WIP: output modules native units

This lead to a compiler warning with arm-none-eabi-gcc 12+
about the variable count potentially being a dangling pointer.

.ci/Jenkinsfile-compile

@@ -88,7 +88,6 @@ pipeline {
                      "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmurt1062-v1_default",
                      "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
@@ -111,6 +110,8 @@ pipeline {
                      "px4_fmu-v6c_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6xrt_bootloader",
+                     "px4_fmu-v6xrt_default",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
                      "sky-drones_smartap-airlink_default",

.github/workflows/compile_macos.yml

@@ -18,6 +18,11 @@ jobs:
           px4_sitl
           ]
     steps:
+    - name: install Python 3.10
+      uses: actions/setup-python@v4
+      with:
+        python-version: "3.10"
+
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}

.github/workflows/compile_nuttx.yml

@@ -57,7 +57,6 @@ jobs:
           mro_x21-777,
           nxp_fmuk66-e,
           nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
           nxp_mr-canhubk3,
           nxp_ucans32k146,
           omnibus_f4sd,
@@ -70,6 +69,7 @@ jobs:
           px4_fmu-v6c,
           px4_fmu-v6u,
           px4_fmu-v6x,
+          px4_fmu-v6xrt,
           raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,

.github/workflows/metadata.yml

@@ -128,4 +128,6 @@ jobs:
       run: |
         git clone https://github.com/PX4/px4_msgs.git
         rm px4_msgs/msg/*.msg
+        rm px4_msgs/srv/*.srv
         cp msg/*.msg px4_msgs/msg/
+        cp srv/*.srv px4_msgs/srv/

.github/workflows/nuttx_env_config.yml

@@ -0,0 +1,32 @@
+name: Nuttx Target with extra env config
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+      run: |
+        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+        make ${{matrix.config}} nuttx_context
+        # Check that the config option is set
+        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config

.gitmodules

@@ -75,3 +75,4 @@
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
+	branch = px4

.vscode/cmake-variants.yaml

@@ -81,6 +81,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6x_bootloader
+    px4_fmu-v6xrt_default:
+      short: px4_fmu-v6xrt
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_default
+    px4_fmu-v6xrt_bootloader:
+      short: px4_fmu-v6xrt_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
@@ -181,6 +191,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cubepilot_cubeorange_test
+    cubepilot_cubeorangeplus_test:
+      short: cubepilot_cubeorangeplus
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeorangeplus_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel

Jenkinsfile

@@ -105,6 +105,7 @@ pipeline {
             ./emsdk activate latest;
             cd ..;
             . ./_emscripten_sdk/emsdk_env.sh;
+            git fetch --all --tags;
             make failsafe_web;
             cd build/px4_sitl_default_failsafe_web;
             mkdir -p failsafe_sim;
@@ -230,7 +231,9 @@ pipeline {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
               sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp srv/*.srv px4_msgs/srv/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
               sh('rm -rf px4_msgs')

Makefile

@@ -266,7 +266,6 @@ px4fmu_firmware: \
 
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
-	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -47,6 +47,8 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_THR_ASPD_MAX 0.4
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -62,19 +64,18 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 
 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 4
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+
 
 param set-default MIS_TAKEOFF_ALT 10
 
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
 param set-default NAV_ACC_RAD 5
 
 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -76,7 +76,7 @@ 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 FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -36,7 +36,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 
 	# set local coordinate frame reference
 	if [ -n "${PX4_HOME_LAT}" ]; then
@@ -92,7 +92,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi
 
 	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 		# model specified, gz_bridge will spawn model
 
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
@@ -106,7 +106,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi
 
 		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		if gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			if param compare -s SENS_EN_BAROSIM 1
 			then
 				sensor_baro_sim start
@@ -129,7 +129,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			exit 1
 		fi
 
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
 		# model name specificed, gz_bridge will attach to existing model
 
 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
@@ -155,35 +155,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			exit 1
 		fi
 
-	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-
-		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
-			if param compare -s SENS_EN_BAROSIM 1
-			then
-				sensor_baro_sim start
-			fi
-			if param compare -s SENS_EN_GPSSIM 1
-			then
-				sensor_gps_sim start
-			fi
-			if param compare -s SENS_EN_MAGSIM 1
-			then
-				sensor_mag_sim start
-			fi
-			if param compare -s SENS_EN_ARSPDSIM 1
-			then
-				sensor_airspeed_sim start
-			fi
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
-			exit 1
-		fi
-
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
 		exit 1
 	fi
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -1,65 +0,0 @@
-#!/bin/sh
-#
-# @name Reaper 500 Quad
-#
-# @type Quadrotor H
-# @class Copter
-#
-# @maintainer Blankered
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-param set-default NAV_ACC_RAD 2
-
-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
-
-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_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-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 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_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-param set-default PWM_MAIN_TIM2 50
-
-param set-default PWM_AUX_TIM0 50
-param set-default PWM_AUX_TIM1 50
-param set-default PWM_AUX_TIM2 50
-
-

