Add local path setpoint

Pass setpoints to npfg F F F
Rebase fix
2026-06-13 09:30:06 +08:00 · 2022-01-26 22:35:37 +01:00 · 2022-01-26 16:41:00 +01:00 · 2022-01-26 15:58:44 +01:00 · 2022-01-26 15:58:38 +01:00 · 2022-01-26 15:58:02 +01:00
604 changed files with 12245 additions and 21646 deletions
@@ -60,8 +60,6 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -73,8 +73,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                }
              }
@@ -143,8 +145,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                }
              }
@@ -213,8 +217,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                }
              }
@@ -282,8 +288,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                }
              }
@@ -352,8 +360,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                }
              }
@@ -442,8 +452,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                }
              }
@@ -524,8 +536,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                }
              }
@@ -594,8 +608,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                }
              }
@@ -664,8 +680,10 @@ pipeline {
                }
              }
              post {
+                failure {
+                  sh 'cat /tmp/pyserial_spy_file.txt'
+                }
                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                }
              }
@@ -775,7 +793,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  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 "uorb top -1 -a"'
  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
@@ -791,7 +809,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'

  resetParameters()

@@ -844,7 +862,7 @@ void runTests() {
 void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  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 "uorb top -1 -a"'

  // these are for casually inspecting the system, output failure doesn't matter
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
@@ -861,7 +879,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
@@ -36,7 +36,6 @@ jobs:
          holybro_kakuteh7,
          holybro_pix32v5,
          matek_h743-slim,
-          matek_gnss-m9n-f4,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -24,8 +24,8 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/JacobCrabill/incubator-nuttx.git
-	branch = dev-h7-socketcan
+	url = https://github.com/PX4/NuttX.git
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -196,16 +196,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 FULL_DOCS "List of all PX4 module libraries"
                 )

-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)

 # Find Python
 # If using catkin, Python 2 is found since it points
@@ -118,11 +118,6 @@ config BOARD_CRYPTO
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"

    config BOARD_SERIAL_URT6
@@ -10,7 +10,7 @@
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

-param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515
 param set-default CA_ROTOR0_PY 0.245
 param set-default CA_ROTOR0_KM 0.05
@@ -23,9 +23,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -0.1515
 param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -234,7 +234,7 @@ fi

 if param greater -s MNT_MODE_IN -1
 then
-	gimbal start
+	vmount start
 fi

 if param greater -s TRIG_MODE 0
@@ -39,26 +39,6 @@ param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -15,23 +15,6 @@ set MIXER quad_x

 param set SYS_HITL 1

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -61,37 +61,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
-

 param set SYS_HITL 1

@@ -17,23 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -17,26 +17,6 @@ set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -26,26 +26,6 @@ param set-default VT_FW_DIFTHR_SC 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.3
-param set-default CA_SV_CS0_TRQ_Y 0.3
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.3
-param set-default CA_SV_CS1_TRQ_Y -0.3
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
-
 param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo_sat
@@ -24,30 +24,6 @@

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

-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4

 param set-default PWM_AUX_DIS5 950

@@ -13,25 +13,6 @@

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

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6

 param set-default PWM_MAIN_MAX 2000

@@ -31,32 +31,6 @@ param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 24
-
-param set-default CA_AIRFRAME 3
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR3_TILT 4
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_TL_COUNT 4
-
 set MAV_TYPE 21

 set MIXER quad_x
@@ -23,20 +23,6 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 2
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PY 0.2
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PY -0.2
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-
 param set-default MAV_TYPE 19
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
@@ -23,18 +23,6 @@

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

-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50

@@ -21,16 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER skip
+set MIXER_AUX none
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.177
+param set-default CA_ROTOR0_PY 0.177
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.177
+param set-default CA_ROTOR1_PY -0.177
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.177
+param set-default CA_ROTOR2_PY -0.177
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.177
+param set-default CA_ROTOR3_PY 0.177
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
-param set-default EKF2_AID_MASK 33
+param set-default EKF2_AID_MASK 35
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -147,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27


 # gimbal configuration
-param set-default MNT_MODE_IN 0
+param set-default MNT_MODE_IN 1
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
 param set-default MNT_RC_IN_MODE 1
@@ -164,8 +164,6 @@ param set-default RC_MAP_AUX2       5
 param set-default RC_MAP_AUX3       10
 param set-default RC_MAP_AUX4       8
 param set-default RC_MAP_FLTMODE    6
-param set-default RC_MAP_RETURN_SW  7
-
 param set-default RC1_TRIM          1000


