#include <px4_platform_common/init.h>
+
+#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
+#include <nuttx/mmcsd.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef OK
+#  define OK 0
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * 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 initialization logic and 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.
+ *
+ * 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)
+{
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+	/* Board initialization already performed by board_late_initialize() */
+
+	return OK;
+#else
+
+	int rv;
+
+
+#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
+	/* LPSPI1 *****************************************************************/
+
+	/* Configure LPSPI1 peripheral chip select */
+
+	s32k3xx_pinconfig(PIN_LPSPI2_PCS);
+
+	/* Initialize the SPI driver for LPSPI1 */
+
+	struct spi_dev_s *g_lpspi2 = s32k3xx_lpspibus_initialize(2);
+
+	if (g_lpspi2 == NULL) {
+		spierr("ERROR: FAILED to initialize LPSPI2\n");
+		return -ENODEV;
+	}
+
+	rv = mmcsd_spislotinitialize(0, 0, g_lpspi2);
+
+	if (rv < 0) {
+		mcerr("ERROR: Failed to bind SPI port %d to SD slot %d\n",
+		      1, 0);
+		return rv;
+	}
+
+#endif
+
+	px4_platform_init();
+
+	/* Perform board-specific initialization */
+
+	rv = s32k3xx_bringup();
+
+	/* Configure SPI-based devices */
+
+#ifdef CONFIG_SPI
+	s32k3xx_spi_bus_initialize();
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return rv;
+#endif
+}
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+}
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t qspi_flash = {            // 8MB QSPI flash with NXFFS
+	.bus_type = px4_mft_device_t::ONCHIP,
+};
+
+static const px4_mft_device_t i2c0 = {             // 24LC64T on IMU   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(1, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmum_qspi_flash = {
+	.device = &qspi_flash,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/mnt/qspi/params",
+			.nblocks = 1
+		}
+	},
+};
+
+static const px4_mtd_entry_t imu_eeprom = {
+	.device = &i2c0,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 248
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 2,
+	.entries = {
+		&imu_eeprom,
+		&fmum_qspi_flash
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -0,0 +1,74 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_appinit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * 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 initialization logic and the matching application
+ *         logic.  The value could be such things as a mode enumeration
+ *         value, a set of DIP 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.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+int board_app_initialize(uintptr_t arg)
+{
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+	/* Board initialization already performed by board_late_initialize() */
+
+	return OK;
+#else
+	/* Perform board-specific initialization */
+
+	return s32k3xx_bringup();
+#endif
+}
@@ -0,0 +1,147 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_autoleds.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * An output of '0' illuminates the LED.
+ *
+ * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the MR-CANHUBK3.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL            Meaning                    LED state
+ *                                                RED    GREEN  BLUE
+ *   ----------------  ------------------------  --------------------
+ *   LED_STARTED       NuttX has been started     OFF    OFF    OFF
+ *   LED_HEAPALLOCATE  Heap has been allocated    OFF    OFF    ON
+ *   LED_IRQSENABLED   Interrupts enabled         OFF    OFF    ON
+ *   LED_STACKCREATED  Idle stack created         OFF    ON     OFF
+ *   LED_INIRQ         In an interrupt           (No change)
+ *   LED_SIGNAL        In a signal handler       (No change)
+ *   LED_ASSERTION     An assertion failed       (No change)
+ *   LED_PANIC         The system has crashed     FLASH  OFF    OFF
+ *   LED_IDLE          S32K344 is in sleep mode  (Optional, not used)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Summary of all possible settings */
+
+#define LED_NOCHANGE     0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
+#define LED_OFF_OFF_OFF  1 /* LED_STARTED */
+#define LED_OFF_OFF_ON   2 /* LED_HEAPALLOCATE */
+#define LED_OFF_ON_OFF   3 /* LED_STACKCREATED */
+#define LED_ON_OFF_OFF   4 /* LED_PANIC */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	/* Configure LED GPIOs for output */
+
+	s32k3xx_pinconfig(GPIO_LED_R);
+	s32k3xx_pinconfig(GPIO_LED_G);
+	s32k3xx_pinconfig(GPIO_LED_B);
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (led != LED_NOCHANGE) {
+		bool redon   = false;
+		bool greenon = false;
+		bool blueon  = false;
+
+		switch (led) {
+		default:
+		case LED_OFF_OFF_OFF:
+			break;
+
+		case LED_OFF_OFF_ON:
+			blueon = true;
+			break;
+
+		case LED_OFF_ON_OFF:
+			greenon = true;
+			break;
+
+		case LED_ON_OFF_OFF:
+			redon = true;
+			break;
+		}
+
+		/* Invert output, an output of '0' illuminates the LED */
+
+		s32k3xx_gpiowrite(GPIO_LED_R, !redon);
+		s32k3xx_gpiowrite(GPIO_LED_G, !greenon);
+		s32k3xx_gpiowrite(GPIO_LED_B, !blueon);
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (led == LED_ON_OFF_OFF) {
+		/* Invert outputs, an output of '0' illuminates the LED */
+
+		s32k3xx_gpiowrite(GPIO_LED_R, !true);
+		s32k3xx_gpiowrite(GPIO_LED_G, !false);
+		s32k3xx_gpiowrite(GPIO_LED_B, !false);
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,102 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_boot.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_FS26
+#include "s32k3xx_fs26.h"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_board_initialize
+ *
+ * Description:
+ *   All S32K3XX 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 s32k3xx_board_initialize(void)
+{
+#ifdef CONFIG_SEGGER_SYSVIEW
+	up_perf_init((void *)MR_CANHUBK3_SYSCLK_FREQUENCY);
+#endif
+
+#ifdef CONFIG_S32K3XX_FS26
+	/* Configure LPSPI3 & FS26 as quick as possible to avoid watchdog reset */
+
+	s32k3xx_pinconfig(PIN_LPSPI3_PCS);
+
+	/* Initialize the SPI driver for LPSPI3 */
+
+	struct spi_dev_s *g_lpspi3 = s32k3xx_lpspibus_initialize(3);
+
+	if (g_lpspi3 == NULL) {
+		spierr("ERROR: FAILED to initialize LPSPI3\n");
+	}
+
+	fs26_initialize(g_lpspi3);
+#endif
+
+#ifdef CONFIG_ARCH_LEDS
+	/* Configure on-board LEDs if LED support has been selected. */
+
+	board_autoled_initialize();
+#endif
+}
+
+/****************************************************************************
+ * Name: board_late_initialize
+ *
+ * Description:
+ *   If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
+ *   initialization call will be performed in the boot-up sequence to a
+ *   function called board_late_initialize().  board_late_initialize() will
+ *   be called immediately after up_initialize() is called and just before
+ *   the initial application is started.  This additional initialization
+ *   phase may be used, for example, to initialize board-specific device
+ *   drivers.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+void board_late_initialize(void)
+{
+	/* Perform board-specific initialization */
+
+	s32k3xx_bringup();
+}
+#endif
@@ -0,0 +1,281 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_bringup.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <syslog.h>
+
+#ifdef CONFIG_INPUT_BUTTONS
+#  include <nuttx/input/buttons.h>
+#endif
+
+#ifdef CONFIG_USERLED
+#  include <nuttx/leds/userled.h>
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+#  include "s32k3xx_flexcan.h"
+#endif
+
+#ifdef CONFIG_S32K3XX_ENET
+#  include "s32k3xx_emac.h"
+#endif
+
+#ifdef CONFIG_S32K3XX_QSPI
+#  include <stdio.h>
+#  include <nuttx/mtd/mtd.h>
+#  include <nuttx/spi/qspi.h>
+#  include "s32k3xx_qspi.h"
+#endif
+
+#include <arch/board/board.h>
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef HAVE_MX25L
+struct qspi_dev_s *g_qspi;
+struct mtd_dev_s *g_mtd_fs;
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_bringup
+ *
+ * Description:
+ *   Perform architecture-specific initialization
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y :
+ *     Called from board_late_initialize().