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -1,91 +0,0 @@
-#!/bin/sh
-#
-# @name Crazyflie 2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Shtatov <densht@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
-#
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
-
-param set-default CBRK_SUPPLY_CHK 894281
-param set-default COM_RC_IN_MODE 1
-
-param set-default EKF2_ABL_LIM 2
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_RNG_CTRL 2
-param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 10
-
-param set-default IMU_GYRO_CUTOFF 100
-param set-default IMU_ACCEL_CUTOFF 30
-
-param set-default MC_AIRMODE 1
-param set-default IMU_DGYRO_CUTOFF 70
-param set-default MC_PITCHRATE_D 0.002
-param set-default MC_PITCHRATE_P 0.07
-param set-default MC_ROLLRATE_D 0.002
-param set-default MC_ROLLRATE_P 0.07
-param set-default MC_YAW_P 3
-
-param set-default MPC_THR_HOVER 0.7
-param set-default MPC_Z_P 1.5
-param set-default MPC_Z_VEL_P_ACC 8
-param set-default MPC_Z_VEL_I_ACC 6
-param set-default MPC_HOLD_MAX_XY 0.1
-param set-default MPC_MAX_FLOW_HGT 3
-
-param set-default NAV_RCL_ACT 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
-# Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_TIM0 3921
-param set-default PWM_MAIN_TIM1 3921
-
-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_DIS0 0
-param set-default PWM_MAIN_DIS1 0
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 0
-param set-default PWM_MAIN_MIN0 0
-param set-default PWM_MAIN_MIN1 0
-param set-default PWM_MAIN_MIN2 0
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX0 255
-param set-default PWM_MAIN_MAX1 255
-param set-default PWM_MAIN_MAX2 255
-param set-default PWM_MAIN_MAX3 255
-
-
-param set-default SENS_FLOW_MINRNG 0.05
-
-syslink start
-mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -13,6 +13,8 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
+
+
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -52,10 +54,9 @@ param set-default GND_MAX_ANG 3.1415
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
 
+
+param set-default RBCLW_ADDRESS 128
+param set-default RBCLW_FUNC1 101
+param set-default RBCLW_FUNC2 102
+param set-default RBCLW_REV 1

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -58,7 +58,6 @@ px4_add_romfs_files(
 	4017_nxp_hovergames
 	4019_x500_v2
 	4020_holybro_px4vision_v1_5
-	4040_reaper
 	4041_beta75x
 	4050_generic_250
 	4052_holybro_qav250
@@ -67,7 +66,6 @@ px4_add_romfs_files(
 	4071_ifo
 	4073_ifo-s
 	4500_clover4
-	4900_crazyflie
 	4901_crazyflie21
 
 	# [5000, 5999] Quadrotor +"

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -17,7 +17,7 @@ param set-default COM_POS_FS_DELAY 5
 
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
-param set-default COM_VEL_FS_EVH 5
+param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50
 

ROMFS/px4fmu_common/init.d/rcS

@@ -170,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
 	then
 		netman update -i eth0
 	fi
@@ -274,12 +274,9 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
+	if px4io supported
 	then
-		# Check if PX4IO present and update firmware if needed.
+	# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -301,12 +298,12 @@ else
 					tune_control stop
 				fi
 			fi
-		fi
 
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if ! px4io start
+			then
+				echo "PX4IO start failed"
+				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			fi
 		fi
 	fi
 

Tools/ecl_ekf/plotting/pdf_report.py

@@ -43,6 +43,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
     except:
         raise PreconditionError('could not find estimator_states instance', multi_instance)
 
+    try:
+        estimator_sensor_bias = ulog.get_dataset('estimator_sensor_bias', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_sensor_bias instance', multi_instance)
+
     try:
         estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
         estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
@@ -299,21 +304,21 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-        # Plot the delta angle bias estimates
+        # Plot the gyro bias estimates
         data_plot = CheckFlagsPlot(
-            1e-6 * estimator_states['timestamp'], estimator_states,
-            [['states[10]'], ['states[11]'], ['states[12]']],
-            x_label='time (sec)', y_labels=['X (rad)', 'Y (rad)', 'Z (rad)'],
-            plot_title='Delta Angle Bias Estimates', annotate=False, pdf_handle=pdf_pages)
+            1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
+            [['gyro_bias[0]'], ['gyro_bias[1]'], ['gyro_bias[2]']],
+            x_label='time (sec)', y_labels=['X (rad/s)', 'Y (rad/s)', 'Z (rad/s)'],
+            plot_title='Gyro Bias Estimates', annotate=False, pdf_handle=pdf_pages)
         data_plot.save()
         data_plot.close()
 
-        # Plot the delta velocity bias estimates
+        # Plot the accel bias estimates
         data_plot = CheckFlagsPlot(
-            1e-6 * estimator_states['timestamp'], estimator_states,
-            [['states[13]'], ['states[14]'], ['states[15]']],
-            x_label='time (sec)', y_labels=['X (m/s)', 'Y (m/s)', 'Z (m/s)'],
-            plot_title='Delta Velocity Bias Estimates', annotate=False, pdf_handle=pdf_pages)
+            1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
+            [['accel_bias[0]'], ['accel_bias[1]'], ['accel_bias[2]']],
+            x_label='time (sec)', y_labels=['X (m/s^2)', 'Y (m/s^2)', 'Z (m/s^2)'],
+            plot_title='Accel Bias Estimates', annotate=False, pdf_handle=pdf_pages)
         data_plot.save()
         data_plot.close()
 