@@ -23,23 +23,6 @@

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

-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -0.5
-param set-default CA_ROTOR2_PX 0.43
-param set-default CA_ROTOR2_PY -0.25
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.43
-param set-default CA_ROTOR3_PY 0.25
-param set-default CA_ROTOR4_PX 0.43
-param set-default CA_ROTOR4_PY 0.25
-param set-default CA_ROTOR5_PX -0.43
-param set-default CA_ROTOR5_PY -0.25
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_x

 # Need to set all 8 channels
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 0.275
+param set-default CA_ROTOR0_KM -0.05
+
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -0.275
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_ROTOR2_PX 0.238
+param set-default CA_ROTOR2_PY -0.1375
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.238
+param set-default CA_ROTOR3_PY 0.1375
+param set-default CA_ROTOR3_KM 0.05
+
+param set-default CA_ROTOR4_PX 0.238
+param set-default CA_ROTOR4_PY 0.1375
+param set-default CA_ROTOR4_KM 0.05
+
+param set-default CA_ROTOR5_PX -0.238
+param set-default CA_ROTOR5_PY -0.1375
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+set MIXER skip
+set MIXER_AUX none
@@ -23,23 +23,6 @@

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

-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.5
-param set-default CA_ROTOR0_PY 0.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.5
-param set-default CA_ROTOR1_PY 0.0
-param set-default CA_ROTOR2_PX -0.25
-param set-default CA_ROTOR2_PY -0.43
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX 0.25
-param set-default CA_ROTOR3_PY 0.43
-param set-default CA_ROTOR4_PX 0.25
-param set-default CA_ROTOR4_PY -0.43
-param set-default CA_ROTOR5_PX -0.25
-param set-default CA_ROTOR5_PY 0.43
-param set-default CA_ROTOR5_KM -0.05
-
 set MIXER hexa_+

 # Need to set all 8 channels
@@ -25,28 +25,6 @@

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

-param set-default CA_ROTOR_COUNT 8
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR0_PX 0.46
-param set-default CA_ROTOR0_PY 0.19
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR1_PX -0.46
-param set-default CA_ROTOR1_PY -0.19
-param set-default CA_ROTOR2_PX 0.19
-param set-default CA_ROTOR2_PY 0.46
-param set-default CA_ROTOR3_PX -0.46
-param set-default CA_ROTOR3_PY 0.19
-param set-default CA_ROTOR4_PX 0.46
-param set-default CA_ROTOR4_PY -0.19
-param set-default CA_ROTOR5_PX -0.19
-param set-default CA_ROTOR5_PY -0.46
-param set-default CA_ROTOR6_KM -0.05
-param set-default CA_ROTOR6_PX 0.19
-param set-default CA_ROTOR6_PY -0.46
-param set-default CA_ROTOR7_KM -0.05
-param set-default CA_ROTOR7_PX -0.19
-param set-default CA_ROTOR7_PY 0.46
-
 set MIXER octo_x

 set PWM_OUT 12345678
@@ -72,6 +72,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
+	4018_s500_ctrlalloc
 	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
@@ -99,6 +100,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc

 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
@@ -130,13 +130,6 @@ then
 	fi
 fi

-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -149,19 +142,6 @@ then
 	ms5525_airspeed start -X
 fi

-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-then
-	irlock start -X
-fi
-
-# PCF8583 counter (RPM sensor)
-if param compare -s SENS_EN_PCF8583 1
-then
-	pcf8583 start -X
-	pcf8583 start -X -a 0x51
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -486,11 +486,11 @@ else
 	. ${R}etc/init.d/rc.thermal_cal

 	#
-	# Start gimbal to control mounts such as gimbals, disabled by default.
+	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
 	if param greater -s MNT_MODE_IN -1
 	then
-		gimbal start
+		vmount start
 	fi