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_BOARDCTL=y :
+ *     Called from the NSH library
+ *
+ ****************************************************************************/
+
+int s32k3xx_bringup(void)
+{
+	int ret = OK;
+#if defined(CONFIG_BCH) || defined(HAVE_MX25L_LITTLEFS)
+	char blockdev[32];
+#  if !defined(HAVE_MX25L_LITTLEFS) && !defined(HAVE_MX25L_NXFFS)
+	char chardev[32];
+#  endif /* !HAVE_MX25L_LITTLEFS && !HAVE_MX25L_NXFFS */
+#endif /* CONFIG_BCH || HAVE_MX25L_LITTLEFS */
+
+#ifdef CONFIG_S32K3XX_LPSPI
+	/* Initialize SPI driver */
+
+	s32k3xx_spidev_initialize();
+#endif
+
+#ifdef CONFIG_INPUT_BUTTONS
+	/* Register the BUTTON driver */
+
+	ret = btn_lower_initialize("/dev/buttons");
+
+	if (ret < 0) {
+		_err("btn_lower_initialize() failed: %d\n", ret);
+
+	} else {
+		_info("btn_lower_initialize() succesful\n");
+	}
+
+#endif
+
+#ifdef CONFIG_USERLED
+	/* Register the LED driver */
+
+	ret = userled_lower_initialize("/dev/userleds");
+
+	if (ret < 0) {
+		_err("userled_lower_initialize() failed: %d\n", ret);
+
+	} else {
+		_info("userled_lower_initialize() succesful\n");
+	}
+
+#endif
+
+#ifdef HAVE_MX25L
+	/* Create an instance of the S32K3XX QSPI device driver */
+
+	g_qspi = s32k3xx_qspi_initialize(0);
+
+	if (!g_qspi) {
+		_err("s32k3xx_qspi_initialize() failed\n");
+
+	} else {
+		_info("s32k3xx_qspi_initialize() succesful\n");
+
+		/* Use the QSPI device instance to initialize the MX25 device */
+
+		g_mtd_fs = mx25rxx_initialize(g_qspi, true);
+
+		if (!g_mtd_fs) {
+			_err("mx25rxx_initialize() failed\n");
+
+		} else {
+			_info("mx25rxx_initialize() succesful\n");
+
+#  ifdef HAVE_MX25L_LITTLEFS
+			/* Configure the device with no partition support */
+
+			snprintf(blockdev, sizeof(blockdev), "/dev/mtdqspi%d",
+				 MX25L_MTD_MINOR);
+
+			ret = register_mtddriver(blockdev, g_mtd_fs, 0755, NULL);
+
+			if (ret != OK) {
+				_err("register_mtddriver() failed: %d\n", ret);
+
+			} else {
+				_info("register_mtddriver() succesful\n");
+
+				ret = nx_mount(blockdev, "/mnt/qspi", "littlefs", 0, NULL);
+
+				if (ret < 0) {
+					ret = nx_mount(blockdev, "/mnt/qspi", "littlefs", 0,
+						       "forceformat");
+
+					if (ret < 0) {
+						_err("nx_mount() failed: %d\n", ret);
+
+					} else {
+						_info("nx_mount() succesful\n");
+					}
+				}
+			}
+
+#  elif defined(HAVE_MX25L_NXFFS)
+			/* Initialize to provide NXFFS on the N25QXXX MTD interface */
+
+			ret = nxffs_initialize(g_mtd_fs);
+
+			if (ret < 0) {
+				_err("nxffs_initialize() failed: %d\n", ret);
+
+			} else {
+				_info("nxffs_initialize() succesful\n");
+
+				/* Mount the file system at /mnt/qspi */
+
+				ret = nx_mount(NULL, "/mnt/qspi", "nxffs", 0, NULL);
+
+				if (ret < 0) {
+					_err("nx_mount() failed: %d\n", ret);
+
+				} else {
+					_info("nx_mount() succesful\n");
+				}
+			}
+
+#  else /* if defined(HAVE_MX25L_CHARDEV) */
+			/* Use the FTL layer to wrap the MTD driver as a block driver */
+
+			ret = ftl_initialize(MX25L_MTD_MINOR, g_mtd_fs);
+
+			if (ret < 0) {
+				_err("ftl_initialize() failed: %d\n", ret);
+			}
+
+#    ifdef CONFIG_BCH
+
+			else {
+				_info("ftl_initialize() succesful\n");
+
+				/* Use the minor number to create device paths */
+
+				snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d",
+					 MX25L_MTD_MINOR);
+				snprintf(chardev, sizeof(chardev), "/dev/mtd%d",
+					 MX25L_MTD_MINOR);
+
+				/* Now create a character device on the block device */
+
+				ret = bchdev_register(blockdev, chardev, false);
+
+				if (ret < 0) {
+					_err("bchdev_register %s failed: %d\n", chardev, ret);
+
+				} else {
+					_info("bchdev_register %s succesful\n", chardev);
+				}
+			}
+
+#    endif /* CONFIG_BCH */
+#  endif
+		}
+	}
+
+#endif
+
+#ifdef CONFIG_S32K3XX_SELFTEST
+	s32k3xx_selftest();
+#endif /* CONFIG_S32K3XX_SELFTEST */
+
+#ifdef CONFIG_NETDEV_LATEINIT
+#  ifdef CONFIG_S32K3XX_ENET
+	s32k3xx_netinitialize(0);
+#  endif /* CONFIG_S32K3XX_ENET */
+#  ifdef CONFIG_S32K3XX_FLEXCAN0
+	s32k3xx_caninitialize(0);
+#  endif /* CONFIG_S32K3XX_FLEXCAN0 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN1
+	s32k3xx_caninitialize(1);
+#  endif /* CONFIG_S32K3XX_FLEXCAN1 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN2
+	s32k3xx_caninitialize(2);
+#  endif /* CONFIG_S32K3XX_FLEXCAN2 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN3
+	s32k3xx_caninitialize(3);
+#  endif /* CONFIG_S32K3XX_FLEXCAN3 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN4
+	s32k3xx_caninitialize(4);
+#    ifdef CONFIG_S32K3XX_TJA1153
+	s32k3xx_tja1153_initialize(4);
+#    endif /* CONFIG_S32K3XX_TJA1153 */
+#  endif /* CONFIG_S32K3XX_FLEXCAN4 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN5
+	s32k3xx_caninitialize(5);
+#    ifdef CONFIG_S32K3XX_TJA1153
+	s32k3xx_tja1153_initialize(5);
+#    endif /* CONFIG_S32K3XX_TJA1153 */
+#  endif /* CONFIG_S32K3XX_FLEXCAN5 */
+#endif /* CONFIG_NETDEV_LATEINIT */
+
+	_info("MR-CANHUBK3 board bringup complete\n");
+
+	return ret;
+}
@@ -0,0 +1,149 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_buttons.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_BUTTONS
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_button_initialize
+ *
+ * Description:
+ *   board_button_initialize() must be called to initialize button resources.