Tools/module_config/generate_params.py

@@ -302,12 +302,6 @@ When set to -1 (default), the value depends on the function (see {:}).
         for key, label, param_suffix, description in standard_params_array:
             if key in standard_params:
 
-                # values must be in range of an uint16_t
-                if standard_params[key]['min'] < 0:
-                    raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
-                if standard_params[key]['max'] >= 1<<16:
-                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
-
                 if key == 'failsafe':
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
@@ -317,7 +311,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                         'short': channel_label+' ${i} '+label+' Value',
                         'long': description
                         },
-                    'type': 'int32',
+                    'type': 'float',
                     'instance_start': instance_start,
                     'instance_start_label': instance_start_label,
                     'num_instances': num_channels,

Tools/msg/px_generate_uorb_compressed_fields.py

@@ -146,6 +146,7 @@ def write_fields_to_hpp_file(file_name: str, definitions: dict, window_length: i
                              format_list: [str]):
     max_tokenized_field_length, max_tokenized_field_length_msg = max(
         ((len(definitions[k]['fields']), k) for k in definitions), key=itemgetter(0))
+    max_untokenized_field_length = max(definitions[k]['fields_total_length'] for k in definitions)
     max_num_orb_ids = max(len(definitions[k]['orb_ids']) for k in definitions)
     max_num_orb_id_dependencies = max(len(definitions[k]['dependencies']) for k in definitions)
 
@@ -167,6 +168,7 @@ const uint8_t* orb_compressed_message_formats();
 unsigned orb_compressed_message_formats_size();
 
 static constexpr unsigned orb_tokenized_fields_max_length = {MAX_TOKENIZED_FIELD_LENGTH}; // {MAX_TOKENIZED_FIELD_LENGTH_MSG}
+static constexpr unsigned orb_untokenized_fields_max_length = {MAX_UNTOKENIZED_FIELD_LENGTH};
 static constexpr unsigned orb_compressed_max_num_orb_ids = {MAX_NUM_ORB_IDS};
 static constexpr unsigned orb_compressed_max_num_orb_id_dependencies = {MAX_NUM_ORB_ID_DEPENDENCIES};
 
@@ -179,6 +181,7 @@ static constexpr unsigned orb_compressed_heatshrink_lookahead_length = {LOOKAHEA
 '''
                           .replace('{MAX_TOKENIZED_FIELD_LENGTH}', str(max_tokenized_field_length))
                           .replace('{MAX_TOKENIZED_FIELD_LENGTH_MSG}', max_tokenized_field_length_msg)
+                          .replace('{MAX_UNTOKENIZED_FIELD_LENGTH}', str(max_untokenized_field_length))
                           .replace('{MAX_NUM_ORB_IDS}', str(max_num_orb_ids))
                           .replace('{MAX_NUM_ORB_ID_DEPENDENCIES}', str(max_num_orb_id_dependencies))
                           .replace('{WINDOW_LENGTH}', str(window_length))

Tools/msg/px_generate_uorb_topic_helper.py

@@ -171,6 +171,61 @@ def get_children_fields(base_type, search_path):
     return spec_temp.parsed_fields()
 
 
+def get_message_fields_str_for_message_hash(msg_fields, search_path):
+    """
+    Get all fields (including for nested types) in the form of:
+'''
+uint64 timestamp
+uint8 esc_count
+uint8 esc_online_flags
+EscReport[8] esc
+uint64 timestamp
+uint32 esc_errorcount
+int32 esc_rpm
+float32 esc_voltage
+uint16 failures
+int8 esc_power
+'''
+    """
+    all_fields_str = ''
+    for field in msg_fields:
+        if field.is_header:
+            continue
+
+        type_name = field.type
+        # detect embedded types
+        sl_pos = type_name.find('/')
+        if sl_pos >= 0:
+            type_name = type_name[sl_pos + 1:]
+
+        all_fields_str += type_name + ' ' + field.name + '\n'
+
+        if sl_pos >= 0: # nested type, add all nested fields
+            children_fields = get_children_fields(field.base_type, search_path)
+            all_fields_str += get_message_fields_str_for_message_hash(children_fields, search_path)
+
+    return all_fields_str
+
+
+def hash_32_fnv1a(data: str):
+    hash_val = 0x811c9dc5
+    prime = 0x1000193
+    for i in range(len(data)):
+        value = ord(data[i])
+        hash_val = hash_val ^ value
+        hash_val *= prime
+        hash_val &= 0xffffffff
+    return hash_val
+
+
+def get_message_hash(msg_fields, search_path):
+    """
+    Get a 32 bit message hash over all fields
+    """
+    all_fields_str = get_message_fields_str_for_message_hash(msg_fields, search_path)
+    return hash_32_fnv1a(all_fields_str)
+
+
 def add_padding_bytes(fields, search_path):
     """
     Add padding fields before the embedded types, at the end and calculate the