 	# Check for flow sensor
@@ -35,6 +35,7 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true

 	# enable all GPS
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
@@ -150,7 +150,7 @@ simulator,CONFIG_MODULES_SIMULATOR=y
 temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
 uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-gimbal,CONFIG_MODULES_GIMBAL=y
+vmount,CONFIG_MODULES_VMOUNT=y
 vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
 bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
@@ -330,11 +330,9 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
            }
-        for optional in ['type', 'title']:
-            if optional in current_type:
-                mixer_config[optional] = current_type[optional]
+        if 'type' in current_type:
+            mixer_config['type'] = current_type['type']
        actuators = []
        for actuator_conf in current_type['actuators']:
            actuator = {
@@ -7,8 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
-
-from scipy.signal import medfilt
+import scipy as sp

 from pyulog import *

@@ -66,7 +65,7 @@ def resampleWithDeltaX(x,y):
    return resampledX,resampledY

 def median_filter(data):
-    return medfilt(data, 31)
+    return sp.signal.medfilt(data, 31)

 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow']

    max_line_length = 80 # wrap lines that are longer than this

@@ -268,14 +268,10 @@ for serial_command in serial_commands:
                default_port_str = port_config['default'][i]
            else:
                default_port_str = port_config['default']
-
            if default_port_str != "":
                if default_port_str not in serial_ports:
                    raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
-
-                if default_port_str in dict(board_ports).keys():
-                    default_port = serial_ports[default_port_str]['index']
-
+                default_port = serial_ports[default_port_str]['index']

        commands.append({
            'command': serial_command['command'],
@@ -192,7 +192,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 		ignition_headless=""
 	fi
 	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+	ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -31,7 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -71,7 +71,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -56,7 +56,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -17,6 +17,7 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -76,7 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -77,7 +77,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -72,7 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -1,245 +0,0 @@
-#
-# 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_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NET_CAN_CANFD is not set
-# CONFIG_NET_ETHERNET is not set
-# CONFIG_NET_IPv4 is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_REBOOT is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SHUTDOWN is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CANUTILS_CANDUMP=y
-CONFIG_CANUTILS_CANSEND=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1016
-CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x2DAE
-CONFIG_CDCACM_VENDORSTR="CubePilot"
-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_EXAMPLES_CALIB_UDELAY=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-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_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=750
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NET=y
-CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
-CONFIG_NETDEV_IFINDEX=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NET_CAN=y
-CONFIG_NET_CAN_RAW_TX_DEADLINE=y
-CONFIG_NET_CAN_SOCK_OPTS=y
-CONFIG_NET_TIMESTAMP=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=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_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-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_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FDCAN1=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -1,22 +0,0 @@
-CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
-CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
-CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -58,7 +58,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -62,5 +62,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -68,5 +68,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()
@@ -69,7 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -15,17 +15,20 @@ CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 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_NAVIGATOR=y
@@ -90,7 +90,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIBC_STRERROR_SHORT=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -62,7 +62,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -133,8 +133,6 @@

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

-#define GPIO_RF_SWITCH                     /* PE13  */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
-
 /* Power switch controls ******************************************************/

 #define SDIO_SLOTNO                    0  /* Only one slot */
@@ -177,7 +175,6 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_RSSI_IN,                     \
-		GPIO_RF_SWITCH,                   \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -160,9 +160,6 @@ stm32_boardinitialize(void)

 	board_control_spi_sensors_power_configgpio();

-	/* Turn bluetooth off by default (no mavlink support yet) */
-	px4_arch_gpiowrite(GPIO_RF_SWITCH, 0);
-
 	/* configure USB interfaces */