+ *   After that, board_buttons() may be called to collect the current state
+ *   of all buttons or board_button_irq() may be called to register button
+ *   interrupt handlers.
+ *
+ ****************************************************************************/
+
+uint32_t board_button_initialize(void)
+{
+	/* Configure the GPIO pins as interrupting inputs */
+
+	s32k3xx_pinconfig(GPIO_SW1);
+	s32k3xx_pinconfig(GPIO_SW2);
+
+	return NUM_BUTTONS;
+}
+
+/****************************************************************************
+ * Name: board_buttons
+ ****************************************************************************/
+
+uint32_t board_buttons(void)
+{
+	uint32_t ret = 0;
+
+	if (s32k3xx_gpioread(GPIO_SW1)) {
+		ret |= BUTTON_SW1_BIT;
+	}
+
+	if (s32k3xx_gpioread(GPIO_SW2)) {
+		ret |= BUTTON_SW2_BIT;
+	}
+
+	return ret;
+}
+
+#ifdef CONFIG_ARCH_IRQBUTTONS
+/****************************************************************************
+ * Button support.
+ *
+ * Description:
+ *   board_button_initialize() must be called to initialize button resources.
+ *   After that, board_buttons() may be called to collect the current state
+ *   of all buttons or board_button_irq() may be called to register button
+ *   interrupt handlers.
+ *
+ *   After board_button_initialize() has been called, board_buttons() may be
+ *   called to collect the state of all buttons.  board_buttons() returns a
+ *   32-bit bit set with each bit associated with a button.  See the
+ *   BUTTON_*_BIT definitions in board.h for the meaning of each bit.
+ *
+ *   board_button_irq() may be called to register an interrupt handler that
+ *   will be called when a button is pressed or released.  The ID value is a
+ *   button enumeration value that uniquely identifies a button resource.
+ *   See the BUTTON_* definitions in board.h for the meaning of enumeration
+ *   value.
+ *
+ ****************************************************************************/
+
+int board_button_irq(int id, xcpt_t irqhandler, void *arg)
+{
+	uint32_t pinset;
+	int ret;
+
+	/* Map the button id to the GPIO bit set */
+
+	if (id == BUTTON_SW1) {
+		pinset = GPIO_SW1;
+
+	} else if (id == BUTTON_SW2) {
+		pinset = GPIO_SW2;
+
+	} else {
+		return -EINVAL;
+	}
+
+	/* The button has already been configured as an interrupting input (by
+	 * board_button_initialize() above).
+	 *
+	 * Attach the new button handler.
+	 */
+
+	ret = s32k3xx_pinirqattach(pinset, irqhandler, NULL);
+
+	if (ret >= 0) {
+		/* Then make sure that interrupts are enabled on the pin */
+
+		s32k3xx_pinirqenable(pinset);
+	}
+
+	return ret;
+}
+#endif /* CONFIG_ARCH_IRQBUTTONS */
+#endif /* CONFIG_ARCH_BUTTONS */
@@ -0,0 +1,166 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_clockconfig.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "s32k3xx_clockconfig.h"
+#include "s32k3xx_start.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* Each S32K3XX board must provide the following initialized structure.
+ * This is needed to establish the initial board clocking.
+ */
+
+const struct clock_configuration_s g_initial_clkconfig = {
+	.cgm                 =
+	{
+		.sirc              =
+		{
+			.range           = CGM_FIRC_RANGE_32K,           /* Slow IRC is trimmed to 32 kHz */
+		},
+		.firc              =
+		{
+			.range           = CGM_FIRC_RANGE_HIGH,          /* RANGE */
+			.div             = CGM_CLOCK_DIV_BY_1,           /* FIRCDIV1 */
+		},
+		.scs               =
+		{
+			.scs_source      = CGM_SCS_SOURCE_PLL_PHI0,
+			.core_clk        =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.aips_plat_clk   =
+			{
+				.div           = CGM_MUX_DIV_BY_2,
+				.trigger       = false,
+			},
+			.aips_slow_clk   =
+			{
+				.div           = CGM_MUX_DIV_SLOW_BY_4,
+				.trigger       = false,
+			},
+			.hse_clk         =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.dcm_clk         =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.lbist_clk       =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+#ifdef CONFIG_S32K3XX_QSPI
+			.qspi_mem_clk        =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+#endif
+			.mux_1_stm0 =
+			{
+				.source        = CGM_CLK_SRC_FXOSC,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_3 =
+			{
+				.source        = CGM_CLK_SRC_AIPS_PLAT_CLK,
+				.div           = CGM_MUX_DIV_BY_1,
+			},
+			.mux_4 =
+			{
+				.source        = CGM_CLK_SRC_AIPS_PLAT_CLK,
+				.div           = CGM_MUX_DIV_BY_1,
+			},
+#ifdef CONFIG_S32K3XX_ENET
+			.mux_7_emac_rx =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_8_emac_tx =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_9_emac_ts =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2, /* FIXME check div value */
+			},
+#endif
+#ifdef CONFIG_S32K3XX_QSPI
+			.mux_10_qspi_sfck =
+			{
+				.source        = CGM_CLK_SRC_PLL_PHI1_CLK,
+				.div           = CGM_MUX_DIV_BY_4,
+			},
+#endif
+		},
+		.pll =
+		{
+			.modul_freq      = 0,
+			.modul_depth     = 0,
+			.core_pll_power  = true,
+			.modulation_type = false,
+			.sigma_delta     = CGM_PLL_SIGMA_DELTA,
+			.enable_dither   = false,
+			.mode            = CGM_PLL_INTEGER_MODE,
+			.prediv          = 2,
+			.mult            = 120,
+			.postdiv         = 2,
+			.phi0            = CGM_PLL_PHI_DIV_BY_3,
+			.phi1            = CGM_PLL_PHI_DIV_BY_3,
+		},
+		.clkout            =
+		{
+			.source          = CGM_CLK_SRC_AIPS_SLOW_CLK,
+			.div             = CGM_CLKOUT_DIV_BY_1,
+		}
+	},
+	.pcc                 =
+	{
+		.count             = NUM_OF_PERIPHERAL_CLOCKS_0,   /* Number of peripheral clock configurations */
+		.pclks             = g_peripheral_clockconfig0,    /* Peripheral clock configurations */
+	},
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
@@ -0,0 +1,106 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_i2c.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/i2c/i2c_master.h>
+
+#include "s32k3xx_lpi2c.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_LPI2C
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_i2cdev_initialize
+ *
+ * Description:
+ *   Initialize I2C driver and register /dev/i2cN devices.