Tools/msg/templates/ucdr/msg.h.em

@@ -124,7 +124,7 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }
 
-bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
+static inline bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
 {
 	const @(uorb_struct)& topic = *static_cast<const @(uorb_struct)*>(data);
 @{
@@ -153,7 +153,7 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }
 
-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
+static inline bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
 @{
 for field_type, field_name, field_size, padding in fields:

Tools/msg/templates/uorb/msg.cpp.em

@@ -58,6 +58,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
 
 uorb_struct = '%s_s'%name_snake_case
 
+message_hash = get_message_hash(spec.parsed_fields(), search_path)
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 }@
@@ -74,7 +75,7 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/msg/templates/uorb/msg.json.em

@@ -42,6 +42,7 @@ for field in spec.parsed_fields():
 {
 @# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed;"
 		"fields": @( json.dumps(bytearray(";".join(topic_fields)+";", 'utf-8').decode('unicode_escape')) ),
+		"fields_total_length": @(sum([len(convert_type(field.type))+1+len(field.name)+1 for field in sorted_fields])),
 		"orb_ids": @( json.dumps([ all_topics.index(topic) for topic in topics]) ),
 		"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
 		"dependencies": @( json.dumps(list(set(dependencies))) ),

Tools/px4events/srcparser.py

@@ -250,6 +250,22 @@ class SourceParser(object):
                             event.group = "arming_check"
                         event.prepend_arguments([('navigation_mode_group_t', 'modes'),
                                 ('uint8_t', 'health_component_index')])
+                    elif call in ['reporter.healthFailureExt', 'reporter.armingCheckFailureExt']: # from ROS2
+                        assert len(args_split) == num_args + 3, \
+                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
+                        m = self.re_event_id.search(args_split[0])
+                        if m:
+                            _, event_name = m.group(1, 2)
+                        else:
+                            raise Exception("Could not extract event ID from {:}".format(args_split[0]))
+                        event.name = event_name
+                        event.message = args_split[2][1:-1]
+                        if 'health' in call:
+                            event.group = "health"
+                        else:
+                            event.group = "arming_check"
+                        event.prepend_arguments([('navigation_mode_group_t', 'modes'),
+                                ('uint8_t', 'health_component_index')])
                     else:
                         raise Exception("unknown event method call: {}, args: {}".format(call, args))
 

Tools/setup/arch.sh

@@ -1,7 +1,7 @@
 #! /usr/bin/env bash
 
 ## Bash script to setup PX4 development environment on Arch Linux.
-## Tested on Manjaro 20.2.1.
+## Tested on Arch 2023-03-01
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -50,6 +50,7 @@ sudo pacman -Sy --noconfirm --needed \
 	cmake \
 	cppcheck \
 	doxygen \
+	fuse2 \
 	gdb \
 	git \
 	gnutls \
@@ -66,7 +67,7 @@ sudo pacman -Sy --noconfirm --needed \
 
 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip install --user -r ${DIR}/requirements.txt
+pip install --break-system-packages -r ${DIR}/${REQUIREMENTS_FILE}
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -74,45 +75,17 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"
 
 	sudo pacman -S --noconfirm --needed \
-		gperf \
-		vim \
+		arm-none-eabi-gcc \
+		arm-none-eabi-newlib \
 		;
 
 	if [ ! -z "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo usermod -aG uucp $USER
+		sudo echo usermod -aG uucp $USER
 	fi
 
-	# remove modem manager (interferes with PX4 serial port usage)
-	sudo pacman -R modemmanager --noconfirm
-
-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="10-2020-q4-major"
-	NUTTX_GCC_VERSION_SHORT="10-2020q4"
-
-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-	fi
-
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
-
-	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
-
-		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
-			echo "${NUTTX_GCC_VERSION} path already set.";
-		else
-			echo $exportline >> $HOME/.profile;
-		fi
-	fi
+	# don't run modem manager (interferes with PX4 serial port usage)
+	sudo systemctl disable --now ModemManager
 fi
 
 # Simulation tools
@@ -122,8 +95,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant \
-		jdk-openjdk \
+		ant
 		;
 
 	# Gazebo setup
@@ -161,5 +133,5 @@ fi
 
 if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
-	echo "Reboot or logout, login computer before attempting to build NuttX targets"
+	echo "Reboot or logout, login computer before attempting to flash NuttX targets"
 fi

Tools/setup/requirements.txt

@@ -2,7 +2,7 @@ argcomplete
 argparse>=1.2
 cerberus
 coverage
-empy>=3.3
+empy==3.3.4
 future
 jinja2>=2.8
 jsonschema

Tools/setup/ubuntu.sh

@@ -155,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo usermod -a -G dialout $USER
+		sudo usermod -aG dialout $USER
 	fi
 
 	# arm-none-eabi-gcc

Tools/simulation/gz/models/rc_cessna/model.sdf

@@ -806,7 +806,7 @@
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_puller_joint</jointName>
       <linkName>rotor_puller</linkName>
-      <turningDirection>cw</turningDirection>
+      <turningDirection>ccw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
       <maxRotVelocity>1000</maxRotVelocity>

boards/ark/can-flow/init/rc.board_sensors

@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default IMU_GYRO_RATEMAX 1000
+param set-default SENS_IMU_CLPNOTI 0
 