 	stm32_usbinitialize();
@@ -79,7 +79,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -1,7 +0,0 @@
-CONFIG_PLATFORM_NUTTX=y
-CONFIG_BOARD_PLATFORM="nuttx"
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y
@@ -1,25 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
-CONFIG_SERIAL_PASSTHRU_UBLOX=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 1014,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the MatekM9nf4can cannode board",
-    "image": "",
-    "build_time": 0,
-    "summary": "MateksysGnss-m9n-f4",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 983040,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# Matek M9NF4 CAN specific board sensors init
-#------------------------------------------------------------------------------
-
-icm20602 -s start
-
-rm3100 -b 2 -s start
-
-dps310 -a 118 -X start
-
-sensors start
@@ -1,64 +0,0 @@
-#
-# 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_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F405RG=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_C99_BOOL8=y
-CONFIG_CLOCK_MONOTONIC=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_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=131072
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_STM32_TIM8=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
@@ -1,302 +0,0 @@
-/************************************************************************************
- * include/arch/board/board.h
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *   Author: Nathan Tsoi <nathan@vertile.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.
- *
- ************************************************************************************/
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include "board_dma_map.h"
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The Mateksys GNSS M9N-F4 board features a single 8MHz crystal.
- *
- * This is the canonical configuration:
- *   System Clock source           : PLL (HSE)
- *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
- *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
- *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
- *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
- *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
- *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
- *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
- *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
- *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
- *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
- *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
- *   Flash Latency(WS)             : 5
- *   Prefetch Buffer               : OFF
- *   Instruction cache             : ON
- *   Data cache                    : ON
- *   Require 48MHz for USB OTG FS, : Enabled
- *   SDIO and RNG clock
- */
-
-/* HSI - 16 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - On-board crystal frequency is 8MHz
- * LSE - 32.768 kHz
- */
-
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000ul
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *         = (8,000,000 / 8) * 336
- *         = 336,000,000
- * SYSCLK  = PLL_VCO / PLLP
- *         = 336,000,000 / 2 = 168,000,000
- * USB OTG FS, SDIO and RNG Clock
- *         =  PLL_VCO / PLLQ
- *         = 48,000,000
- */
-
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
-
-#define STM32_SYSCLK_FREQUENCY  168000000ul
-
-/* AHB clock (HCLK) is SYSCLK (168MHz) */
-
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
-
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
-
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx.
- * Note: TIM1,8-11 are on APB2, others on APB1
- */
-
-#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
-#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
-#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
-#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
-#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
-#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
-#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
-#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
-#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
-#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
-#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
-#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
-#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
-
-/* LED definitions ******************************************************************/
-/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
- * way.  The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with stm32_setled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_NLEDS       2
-
-#define BOARD_LED_BLUE    BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-
-/* LED bits for use with stm32_setleds() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-
-/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
- * The following definitions describe how NuttX controls the LEDs:
- */
-
-#define LED_STARTED       0  /* LED1 */
-#define LED_HEAPALLOCATE  1  /* LED2 */
-#define LED_IRQSENABLED   2  /* LED1 */
-#define LED_STACKCREATED  3  /* LED1 + LED2 */
-#define LED_INIRQ         4  /* LED1 */
-#define LED_SIGNAL        5  /* LED2 */
-#define LED_ASSERTION     6  /* LED1 + LED2 */
-#define LED_PANIC         7  /* LED1 + LED2 */
-
-/* Alternate function pin selections ************************************************/
-
-/* UART1:
- *
- * PA10 (RX) and PA9 (TX) are broken out on J5
- */
-
-#define GPIO_USART1_RX GPIO_USART1_RX_1
-#define GPIO_USART1_TX GPIO_USART1_TX_1
-
-/* UART2:
- *
- * PA10 (RX) and PA9 (TX) are broken out on J5
- */
-
-//#define GPIO_USART2_RX GPIO_USART2_RX_1
-//#define GPIO_USART2_TX GPIO_USART2_TX_1
-
-/* USART3:
- *
- * PC10 (TX) and PC11 (RX) are broken out on J4
- *
- *
- * The Silkscreen pin labeled SCL is TX
- *                           MISO is RX
- */
-#define GPIO_USART3_RX	GPIO_USART3_RX_2
-#define GPIO_USART3_TX	GPIO_USART3_TX_2
-
-/* UART4:
- *
- * PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
- *             on the pro version. It's on a 2.54mm header on other versions
- * PA1 (RX) -- Motor 5 out
- */
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
-
-/* UART5:
- *
- * PC6 (TX) and PC7 (RX) are broken out on J10
- */
-
-//#define GPIO_UART5_RX GPIO_UART5_RX_1
-//#define GPIO_UART5_TX GPIO_UART5_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX    GPIO_CAN1_RX_2
-#define GPIO_CAN1_TX    GPIO_CAN1_TX_2
-
-/* SPI1:
- *  CS: PA4 -- configured in board_config.h
- *  CLK: PA5
- *  MISO: PA6
- *  MOSI: PA7
- */