+ *
+ ****************************************************************************/
+
+int weak_function s32k3xx_i2cdev_initialize(void)
+{
+	int ret = OK;
+
+#if defined(CONFIG_S32K3XX_LPI2C0) && defined(CONFIG_I2C_DRIVER)
+	/* LPI2C0 *****************************************************************/
+
+	/* Initialize the I2C driver for LPI2C0 */
+
+	struct i2c_master_s *lpi2c0 = s32k3xx_i2cbus_initialize(0);
+
+	if (lpi2c0 == NULL) {
+		i2cerr("ERROR: FAILED to initialize LPI2C0\n");
+		return -ENODEV;
+	}
+
+	ret = i2c_register(lpi2c0, 0);
+
+	if (ret < 0) {
+		i2cerr("ERROR: FAILED to register LPI2C0 driver\n");
+		s32k3xx_i2cbus_uninitialize(lpi2c0);
+		return ret;
+	}
+
+#endif /* CONFIG_S32K3XX_LPI2C0 && CONFIG_I2C_DRIVER */
+
+#if defined(CONFIG_S32K3XX_LPI2C1) && defined(CONFIG_I2C_DRIVER)
+	/* LPI2C1 *****************************************************************/
+
+	/* Initialize the I2C driver for LPI2C1 */
+
+	struct i2c_master_s *lpi2c1 = s32k3xx_i2cbus_initialize(1);
+
+	if (lpi2c1 == NULL) {
+		i2cerr("ERROR: FAILED to initialize LPI2C1\n");
+		return -ENODEV;
+	}
+
+	ret = i2c_register(lpi2c1, 1);
+
+	if (ret < 0) {
+		i2cerr("ERROR: FAILED to register LPI2C1 driver\n");
+		s32k3xx_i2cbus_uninitialize(lpi2c1);
+		return ret;
+	}
+
+#endif /* CONFIG_S32K3XX_LPI2C1 && CONFIG_I2C_DRIVER */
+
+	return ret;
+}
+
+#endif /* CONFIG_S32K3XX_LPI2C */
@@ -0,0 +1,265 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_periphclocks.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "s32k3xx_clocknames.h"
+#include "s32k3xx_periphclocks.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* Each S32K3XX board must provide the following initialized structure.
+ * This is needed to establish the initial peripheral clocking.
+ */
+
+const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0] = {
+	{
+		.clkname = FLEXCAN0_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN1_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN2_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN3_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN3
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN4_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN5_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPI2C0_CLK,
+#ifdef CONFIG_S32K3XX_LPI2C0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPI2C1_CLK,
+#ifdef CONFIG_S32K3XX_LPI2C1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI1_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI2_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI3_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI3
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI4_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI5_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI5
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART0_CLK,
+#ifdef CONFIG_S32K3XX_LPUART0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART1_CLK,
+#ifdef CONFIG_S32K3XX_LPUART1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART2_CLK,
+#ifdef CONFIG_S32K3XX_LPUART2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART9_CLK,
+#ifdef CONFIG_S32K3XX_LPUART9
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART10_CLK,
+#ifdef CONFIG_S32K3XX_LPUART10
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART13_CLK,
+#ifdef CONFIG_S32K3XX_LPUART13
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART14_CLK,
+#ifdef CONFIG_S32K3XX_LPUART14
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = WKPU_CLK,
+#ifdef CONFIG_S32K3XX_WKPUINTS
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = EMAC_CLK,
+#ifdef CONFIG_S32K3XX_ENET
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = QSPI_CLK,
+#ifdef CONFIG_S32K3XX_QSPI
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = EDMA_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = DMAMUX0_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = DMAMUX1_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = STM0_CLK,
+		.clkgate = true,
+	},
+	{
+		.clkname = EMIOS0_CLK,
+		.clkgate = true,
+	},
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
@@ -0,0 +1,439 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_selftest.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "s32k3xx_lpi2c.h"
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_SELFTEST
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_S32K3XX_LPI2C
+static int s32k3xx_selftest_se050(void);
+#endif /* CONFIG_S32K3XX_LPI2C */
+#ifdef CONFIG_S32K3XX_FLEXCAN
+static int s32k3xx_selftest_can(void);
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+static int s32k3xx_selftest_sct(void);
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif /* CONFIG_S32K3XX_FLEXCAN */
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_S32K3XX_LPI2C
+/****************************************************************************
+ * Name: s32k3xx_selftest_se050
+ *
+ * Description:
+ *   Basic check to see if the SE050 is alive by having it ACK a I2C write.