 # Internal SPI
 if ! paw3902 -s start -Y 180

boards/ark/can-gps/init/rc.board_defaults

@@ -5,6 +5,7 @@
 
 param set-default CBRK_IO_SAFETY 0
 param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -7,6 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start

boards/ark/cannode/init/rc.board_defaults

@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default SENS_IMU_CLPNOTI 0
+
 pwm_out start
 
 dshot start

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -32,11 +32,4 @@ then
 	param set-default SENS_TEMP_ID 3014666
 fi
 
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 safety_button start

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -30,7 +30,7 @@ then
 
 	if [ $HAVE_PM3 = yes ]
 	then
-		ina226 -X -b 3 -t 2 -k start
+		ina226 -X -b 3 -t 3 -k start
 	fi
 fi
 
@@ -46,7 +46,7 @@ then
 
 	if [ $HAVE_PM3 = yes ]
 	then
-		ina228 -X -b 3 -t 2 -k start
+		ina228 -X -b 3 -t 3 -k start
 	fi
 fi
 
@@ -62,7 +62,7 @@ then
 
 	if [ $HAVE_PM3 = yes ]
 	then
-		ina238 -X -b 3 -t 2 -k start
+		ina238 -X -b 3 -t 3 -k start
 	fi
 fi
 

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeyellow/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1

boards/holybro/kakuteh7/default.px4board

@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/holybro/kakuteh7/init/rc.board_sensors

@@ -8,7 +8,7 @@ board_adc start
 # but there might also be an MPU6000
 if ! mpu6000 -R 6 -s start
 then
-	icm20689 -R 6 -s start
+	icm42688p -R 6 -s start
 fi
 
 bmp280 -X start

boards/holybro/kakuteh7mini/default.px4board

@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y

boards/holybro/kakuteh7mini/init/rc.board_sensors

@@ -4,6 +4,9 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-bmi270 -R 6 -s start
+if ! bmi270 -s -q start
+then
+	icm42688p -R 0 -s start
+fi
 
 bmp280 -X start

boards/holybro/kakuteh7v2/default.px4board

@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/holybro/kakuteh7v2/init/rc.board_sensors

@@ -4,6 +4,9 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-bmi270 -s start
+if ! bmi270 -s -q start
+then
+	icm42688p -R 0 -s start
+fi
 
 bmp280 -X start

boards/holybro/pix32v5/init/rc.board_defaults

@@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-param set-default SYS_USE_IO 1
-
 rgbled_pwm start
 safety_button start

boards/mro/x21-777/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/mro/x21/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/nxp/fmuk66-v3/default.px4board

@@ -15,9 +15,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_NXP_FXAS21002C=y
 CONFIG_DRIVERS_IMU_NXP_FXOS8701CQ=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y

boards/nxp/fmurt1062-v1/init/rc.board_defaults

@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1097
-param set-default BAT1_A_PER_V 15.391030303
-
-rgbled_pwm start
-safety_button start

boards/nxp/fmurt1062-v1/init/rc.board_sensors

@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv5 specific board sensors init
-#------------------------------------------------------------------------------
-#
-# UART mapping on NXP FMURT1062:
-#
-# LPUART7       /dev/ttyS0      CONSOLE
-# LPUART2       /dev/ttyS1      GPS
-# LPUART3       /dev/ttyS2      TELEM2 (GPIO flow control)
-# LPUART4       /dev/ttyS3      TELEM1 (UART flow control)
-# LPUART5       /dev/ttyS4      TELEM4 GPS2
-# LPUART6       /dev/ttyS5      TELEM3 (RC_INPUT)
-# LPUART8       /dev/ttyS6      PX4IO
-#
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal SPI bus ICM-20602
-icm20602 -R 2 -s start
-
-# Internal SPI bus ICM-20689
-icm20689 -R 2 -s start
-
-# Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 2 -s start
-bmi055 -G -R 2 -s start
-
-# internal compass
-ist8310 -I -R 10 start
-
-# Baro on internal SPI
-ms5611 -s start