-
-#define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-
-/* SPI2:
- *  SD Card
- *  CS: PB12 -- configured in board_config.h
- *  CLK: PB13
- *  MISO: PB14
- *  MOSI: PB15
- */
-
-#define GPIO_SPI2_SCK	  GPIO_SPI2_SCK_2
-#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
-
-/* SPI3: SD CARD
- *  CS: PC14 -- configured in board_config.h
- *  CLK: PB3
- *  MISO: PB4
- *  MOSI: PB5
- */
-
-#define GPIO_SPI3_SCK  GPIO_SPI3_SCK_1
-#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1
-#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
-
-/*
- * I2C (external)
- *
- * SCL: PB10
- * SDA: PB11
- *
- * TODO:
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- */
-#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-
-#endif  /* __CONFIG_M9NF4_INCLUDE_BOARD_H */
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#pragma once
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      |  SPI3_RX         | TIM2_UP_1        | UART4_RX         | SPI2_RX          | SPI2_TX          |                  |                  | SPI3_TX          |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  |                  |                  |
- */
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMAMAP_USART1_RX  DMAMAP_USART1_RX_1  // DMA2, Stream 2, Channel 4    (CONSOLE)
-//#define DMAMAP_UART4_RX DMAMAP_UART4_RX     // DMA1, Stream 2, Channel 4    (GPS)
-
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA1, Stream 3, Channel 0    (SPI2 RX)
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA1, Stream 4, Channel 0    (SPI2 TX)
-#define DMACHAN_SPI3_RX    DMAMAP_SPI3_RX_1   // DMA1, Stream 0, Channel 0    (SPI3 RX SD)
-#define DMACHAN_SPI3_TX    DMAMAP_SPI3_TX_2   // DMA1, Stream 7, Channel 0    (SPI3 TX SD)
-
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 RX)
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 TX)
@@ -1,195 +0,0 @@
-#
-# 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_OS_API is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS 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_CMP is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_SPI_CALLBACK is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-# CONFIG_STM32_DMACAPABLE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-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_BOARDCTL_RESET=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_BULKIN_REQLEN=96
-CONFIG_CDCACM_PRODUCTID=0x1004
-CONFIG_CDCACM_PRODUCTSTR="Matekgnssm9nf4"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x120A
-CONFIG_CDCACM_VENDORSTR="PX4"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=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_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-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
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-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_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=3
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=131072
-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_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_PASSTHRU_UBLOX=y
-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=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_OTGHS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=1024
-CONFIG_STM32_SPI3=y
-CONFIG_STM32_SPI3_DMA=y
-CONFIG_STM32_SPI3_DMA_BUFFER=512
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=1024
-CONFIG_STM32_SYSCFG_IOCOMPENSATION=y
-CONFIG_STM32_TIM5=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=38400
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=300
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_SERIAL_CONSOLE=y
-CONFIG_USART1_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_DUALSPEED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -1,137 +0,0 @@
-/****************************************************************************
- * configs/gnss-m9n-f4/scripts/ld.canbootloader
- *
- *   Copyright (C) 2011 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.
- *
- ****************************************************************************/
-
-/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
- * 192Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 32 KiB of flash is reserved for the bootloader.
- * Paramater storage will use the next 32KiB Sector.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* 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) }
-}
@@ -1,147 +0,0 @@
-/****************************************************************************
- * configs/gnss-m9n-f4/scripts/ld.script
- *
- *   Copyright (C) 2011 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.
- *
- ****************************************************************************/
-
-/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
- * 192Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 32 KiB of flash is reserved for the bootloader.
- * Paramater storage will use the next 32KiB Sector.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 960K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-                . = ALIGN(8);
-                /*
-                * This section positions the app_descriptor_t used
-                * by the make_can_boot_descriptor.py tool to set
-                * the application image's descriptor so that the
-                * uavcan bootloader has the ability to validate the
-                * image crc, size etc
-                */
-                KEEP(*(.app_descriptor))
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* 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) }
-}
@@ -1,70 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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
-		boot_config.h
-		boot.c
-		led.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			canbootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		led.c
-		init.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-			arch_io_pins
-			drivers__led
-	)
-endif()
@@ -1,146 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014, 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * M9nf4 can internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* Matek M9nf4can GPIOs ***********************************************************************************/
-/* LEDs */
-// LED1 - PA14 - blue
-// LED2 - PA13 - green
-
-#define GPIO_LED1       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN14)
-#define GPIO_LED_BLUE   GPIO_LED1
-
-#define GPIO_LED2       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
-#define GPIO_LED_GREEN  GPIO_LED2
-
-/* Boot config */