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_se050(void)
+{
+	struct i2c_master_s *lpi2c1;
+	struct i2c_msg_s se050_msg;
+	uint8_t buf = 0;
+	int ret = 0;
+	bool error = false;
+
+#if !defined(CONFIG_S32K3XX_LPI2C1)
+#  error CONFIG_S32K3XX_LPI2C1 needs to be enabled to perform SE050 self-test
+#endif
+
+	/* Initialize LPI2C1 to which the SE050 is connected */
+
+	lpi2c1 = s32k3xx_i2cbus_initialize(1);
+
+	if (lpi2c1 != NULL) {
+		_info("s32k3xx_i2cbus_initialize() succesful\n");
+
+	} else {
+		error = true;
+		_err("s32k3xx_i2cbus_initialize() failed\n");
+
+		return -1; /* Return immediately, no cleanup needed */
+	}
+
+	/* Verify SE050 by checking for ACK on I2C write */
+
+	se050_msg.frequency = I2C_SPEED_STANDARD;
+	se050_msg.addr      = 0x48;
+	se050_msg.flags     = 0;
+	se050_msg.buffer    = &buf;
+	se050_msg.length    = 1;
+
+	ret = I2C_TRANSFER(lpi2c1, &se050_msg, 1);
+
+	if (ret == 0) {
+		_info("SE050 ACK succesful\n");
+
+	} else {
+		error = true;
+		_err("SE050 ACK failed: %d\n", ret);
+
+		/* Don't return yet, we still need to cleanup */
+	}
+
+	/* Let the LPI2C driver know we won't be using it anymore */
+
+	ret = s32k3xx_i2cbus_uninitialize(lpi2c1);
+
+	if (ret == 0) {
+		_info("s32k3xx_i2cbus_uninitialize() succesful\n");
+
+		/* Return error if we had any earlier, otherwise return result of
+		 * s32k3xx_i2cbus_uninitialize()
+		 */
+
+		return (error ? -1 : ret);
+
+	} else {
+		error = true;
+		_err("s32k3xx_i2cbus_uninitialize() failed: %d\n", ret);
+
+		return -1;
+	}
+}
+#endif /* CONFIG_S32K3XX_LPI2C */
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+/****************************************************************************
+ * Name: s32k3xx_selftest_can
+ *
+ * Description:
+ *   Basic check of the local failure flags of the CAN transceivers (0-3).
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_can(void)
+{
+	uint32_t errn_pins[4] = {
+		PIN_CAN0_ERRN,
+		PIN_CAN1_ERRN,
+		PIN_CAN2_ERRN,
+		PIN_CAN3_ERRN
+	};
+
+	uint32_t stbn_pins[4] = {
+		PIN_CAN0_STB,
+		PIN_CAN1_STB,
+		PIN_CAN2_STB,
+		PIN_CAN3_STB
+	};
+
+	uint32_t en_pins[4] = {
+		PIN_CAN0_ENABLE,
+		PIN_CAN1_ENABLE,
+		PIN_CAN2_ENABLE,
+		PIN_CAN3_ENABLE
+	};
+
+	int i;
+	int ret = 0;
+	bool error = false;
+
+#if !defined(CONFIG_S32K3XX_FLEXCAN0) || !defined(CONFIG_S32K3XX_FLEXCAN1) || \
+    !defined(CONFIG_S32K3XX_FLEXCAN2) || !defined(CONFIG_S32K3XX_FLEXCAN3)
+#  error CONFIG_S32K3XX_FLEXCAN0-3 need to be enabled to perform CAN self-test
+#endif
+
+	/* Initialize pins, go into normal mode (EN high, STB_N high) to clear Pwon
+	 * and Wake flags.
+	 */
+
+	for (i = 0; i < 4; i++) {
+		ret = s32k3xx_pinconfig(errn_pins[i]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d ERR_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(stbn_pins[i] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d STB_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(en_pins[i] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d EN pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+	}
+
+	/* Wait for the transition to normal mode to finish and previous status
+	 * flags to be cleared before switching modes again.  This is longer
+	 */
+
+	up_udelay(3000);
+
+	/* Go into listen-only mode (EN low, STB_N still high) to read local
+	 * failure flags.
+	 */
+
+	for (i = 0; i < 4; i++) {
+		s32k3xx_gpiowrite(en_pins[i], 0);
+	}
+
+	/* Wait for transition to listen-only mode to finish */
+
+	up_udelay(200);
+
+	/* Check for local failure flags and then go back to normal mode */
+
+	for (i = 0; i < 4; i++) {
+		if (s32k3xx_gpioread(errn_pins[i])) {
+			_info("CAN%d flag check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d flag check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+
+		s32k3xx_gpiowrite(en_pins[i], 1);
+	}
+
+	return (error ? -1 : 0);
+}
+
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+/****************************************************************************
+ * Name: s32k3xx_selftest_sct
+ *
+ * Description:
+ *   Basic check of the SCTs (4-5).
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_sct(void)
+{
+	uint32_t stbn_pins[2] = {
+		PIN_CAN4_STB,
+		PIN_CAN5_STB
+	};
+
+	uint32_t en_pins[2] = {
+		PIN_CAN4_ENABLE,
+		PIN_CAN5_ENABLE
+	};
+
+	uint32_t txd_pins[2] = {
+		PIN_CAN4_TX,
+		PIN_CAN5_TX
+	};
+
+	uint32_t rxd_pins[2] = {
+		PIN_CAN4_RX,
+		PIN_CAN5_RX
+	};
+
+	int i;
+	int ret = 0;
+	bool error = false;
+
+	/* Configure pins and enable CAN PHY.  CAN_TXD will be temporarily changed
+	 * to a GPIO output to be able to control its logic level.
+	 */
+
+	for (i = 4; i < 6; i++) {
+		ret = s32k3xx_pinconfig(stbn_pins[i - 4] | GPIO_OUTPUT_ZERO);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d STB_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(en_pins[i - 4] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d EN pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig((txd_pins[i - 4] & (_PIN_PORT_MASK |
+					 _PIN_MASK)) | GPIO_OUTPUT | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d TXD pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(rxd_pins[i - 4]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d RXD pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+	}
+
+	/* Wait for CAN PHY to detect change at TXD pin */
+
+	up_udelay(5000);
+
+	/* Check if CAN_RXD follows the high level of CAN_TXD */
+
+	for (i = 4; i < 6; i++) {
+		if (s32k3xx_gpioread(rxd_pins[i - 4])) {
+			_info("CAN%d RXD high check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d RXD high check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	for (i = 4; i < 6; i++) {
+		s32k3xx_gpiowrite(txd_pins[i - 4], 0);
+	}
+
+	/* Wait for CAN PHY to detect change at TXD pin */
+
+	up_udelay(5000);
+
+	/* Check if CAN_RXD follows the low level of CAN_TXD */
+
+	for (i = 4; i < 6; i++) {
+		if (!s32k3xx_gpioread(rxd_pins[i - 4])) {
+			_info("CAN%d RXD low check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d RXD low check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	/* Restore CAN_TXD pinconfig */
+
+	for (i = 4; i < 6; i++) {
+		s32k3xx_pinconfig(txd_pins[i - 4]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d TXD restoring pin configuration failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	return (error ? -1 : 0);
+}
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif /* CONFIG_S32K3XX_FLEXCAN */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_selftest
+ *
+ * Description:
+ *   Runs basic routines to verify that all board components are up and
+ *   running.  Results are send to the syslog, it is recommended to
+ *   enable all output levels (error, warning and info).