boards/nxp/fmurt1062-v1/nuttx-config/include/board.h

@@ -1,400 +0,0 @@
-/************************************************************************************
- * nuttx-configs/nxp_fmurt1062-v1/include/board.h
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            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 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 __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-
-/* Set VDD_SOC to 1.3V */
-
-#define IMXRT_VDD_SOC (0x14)
-
-/* Set Arm PLL (PLL1) to  fOut    = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        576Mhz  = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        ARM_PLL_DIV_SELECT = 96
- *                        ARM_PODF_DIVISOR   = 2
- *                        576Mhz  = (24Mhz * 96/2) / 2
- *
- *     AHB_CLOCK_ROOT             = PLL1fOut / IMXRT_AHB_PODF_DIVIDER
- *     1Hz to 600 Mhz             = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER
- *                        IMXRT_ARM_CLOCK_DIVIDER = 1
- *                        576Mhz  = 576Mhz / 1
- *
- *     PRE_PERIPH_CLK_SEL         = PRE_PERIPH_CLK_SEL_PLL1
- *     PERIPH_CLK_SEL             = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1)
- *     PERIPH_CLK                 = 576Mhz
- *
- *     IPG_CLOCK_ROOT             = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER
- *                       IMXRT_IPG_PODF_DIVIDER = 4
- *                       144Mhz = 576Mhz / 4
- *
- *     PRECLK_CLOCK_ROOT          = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER
- *                       IMXRT_PERCLK_PODF_DIVIDER = 1
- *                       16Mhz = 144Mhz / 9
- *
- *     SEMC_CLK_ROOT              = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2)
- *                       IMXRT_SEMC_PODF_DIVIDER = 8
- *                       72Mhz    = 576Mhz / 8
- *
- * Set Sys PLL (PLL2) to  fOut    = (24Mhz * (20+(2*(DIV_SELECT)))
- *                        528Mhz  = (24Mhz * (20+(2*(1)))
- *
- * Set USB1 PLL (PLL3) to fOut    = (24Mhz * 20)
- *                         480Mhz = (24Mhz * 20)
- *
- * Set LPSPI PLL3 PFD0 to fOut    = (480Mhz / 12 * 18)
- *                        720Mhz  = (480Mhz / 12 * 18)
- *                         90Mhz  = (720Mhz / LSPI_PODF_DIVIDER)
- *
- * Set LPI2C PLL3 / 8 to   fOut   = (480Mhz / 8)
- *                         60Mhz  = (480Mhz / 8)
- *                         12Mhz  = (60Mhz / LSPI_PODF_DIVIDER)
- *
- * Set USDHC1 PLL2 PFD2 to fOut   = (528Mhz / 24 * 18)
- *                        396Mhz  = (528Mhz / 24 * 18)
- *                        198Mhz  = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER)
- */
-
-#define BOARD_XTAL_FREQUENCY      24000000
-#define IMXRT_PRE_PERIPH_CLK_SEL  CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1
-#define IMXRT_PERIPH_CLK_SEL      CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH
-#define IMXRT_ARM_PLL_DIV_SELECT  96
-#define IMXRT_ARM_PODF_DIVIDER    2
-#define IMXRT_AHB_PODF_DIVIDER    1
-#define IMXRT_IPG_PODF_DIVIDER    4
-#define IMXRT_PERCLK_CLK_SEL      CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT
-#define IMXRT_PERCLK_PODF_DIVIDER 9
-#define IMXRT_SEMC_PODF_DIVIDER   8
-
-#define IMXRT_LPSPI_CLK_SELECT    CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0
-#define IMXRT_LSPI_PODF_DIVIDER   8
-
-#define IMXRT_LPI2C_CLK_SELECT    CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
-#define IMXRT_LSI2C_PODF_DIVIDER  5
-
-#define IMXRT_USDHC1_CLK_SELECT    CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0
-#define IMXRT_USDHC1_PODF_DIVIDER 2
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define IMXRT_SYS_PLL_SELECT      CCM_ANALOG_PLL_SYS_DIV_SELECT_22
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define BOARD_CPU_FREQUENCY \
-	(BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER
-
-#define BOARD_GPT_FREQUENCY \
-	(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
-
-/* Define this to enable tracing */
-#if CONFIG_USE_TRACE
-#  define IMXRT_TRACE_PODF_DIVIDER 1
-#  define IMXRT_TRACE_CLK_SELECT   CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0
-#endif
-
-/* SDIO *****************************************************************************/
-
-/* Pin drive characteristics */
-
-#define USDHC1_DATAX_IOMUX  (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-#define USDHC1_CMD_IOMUX    (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-#define USDHC1_CLK_IOMUX    (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_SPEED_MAX)
-#define USDHC1_CD_IOMUX     (IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-
-#define PIN_USDHC1_D0       (GPIO_USDHC1_DATA0_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_02 */
-#define PIN_USDHC1_D1       (GPIO_USDHC1_DATA1_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_03 */