-#define GPIO_BOOT_CONFIG      /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7|GPIO_EXTI)
-
-#define FLASH_BASED_PARAMS
-
-#define GPIO_CAN1_SILENT_S0  /* PC13  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
-
-#define GPIO_I2C2_SCL_RESET   /* PB10  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET   /*  PB11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
-
-/* High-resolution timer */
-#define HRT_TIMER                    3 /* use timer 3 as HRT */
-#define HRT_TIMER_CHANNEL            4 /* use capture/compare channel 4 */
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_I2C2_SCL_RESET,              \
-		GPIO_I2C2_SDA_RESET,              \
-		GPIO_BOOT_CONFIG,                 \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_OTGFS_VBUS                   \
-	}
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-
-/****************************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to configure USB IO.
- *
- ****************************************************************************************************/
-
-extern void stm32_usbinitialize(void);
-
-//extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,190 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *       Author: Ben Dyer <ben_dyer@mac.com>
- *               Pavel Kirienko <pavel.kirienko@zubax.com>
- *               David Sidrane <david_s5@nscdg.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 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-#include <stdint.h>
-#include "boot_config.h"
-#include "board.h"
-
-#include <debug.h>
-#include <string.h>
-#include <arch/board/board.h>
-
-#include "led.h"
-#include <nuttx/board.h>
-
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
-	stm32_configgpio(GPIO_CAN1_RX);
-	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-
-	//led_init();
-
-#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
-	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
-#endif
-
-}
-
-/************************************************************************************
- * Name: board_deinitialize
- *
- * Description:
- *   This function is called by the bootloader code prior to booting
- *   the application. Is should place the HW into an benign initialized state.
- *
- ************************************************************************************/
-
-void board_deinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-}
-
-/****************************************************************************
- * Name: board_get_product_name
- *
- * Description:
- *   Called to retrieve the product name. The returned value is a assumed
- *   to be written to a pascal style string that will be length prefixed
- *   and not null terminated
- *
- * Input Parameters:
- *    product_name - A pointer to a buffer to write the name.
- *    maxlen       - The maximum number of charter that can be written
- *
- * Returned Value:
- *   The length of characters written to the buffer.
- *
- ****************************************************************************/
-
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
-{
-	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
-}
-
-/****************************************************************************
- * Name: board_get_hardware_version
- *
- * Description:
- *   Called to retrieve the hardware version information. The function
- *   will first initialize the the callers struct to all zeros.
- *
- * Input Parameters:
- *    hw_version - A pointer to a uavcan_hardwareversion_t.
- *
- * Returned Value:
- *   Length of the unique_id
- *
- ****************************************************************************/
-
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
-{
-	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
-
-	hw_version->major = HW_VERSION_MAJOR;
-	hw_version->minor = HW_VERSION_MINOR;
-
-	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
-}
-
-/****************************************************************************
- * Name: board_indicate
- *
- * Description:
- *   Provides User feedback to indicate the state of the bootloader
- *   on board specific  hardware.
- *
- * Input Parameters:
- *    indication - A member of the uiindication_t
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
-	uint8_t hz;
-} end_packed_struct led_t;
-
-static const  led_t i2l[] = {
-
-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
-
-};
-
-void board_indicate(uiindication_t indication)
-{
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
-		i2l[indication].hz);
-}
@@ -1,129 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/*
- * @file boot_config.h
- *
- * bootloader definitions that configures the behavior and options
- * of the Boot loader
- * This file is relies on the parent folder's boot_config.h file and defines
- * different usages of the hardware for bootloading
- */
-
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-/* Bring in the board_config.h definitions
- * todo:make this be pulled in from a targed's build
- * files in nuttx*/
-
-#include "board_config.h"
-#include "uavcan.h"
-#include <nuttx/compiler.h>
-
-#include <stdint.h>
-
-#include <stm32_flash.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
-
-//todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    5000
-#define OPT_NODE_STATUS_RATE_MS         800
-#define OPT_NODE_INFO_RATE_MS           50
-#define OPT_BL_NUMBER_TIMERS            7
-
-/*
- *  This Option set is set to 1 ensure a provider of firmware has an
- *  opportunity update the node's firmware.
- *  This Option is the default policy and can be overridden by
- *  a jumper
- *  When this Policy is set, the node will ignore tboot and
- *  wait indefinitely for a GetNodeInfo request before booting.
- *
- *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
- *  the polarity of the jumper to be True Active
- *
- *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
- *                                                 Jumper
- *   yes           1                       0         x
- *   yes           1                       1       Active
- *   no            1                       1       Not Active
- *   no            0                       0         X
- *   yes           0                       1       Active
- *   no            0                       1       Not Active
- *
- */
-#define OPT_WAIT_FOR_GETNODEINFO                    0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
-#define OPT_ENABLE_WD           1
-
-#define OPT_RESTART_TIMEOUT_MS          20000
-
-/* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
-