+ *
+ ****************************************************************************/
+
+void s32k3xx_selftest(void)
+{
+	int ret = 0;
+	bool error = false;
+
+#ifdef CONFIG_S32K3XX_LPI2C
+	ret = s32k3xx_selftest_se050();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_se050() failed\n");
+	}
+
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+	ret = s32k3xx_selftest_can();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_can() failed\n");
+	}
+
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+	ret = s32k3xx_selftest_sct();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_sct() failed\n");
+	}
+
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif
+
+	if (!error) {
+		_info("s32k3xx_selftest() succesful\n");
+	}
+}
+
+#endif /* CONFIG_S32K3XX_SELFTEST */
@@ -0,0 +1,325 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_tja1153.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP
+ *
+ * This TJA1153 initialization routine is intended for ENGINEERING
+ * DEVELOPMENT OR EVALUATION PURPOSES ONLY.  It is provided as an example to
+ * use the TJA1153.  Please refer to the datasheets and application hints
+ * provided on NXP.com to implement full functionality.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <string.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+#include <nuttx/signal.h>
+
+#include "s32k3xx_pin.h"
+#include <arch/board/board.h>
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_TJA1153
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Bitrate must be set to 125, 250 or 500 kbit/s for CAN 2.0 and CAN FD
+ * arbitration phase
+ */
+
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+#  if CONFIG_NET_CAN_CANFD
+#    if CONFIG_FLEXCAN4_ARBI_BITRATE > 500000
+#      error "FLEXCAN4_ARBI_BITRATE > 500000"
+#    endif
+#  else
+#    if CONFIG_FLEXCAN4_BITRATE > 500000
+#      error "FLEXCAN4_BITRATE > 500000"
+#    endif
+#  endif
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+#  if CONFIG_NET_CAN_CANFD
+#    if CONFIG_FLEXCAN5_ARBI_BITRATE > 500000
+#      error "FLEXCAN5_ARBI_BITRATE > 500000"
+#    endif
+#  else
+#    if CONFIG_FLEXCAN5_BITRATE > 500000
+#      error "FLEXCAN5_BITRATE > 500000"
+#    endif
+#  endif
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_tja1153_initialize
+ *
+ * Description:
+ *   Initialize a TJA1153 CAN PHY connected to a FlexCAN peripheral (0-5)
+ *
+ ****************************************************************************/
+
+int s32k3xx_tja1153_initialize(int bus)
+{
+	int sock;
+	struct sockaddr_can addr;
+	struct can_frame frame_config1;
+	struct can_frame frame_config2;
+	struct can_frame frame_config3;
+	struct can_frame frame_config4;
+	struct can_frame frame_config5;
+	struct ifreq ifr;
+	uint32_t pin_can_txd;
+	uint32_t pin_can_rxd;
+	uint32_t pin_can_enable;
+	uint32_t pin_can_stb_n;
+	int ret = 0;
+
+	/* Select interface and pins */
+
+	switch (bus) {
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+
+	case 4: {
+			strlcpy(ifr.ifr_name, "can4", IFNAMSIZ);
+
+			pin_can_txd    = PIN_CAN4_TX;
+			pin_can_rxd    = PIN_CAN4_RX;
+			pin_can_enable = PIN_CAN4_ENABLE;
+			pin_can_stb_n  = PIN_CAN4_STB;
+		}
+		break;
+#endif
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+
+	case 5: {
+			strlcpy(ifr.ifr_name, "can5", IFNAMSIZ);
+
+			pin_can_txd    = PIN_CAN5_TX;
+			pin_can_rxd    = PIN_CAN5_RX;
+			pin_can_enable = PIN_CAN5_ENABLE;
+			pin_can_stb_n  = PIN_CAN5_STB;
+		}
+		break;
+#endif
+
+	default: {
+			/* This FlexCAN is not supported (yet) */
+
+			return -1;
+		}
+	}
+
+	/* First check if configuration is actually needed */
+
+	s32k3xx_pinconfig((pin_can_txd & (_PIN_PORT_MASK | _PIN_MASK)) |
+			  GPIO_OUTPUT | GPIO_OUTPUT_ZERO);
+
+	if (s32k3xx_gpioread(pin_can_rxd)) {
+		_info("CAN%d TJA1153 already configured\n", bus);
+
+		s32k3xx_pinconfig(pin_can_txd); /* Restore CAN_TXD pinconfig */
+		return 0;
+	}
+
+	s32k3xx_pinconfig(pin_can_txd); /* Restore CAN_TXD pinconfig */
+
+	/* Find network interface */
+
+	ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
+
+	if (!ifr.ifr_ifindex) {
+		_err("CAN%d TJA1153: if_nametoindex failed\n", bus);
+		return -1;
+	}
+
+	/* Configure pins */
+
+	s32k3xx_pinconfig(pin_can_enable);
+	s32k3xx_pinconfig(pin_can_stb_n);
+
+	s32k3xx_gpiowrite(pin_can_enable, true); /* Enable TJA1153 */
+	s32k3xx_gpiowrite(pin_can_stb_n, false); /* Inverted, so TJA1153 is put in STANDBY */
+
+	/* Init CAN frames, e.g. LEN = 0 */
+
+	memset(&frame_config1, 0, sizeof(frame_config1));
+	memset(&frame_config2, 0, sizeof(frame_config2));
+	memset(&frame_config3, 0, sizeof(frame_config3));
+	memset(&frame_config4, 0, sizeof(frame_config4));
+	memset(&frame_config5, 0, sizeof(frame_config5));
+
+	/* Prepare CAN frames. Refer to the TJA1153 datasheets and application
+	 * hints available on NXP.com for details.