-#define PIN_USDHC1_D2       (GPIO_USDHC1_DATA2_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_04 */
-#define PIN_USDHC1_D3       (GPIO_USDHC1_DATA3_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_05 */
-#define PIN_USDHC1_DCLK     (GPIO_USDHC1_CLK_1   | USDHC1_CLK_IOMUX)   /* GPIO_SD_B0_01 */
-#define PIN_USDHC1_CMD      (GPIO_USDHC1_CMD_1   | USDHC1_CMD_IOMUX)   /* GPIO_SD_B0_00 */
-#define PIN_USDHC1_CD       (GPIO_USDHC1_CD_2    | USDHC1_CD_IOMUX)    /* GPIO_B1_12 */
-
-/* Ideal 400Khz for initial inquiry.
- *  Given input clock 198 Mhz.
- *   386.71875 KHz =  198 Mhz / (256 * 2)
- */
-
-#define BOARD_USDHC_IDMODE_PRESCALER    USDHC_SYSCTL_SDCLKFS_DIV256
-#define BOARD_USDHC_IDMODE_DIVISOR      USDHC_SYSCTL_DVS_DIV(2)
-
-/* Ideal 25 Mhz for other modes
- *  Given input clock 198 Mhz.
- *    24.75 MHz =  198 Mhz / (8 * 1)
- */
-
-#define BOARD_USDHC_MMCMODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_MMCMODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD1MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD1MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD4MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD4MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-/* LED definitions ******************************************************************/
-/* The nxp fmutr1062 board has numerous LEDs but only three, LED_GREEN a Green LED,
- * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* PIO Disambiguation ***************************************************************/
-/* LPUARTs
- */
-#define LPUART_IOMUX      (IOMUX_PULL_UP_22K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW | IOMUX_SPEED_LOW | IOMUX_SCHMITT_TRIGGER)
-
-/* GPS 1 */
-
-#define GPIO_LPUART2_RX   (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* EVK J22-8 */ /* GPIO_AD_B1_03 */
-#define GPIO_LPUART2_TX   (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* EVK J22-7 */ /* GPIO_AD_B1_02 */
-
-/* N.B. Rev B schematic did not change the names of the nets. Just the silk screen renamed the ports
- * Such that Telem 2 had the real HW HS signals. The imx driver to dated does not support GOIO controlled
- * HS lines
- */
-
-/* Telem 1 */
-
-#define HS_INPUT_IOMUX  (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ  | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K)
-#define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP)
-
-#define GPIO_LPUART3_RX   (GPIO_LPUART3_RX_3 | LPUART_IOMUX) /* GPIO_B0_09 */
-#define GPIO_LPUART3_TX   (GPIO_LPUART3_TX_3 | LPUART_IOMUX) /* GPIO_B0_08 */
-#define GPIO_LPUART3_CTS  (GPIO_PORT3 | GPIO_PIN4  | GPIO_INPUT  | HS_INPUT_IOMUX)  /* GPIO_SD_B1_04 GPIO3_IO04 (GPIO only, no HW Flow control) */
-#define GPIO_LPUART3_RTS  (GPIO_PORT4 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_EMC_24   GPIO4_IO24 (GPIO only, no HW Flow control) */
-
-/* Telem 2 */
-
-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_2  | LPUART_IOMUX) /* GPIO_EMC_20 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_2  | LPUART_IOMUX) /* GPIO_EMC_19 */
-#define GPIO_LPUART4_CTS  (GPIO_LPUART4_CTS_1 | LPUART_IOMUX) /* GPIO_EMC_17 */
-#define GPIO_LPUART4_RTS  (GPIO_LPUART4_RTS_1 | LPUART_IOMUX) /* GPIO_EMC_18 */
-
-/* GPS2 */
-
-#define GPIO_LPUART5_RX   (GPIO_LPUART5_RX_1 | LPUART_IOMUX)  /* GPIO_B1_13 */
-#define GPIO_LPUART5_TX   (GPIO_LPUART5_TX_2 | LPUART_IOMUX)  /* GPIO_EMC_23 */
-
-/* RC INPUT single wire mode on TX, RX is not used */
-
-#define GPIO_LPUART6_RX   (GPIO_LPUART6_RX_2 | LPUART_IOMUX)  /* GPIO_EMC_26 */
-#define GPIO_LPUART6_TX   (GPIO_LPUART6_TX_2 | LPUART_IOMUX)  /* GPIO_EMC_25 */
-
-#define GPIO_LPUART7_RX   (GPIO_LPUART7_RX_1 | LPUART_IOMUX)  /* GPIO_EMC_32 */
-#define GPIO_LPUART7_TX   (GPIO_LPUART7_TX_1 | LPUART_IOMUX)  /* GPIO_EMC_31 */
-
-#define GPIO_LPUART8_RX   (GPIO_LPUART8_RX_2 | LPUART_IOMUX) /* GPIO_EMC_39 */
-#define GPIO_LPUART8_TX   (GPIO_LPUART8_TX_2 | LPUART_IOMUX) /* GPIO_EMC_38 */
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- * CAN3 is routed to transceiver.
- */
-#define FLEXCAN_IOMUX     (IOMUX_PULL_UP_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MEDIUM)
-
-#define GPIO_FLEXCAN1_RX  (GPIO_FLEXCAN1_RX_2 | FLEXCAN_IOMUX)  /* GPIO_B0_03 */
-#define GPIO_FLEXCAN1_TX  (GPIO_FLEXCAN1_TX_4 | FLEXCAN_IOMUX) /* GPIO_SD_B1_02 */
-#define GPIO_FLEXCAN2_RX  (GPIO_FLEXCAN2_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_03 */
-#define GPIO_FLEXCAN2_TX  (GPIO_FLEXCAN2_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_02 */
-#define GPIO_FLEXCAN3_RX  (GPIO_FLEXCAN3_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_B0_11  */
-#define GPIO_FLEXCAN3_TX  (GPIO_FLEXCAN3_TX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_36 */
-
-/* LPSPI */