-/* Reserved for the application out of the total
- * system flash minus the BOOTLOADER_SIZE_IN_K
- */
-#define OPT_APPLICATION_RESERVER_IN_K    0
-
-#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
-
-
-#define FLASH_BASE              STM32_FLASH_BASE
-#define FLASH_SIZE              STM32_FLASH_SIZE
-
-#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
-
-//* If this board uses big flash that have large sectors */
-
-#define OPT_USE_YIELD
-
-/* Bootloader Option*****************************************************************
- *
- */
-#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "stm32.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020-2021 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 <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-};
@@ -1,203 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 init.c
- *
- * Matek M9NF4 CAN -specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_watchdog.h>
-
-#include "led.h"
-
-#include <systemlib/px4_macros.h>
-
-#include <px4_platform_common/init.h>
-
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
-{
-	watchdog_init();
-
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure SPI all interfaces GPIO */
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
-}
-
-/****************************************************************************
- * 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 initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-static struct spi_dev_s *spi3;
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-#if defined(SERIAL_HAVE_RXDMA)
-
-	/* set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. */
-
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "DMA alloc FAILED\n");
-	}
-
-
-	stm32_spiinitialize();
-
-
-	spi3 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
-
-	if (!spi3) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
-		rgb_led(255, 0, 0, 0);
-		return -ENODEV;
-	}
-
-	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-
-	if (ret < 0) {
-		syslog(LOG_ERR, "[boot] Failed to bind SPI port 0 to SD slot 0\n");
-		rgb_led(255, 0, 0, 0);
-		return ret;
-	}
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{2, 16 * 1024, 0x08008000},
-		{3, 16 * 1024, 0x0800C000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		rgb_led(255, 0, 0, 0);
-		return -ENODEV;
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	rgb_led(0, 255, 0, 0);
-
-	return OK;
-}
@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-#include "led.h"
-
-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o)      (TMR_BASE+(o))
-
-static uint32_t g_ledmap[] = {
-	GPIO_LED_BLUE,
-};
-
-void rgb_led(int r, int g, int b, int freqs)
-{
-
-	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
-	long p1s = fosc / prescale;
-	long p0p5s  = p1s / 2;
-	uint16_t val;
-	static bool once = 0;
-
-	if (!once) {
-		once = 1;
-
-		/* Enabel Clock to Block */
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
-
-		/* Reload */
-
-		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
-		val |= ATIM_EGR_UG;
-		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
-
-		/* Set Prescaler STM32_TIM_SETCLOCK */
-
-		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
-
-		/* Enable STM32_TIM_SETMODE*/
-
-		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
-
-
-		stm32_configgpio(GPIO_TIM1_CH1N_1);
-		stm32_configgpio(GPIO_TIM1_CH2N_1);
-		stm32_configgpio(GPIO_TIM1_CH3N_1);
-
-		/* master output enable = on */
-		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
-	}
-
-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
-
-	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-	if (freqs == 0) {
-		val &= ~ATIM_CR1_CEN;
-
-	} else {
-		val |= ATIM_CR1_CEN;
-	}
-
-	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-}
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		stm32_configgpio(g_ledmap[l]);
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	if (led == 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-/*
-__EXPORT void board_autoled_on(int led) {
-	if (led == 1) {
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
-}
-
-__EXPORT void board_autoled_off(int led) {
-	if (led == 1) {
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
-}*/
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(led, true);
-}
-
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	if (led == 0) {
-		phy_set_led(led, !stm32_gpioread(g_ledmap[led]));
-	}
-}
@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015-2021 PX4 Development Team. All rights reserved.
- *   Author: David Sidrane<david_s5@nscdg.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 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.
- *
- ****************************************************************************/
-
-__BEGIN_DECLS
-void rgb_led(int r, int g, int b, int freqs);
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018-2021 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 <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortC, GPIO::Pin4}),
-	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12})
-	}),
-	initSPIBus(SPI::Bus::SPI3, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortC, GPIO::Pin14})
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,49 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018-2021 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 <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
-};
-
-//constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-//	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2018-2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <stm32.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
-	*/
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -1,17 +0,0 @@
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 3)
-set(uavcanblid_hw_version_minor 246)
-set(uavcanblid_name "\"org.matek.gnss-m9n-f4\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
@@ -52,7 +52,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -1,10 +1,10 @@
 {
-    "board_id": 1013,
+    "board_id": 139,
    "magic": "PX4FWv1",
-    "description": "Firmware for the MatekH743 board",
+    "description": "Firmware for the MatekH743-slim board",
    "image": "",
    "build_time": 0,
-    "summary": "MatekH743",
+    "summary": "MatekH743-slim",
    "version": "0.1",
    "image_size": 0,
    "image_maxsize": 1966080,
@@ -30,11 +30,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1013
-CONFIG_CDCACM_PRODUCTSTR="MatekH743"
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1209
+CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
@@ -284,17 +284,17 @@