+	 */
+
+	frame_config1.can_id  = 0x555;
+	frame_config1.can_dlc = 0;
+
+	frame_config2.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config2.can_dlc = 6;
+	frame_config2.data[0] = 0x10;
+	frame_config2.data[1] = 0x00;
+	frame_config2.data[2] = 0x50;
+	frame_config2.data[3] = 0x00;
+	frame_config2.data[4] = 0x07;
+	frame_config2.data[5] = 0xff;
+
+	frame_config3.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config3.can_dlc = 6;
+	frame_config3.data[0] = 0x10;
+	frame_config3.data[1] = 0x01;
+	frame_config3.data[2] = 0x9f;
+	frame_config3.data[3] = 0xff;
+	frame_config3.data[4] = 0xff;
+	frame_config3.data[5] = 0xff;
+
+	frame_config4.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config4.can_dlc = 6;
+	frame_config4.data[0] = 0x10;
+	frame_config4.data[1] = 0x02;
+	frame_config4.data[2] = 0xc0;
+	frame_config4.data[3] = 0x00;
+	frame_config4.data[4] = 0x00;
+	frame_config4.data[5] = 0x00;
+
+	frame_config5.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config5.can_dlc = 8;
+	frame_config5.data[0] = 0x71;
+	frame_config5.data[1] = 0x02;
+	frame_config5.data[2] = 0x03;
+	frame_config5.data[3] = 0x04;
+	frame_config5.data[4] = 0x05;
+	frame_config5.data[5] = 0x06;
+	frame_config5.data[6] = 0x07;
+	frame_config5.data[7] = 0x08;
+
+	/* Open socket */
+
+	if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+		_err("CAN%d TJA1153: Failed to open socket\n", bus);
+		return -1;
+	}
+
+	/* Bring up the interface */
+
+	ifr.ifr_flags = IFF_UP;
+	ret = ioctl(sock, SIOCSIFFLAGS, (unsigned long)&ifr);
+
+	if (ret < 0) {
+		_err("CAN%d TJA1153: ioctl failed (can't set interface flags)\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	/* Initialize sockaddr struct */
+
+	memset(&addr, 0, sizeof(addr));
+	addr.can_family  = AF_CAN;
+	addr.can_ifindex = ifr.ifr_ifindex;
+
+	/* Disable default receive filter on this RAW socket
+	 *
+	 * This is obsolete as we do not read from the socket at all, but for this
+	 * reason we can remove the receive list in the kernel to save a little
+	 * (really very little!) CPU usage.
+	 */
+
+	setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+	/* Bind socket and send the CAN frames */
+
+	if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		_err("CAN%d TJA1153: Failed to bind socket\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config1, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config1\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config2, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config2\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config3, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config3\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config4, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config4\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config5, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config5\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	/* Sleep for 100 ms to ensure that CAN frames have been transmitted */
+
+	nxsig_usleep(100 * 1000);
+
+	/* TJA1153 must be taken out of STB mode */
+
+	s32k3xx_gpiowrite(pin_can_stb_n, true); /* Inverted, so TJA1153 comes out of STANDBY */
+
+	/* Bring down the interface */
+
+	ifr.ifr_flags = IFF_DOWN;
+	ret = ioctl(sock, SIOCSIFFLAGS, (unsigned long)&ifr);
+
+	if (ret < 0) {
+		_err("CAN%d TJA1153: ioctl failed (can't set interface flags)\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	close(sock);
+	_info("CAN%d TJA1153 configuration succesful\n", bus);
+	return 0;
+}
+
+#endif /* CONFIG_S32K3XX_TJA1153 */
@@ -0,0 +1,103 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_userleds.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+
+#include "board_config.h"
+
+#ifndef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_userled_initialize
+ ****************************************************************************/
+
+uint32_t board_userled_initialize(void)
+{
+	/* Configure LED GPIOs for output */
+
+	s32k3xx_pinconfig(GPIO_LED_R);
+	s32k3xx_pinconfig(GPIO_LED_G);
+	s32k3xx_pinconfig(GPIO_LED_B);
+	return BOARD_NLEDS;
+}
+
+/****************************************************************************
+ * Name: board_userled
+ ****************************************************************************/
+
+void board_userled(int led, bool ledon)
+{
+	uint32_t ledcfg;
+
+	switch (led) {
+	case BOARD_LED_R:
+		ledcfg = GPIO_LED_R;
+		break;
+
+	case BOARD_LED_G:
+		ledcfg = GPIO_LED_G;
+		break;
+
+	case BOARD_LED_B:
+		ledcfg = GPIO_LED_B;
+		break;
+
+	default:
+		return;
+	}
+
+	/* Invert output, an output of '0' illuminates the LED */
+
+	s32k3xx_gpiowrite(ledcfg, !ledon);
+}
+
+/****************************************************************************
+ * Name: board_userled_all
+ ****************************************************************************/
+
+void board_userled_all(uint32_t ledset)
+{
+	/* Invert output, an output of '0' illuminates the LED */
+
+	s32k3xx_gpiowrite(GPIO_LED_R, !((ledset & BOARD_LED_R_BIT) != 0));
+	s32k3xx_gpiowrite(GPIO_LED_G, !((ledset & BOARD_LED_G_BIT) != 0));
+	s32k3xx_gpiowrite(GPIO_LED_B, !((ledset & BOARD_LED_B_BIT) != 0));
+}
+
+#endif /* !CONFIG_ARCH_LEDS */
@@ -0,0 +1,368 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016, 2018, 2021 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *            Landon Haugh <landon.haugh@nxp.com>
+ *
+ * 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.
+ *
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <px4_arch/spi_hw_description.h>
+#include <px4_platform_common/px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "chip.h"
+#include <systemlib/px4_macros.h>
+
+#include "s32k3xx_config.h"
+#include "s32k3xx_lpspi.h"
+#include "s32k3xx_pin.h"
+#include "board_config.h"
+
+#if defined(CONFIG_S32K3XX_LPSPI)
+
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBusExternal(SPI::Bus::SPI1, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, { // SD Card
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+	}),
+	initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{GPIO::PortA, GPIO::Pin15, 551})
+	}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{GPIO::PortA, GPIO::Pin13, 549})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+#define PX4_MK_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
+
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+__EXPORT void board_spi_reset(int ms, int bus_mask)
+{
+	/* Goal not to back feed the chips on the bus via IO lines */
+
+	/* Next Change CS to inputs with pull downs */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					// s32k3xx_pinconfig is defined
+					// Only one argument, (uint32_t cfgset)
+					s32k3xx_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
+				}
+			}
+		}
+	}
+
+	/* Restore all the CS to ouputs inactive */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					s32k3xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+				}
+			}
+		}
+	}
+}
+
+/************************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
+ *
+ ************************************************************************************/
+
+void s32k3xx_spidev_initialize(void)
+{
+	board_spi_reset(10, 0xffff);
+
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				s32k3xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+			}
+		}
+	}
+}
+
+/************************************************************************************
+ * Name: s32k3xx_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
+ *
+ ************************************************************************************/
+
+
+__EXPORT int s32k3xx_spi_bus_initialize(void)
+{
+
+	struct spi_dev_s *spi_ext;
+
+	spi_ext = px4_spibus_initialize(2);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(3);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(5);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(6);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+
+	return OK;
+
+}
+
+/****************************************************************************
+ * Name: s32k3xx_lpspiNselect and s32k3xx_lpspiNstatus
+ *
+ * Description:
+ *   The external functions, s32k3xx_lpspiNselect and s32k3xx_lpspiNstatus
+ *   must be provided by board-specific logic.  They are implementations of
+ *   the select and status methods of the SPI interface defined by struct
+ *   spi_ops_s (see include/nuttx/spi/spi.h).  All other methods (including
+ *   s32k3xx_lpspibus_initialize()) are provided by common logic.  To use
+ *   this common SPI logic on your board:
+ *
+ *   1. Provide logic in s32k3xx_boardinitialize() to configure SPI chip
+ *      select pins.
+ *   2. Provide s32k3xx_lpspiNselect() and s32k3xx_lpspiNstatus() functions
+ *      in your board-specific logic.  These functions will perform chip
+ *      selection and status operations using GPIOs in the way your board is
+ *      configured.
+ *   3. Add a calls to s32k3xx_lpspibus_initialize() in your low level
+ *      application initialization logic.
+ *   4. The handle returned by s32k3xx_lpspibus_initialize() may then be used
+ *      to bind the SPI driver to higher level logic (e.g., calling
+ *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
+ *      the SPI MMC/SD driver).
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_S32K3XX_LPSPI1
+/* LPSPI1 *******************************************************************/
+
+void s32k3xx_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI1_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI1 */
+
+#ifdef CONFIG_S32K3XX_LPSPI2
+/* LPSPI2 *******************************************************************/
+
+void s32k3xx_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI2_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI2 */
+
+#ifdef CONFIG_S32K3XX_LPSPI3
+/* LPSPI3 *******************************************************************/
+
+void s32k3xx_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI3_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI3 */
+
+#ifdef CONFIG_S32K3XX_LPSPI4
+/* LPSPI4 *******************************************************************/
+
+void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI4 */
+
+#ifdef CONFIG_S32K3XX_LPSPI5
+/* LPSPI5 *******************************************************************/
+
+void s32k3xx_lpspi5select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI5_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi5status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI5 */
+
+
+#endif /* CONFIG_S32K3XX_LPSPI0 */
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file timer_config.c
+ *
+ * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+// TODO:Stubbed out for now
+#include <stdint.h>
+
+#include "hardware/s32k3xx_emios.h"
+
+#include "board_config.h"
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer_hw_description.h>
+
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::EMIOS0)
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel0}, PIN_EMIOS0_CH0_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel1}, PIN_EMIOS0_CH1_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel2}, PIN_EMIOS0_CH2_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel3}, PIN_EMIOS0_CH3_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel4}, PIN_EMIOS0_CH4_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel5}, PIN_EMIOS0_CH5_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel6}, PIN_EMIOS0_CH6_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel7}, PIN_EMIOS0_CH7_2),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+	{
+		.base = S32K3XX_EMIOS0_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+	{
+		.base = S32K3XX_EMIOS1_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+};
+
+const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+	{
+		.gpio_out = GPIO_LED_R, // RGB_R
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 19,
+	},
+	{
+		.gpio_out = GPIO_LED_G, // RGB_G
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 10,
+	},
+	{
+		.gpio_out = GPIO_LED_B, // RGB_B
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 5,
+	},
+};
@@ -9,6 +9,7 @@
 # CONFIG_NET_ETHERNET is not set
 # CONFIG_NET_IPv4 is not set
 # CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_S32K1XX_EDMA_HOE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/ucans32k146/nuttx-config"
@@ -46,6 +47,7 @@ CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=2176
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LPI2C0_DMA=y
 CONFIG_LPUART0_BAUD=38400
 CONFIG_LPUART0_RXBUFSIZE=600
 CONFIG_LPUART0_RXDMA=y
@@ -85,10 +87,16 @@ CONFIG_RAM_START=0x1fff0000
 CONFIG_RAW_BINARY=y
 CONFIG_RR_INTERVAL=200
 CONFIG_RTC=y
+CONFIG_S32K1XX_EDMA=y
+CONFIG_S32K1XX_EDMA_EDBG=y
+CONFIG_S32K1XX_EDMA_ELINK=y
+CONFIG_S32K1XX_EDMA_NTCD=64
 CONFIG_S32K1XX_EEEPROM=y
 CONFIG_S32K1XX_FLEXCAN0=y
 CONFIG_S32K1XX_FLEXCAN1=y
 CONFIG_S32K1XX_LPI2C0=y
+CONFIG_S32K1XX_LPI2C_DMA=y
+CONFIG_S32K1XX_LPI2C_DYNTIMEO=y
 CONFIG_S32K1XX_LPSPI0=y
 CONFIG_S32K1XX_LPUART0=y
 CONFIG_S32K1XX_LPUART1=y
@@ -78,6 +78,14 @@
 */

 const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
+	{
+		.clkname = DMAMUX0_CLK,
+#ifdef CONFIG_S32K1XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
 	{
 		.clkname = FLEXCAN0_CLK,
 #ifdef CONFIG_S32K1XX_FLEXCAN0
@@ -359,7 +359,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -118,7 +118,7 @@ const struct userspace_s userspace __attribute__((section(".userspace"))) = {

 	/* User-space work queue support (declared in include/nuttx/wqueue.h) */

-#ifdef CONFIG_LIB_USRWORK
+#ifdef CONFIG_LIBC_USRWORK
 	.work_usrstart    = work_usrstart,
 #endif
 };
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
@@ -70,10 +70,10 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -356,7 +356,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -1,3 +1,4 @@
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
@@ -8,5 +9,6 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -218,7 +218,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -314,7 +314,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -385,7 +385,7 @@
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -81,6 +81,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -69,6 +69,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_RC_INPUT=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
@@ -29,7 +30,6 @@ CONFIG_MODULES_MC_ATT_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
@@ -16,17 +16,14 @@ CONFIG_ARCH_CHIP="rp2040"
 CONFIG_ARCH_CHIP_RP2040=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_LOOPSPERMSEC=10450
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTSTR="PX4 RaspberryPi Pico"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
@@ -49,7 +46,10 @@ CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -84,7 +84,6 @@ CONFIG_RP2040_SPI0=y
 CONFIG_RP2040_SPI1=y
 CONFIG_RP2040_SPI=y
 CONFIG_RP2040_UART1=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
@@ -95,7 +94,6 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -114,6 +112,4 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
--- a/Show More
+++ b/Show More