 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

-/* 20 MHz Max for now - more reliable on some boards than 25 MHz
- * 20 MHz = PLL1Q/(2*div), div =  PLL1Q/(2*freq), div = 6 = 240 / 40
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
 */

 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
@@ -46,12 +46,12 @@ CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1013
-CONFIG_CDCACM_PRODUCTSTR="MatekH743"
+CONFIG_CDCACM_PRODUCTID=0x0036
+CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1209
-CONFIG_CDCACM_VENDORSTR="Matek"
+CONFIG_CDCACM_VENDORID=0x1B8C
+CONFIG_CDCACM_VENDORSTR="PX4"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
@@ -111,17 +111,17 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   10
-#define DIRECT_INPUT_TIMER_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define DIRECT_INPUT_TIMER_CHANNELS  8

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS


 /* Spare GPIO */

-#define GPIO_VIDEO_PWR          /* PD10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_VIDEO_CAM          /* PD11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11)
-// #define GPIO_PG15               /* PG15 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
+// #define GPIO_PG6                        /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
+// #define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
+// #define GPIO_PG15                       /* PG15 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)


 /* Tone alarm output */
@@ -174,8 +174,6 @@
 		GPIO_nLED_BLUE, \
 		GPIO_nLED_GREEN, \
 		GPIO_TONE_ALARM_IDLE, \
-		GPIO_VIDEO_PWR, \
-		GPIO_VIDEO_CAM, \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -96,7 +96,7 @@
 #define INTERFACE_USART                1
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1013
+#define BOARD_TYPE                     139
 #define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
 #define BOARD_FLASH_SECTORS            (15)
 #define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
@@ -60,10 +60,6 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

-// # if defined(FLASH_BASED_PARAMS)
-// #  include <parameters/flashparams/flashfs.h>
-// #endif
-
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -178,25 +174,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

-
-// #if defined(FLASH_BASED_PARAMS)
-// 	static sector_descriptor_t params_sector_map[] = {
-// 		{6, 128 * 1024, 0x081C0000},
-// 		{7, 128 * 1024, 0x081E0000},
-// 		{0, 0, 0},
-// 	};
-
-// 	/* Initialize the flashfs layer to use heap allocated memory */
-// 	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-// 	if (result != OK) {
-// 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-// 		led_on(LED_BLUE);
-// 		return -ENODEV;
-// 	}
-
-// #endif
-
 	/* Configure the HW based on the manifest */
 	px4_platform_configure();

@@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	initIOTimer(Timer::Timer15),
+	// initIOTimer(Timer::Timer15),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -49,10 +49,10 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -74,7 +74,7 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	910810a768	Add local path setpoint Pass setpoints to npfg F F F	2022-01-26 22:35:37 +01:00
Jaeyoung Lim	0acc43b6f7	Rebase fix Use getnavspeed_2d for groundspeed	2022-01-26 16:41:00 +01:00
Jaeyoung Lim	940a89469e	Enable NPFG by default on the believer	2022-01-26 15:58:44 +01:00
Jaeyoung Lim	b2fcdd9988	Use acceleration to pass path curvature	2022-01-26 15:58:38 +01:00
Jaeyoung Lim	224dc487e6	Add interface for passing path tangent and closest point directly This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface	2022-01-26 15:58:02 +01:00