-#define LPSPI_IOMUX       (IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MAX)
-
-#define GPIO_LPSPI1_SCK   (GPIO_LPSPI1_SCK_1 | LPSPI_IOMUX) /* GPIO_EMC_27 */
-#define GPIO_LPSPI1_MISO  (GPIO_LPSPI1_SDI_1 | LPSPI_IOMUX) /* GPIO_EMC_29 */
-#define GPIO_LPSPI1_MOSI  (GPIO_LPSPI1_SDO_1 | LPSPI_IOMUX) /* GPIO_EMC_28 */
-
-#define GPIO_LPSPI2_SCK   (GPIO_LPSPI2_SCK_1 | LPSPI_IOMUX) /* GPIO_EMC_00 */
-#define GPIO_LPSPI2_MISO  (GPIO_LPSPI2_SDI_1 | LPSPI_IOMUX) /* GPIO_EMC_03 */
-#define GPIO_LPSPI2_MOSI  (GPIO_LPSPI2_SDO_1 | LPSPI_IOMUX) /* GPIO_EMC_02 */
-
-#define GPIO_LPSPI3_SCK   (GPIO_LPSPI3_SCK_1 | LPSPI_IOMUX) /* GPIO_AD_B1_15 */
-#define GPIO_LPSPI3_MISO  (GPIO_LPSPI3_SDI_1 | LPSPI_IOMUX) /* GPIO_AD_B1_13 */
-#define GPIO_LPSPI3_MOSI  (GPIO_LPSPI3_SDO_1 | LPSPI_IOMUX) /* GPIO_AD_B1_14 */
-
-#define GPIO_LPSPI4_SCK   (GPIO_LPSPI4_SCK_1 | LPSPI_IOMUX) /* GPIO_B1_07 */
-#define GPIO_LPSPI4_MISO  (GPIO_LPSPI4_SDI_1 | LPSPI_IOMUX) /* GPIO_B1_05 */
-#define GPIO_LPSPI4_MOSI  (GPIO_LPSPI4_SDO_2 | LPSPI_IOMUX) /* GPIO_B0_02 */
-
-/* LPI2Cs */
-
-#define LPI2C_IOMUX    (IOMUX_SPEED_MEDIUM | IOMUX_DRIVE_33OHM  | IOMUX_OPENDRAIN | GPIO_SION_ENABLE)
-#define LPI2C_IO_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_OPENDRAIN | IOMUX_PULL_NONE)
-
-#define GPIO_LPI2C1_SDA   (GPIO_LPI2C1_SDA_2 | LPI2C_IOMUX) /* EVK J24-9 R276  */ /* GPIO_AD_B1_01 */
-#define GPIO_LPI2C1_SCL   (GPIO_LPI2C1_SCL_2 | LPI2C_IOMUX) /* EVK J24-10 R277 */ /* GPIO_AD_B1_00 */
-
-#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_01 GPIO1_IO17 */
-#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT1 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_00 GPIO1_IO16 */
-
-#define GPIO_LPI2C2_SDA   (GPIO_LPI2C2_SDA_1 | LPI2C_IOMUX) /* EVK J8-A25 */ /* GPIO_B0_05 */
-#define GPIO_LPI2C2_SCL   (GPIO_LPI2C2_SCL_1 | LPI2C_IOMUX) /* EVK J8-A24 */ /* GPIO_B0_04 */
-
-#define GPIO_LPI2C2_SDA_RESET (GPIO_PORT2 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_B0_05 GPIO2_IO5 */
-#define GPIO_LPI2C2_SCL_RESET (GPIO_PORT2 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_B0_04 GPIO2_IO4 */
-
-#define GPIO_LPI2C3_SDA   (GPIO_LPI2C3_SDA_2 | LPI2C_IOMUX) /* GPIO_EMC_21 */
-#define GPIO_LPI2C3_SCL   (GPIO_LPI2C3_SCL_2 | LPI2C_IOMUX) /* GPIO_EMC_22 */
-
-#define GPIO_LPI2C3_SDA_RESET (GPIO_PORT4 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_21 GPIO4_IO21 */
-#define GPIO_LPI2C3_SCL_RESET (GPIO_PORT4 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_22 GPIO4_IO22 */
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-#include <imxrt_gpio.h>
-#include <imxrt_iomuxc.h>
-// add     -I<full path> build/nxp_fmurt1062-v1_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in
-#define PROBE_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE)
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1 /* GPIO_B0_06    */  (GPIO_PORT2 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_2 /* GPIO_EMC_08   */  (GPIO_PORT4 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_3 /* GPIO_EMC_10   */  (GPIO_PORT4 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_4 /* GPIO_AD_B0_09 */  (GPIO_PORT1 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_5 /* GPIO_EMC_33   */  (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_6 /* GPIO_EMC_30   */  (GPIO_PORT4 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_7 /* GPIO_EMC_04   */  (GPIO_PORT4 | GPIO_PIN4  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_8 /* GPIO_EMC_01   */  (GPIO_PORT4 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { imxrt_config_gpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { imxrt_config_gpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { imxrt_config_gpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { imxrt_config_gpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { imxrt_config_gpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \
-	} while(0)
-
-# define PROBE(n,s)  do {imxrt_gpio_write(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-/************************************************************************************
- * Public Types
- ************************************************************************************/
-
-/************************************************************************************
- * Public Data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C"
-{
-#else
-#define EXTERN extern
-#endif
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif /* __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H */

boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld

@@ -1,299 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1060-evk/scripts/flash-ocram.ld
- *
- *   Copyright (C) 2018, 2020 Gregory Nutt. All rights reserved.
- *   Authors: Ivan Ucherdzhiev <ivanucherdjiev@gmail.com>
- *            David Sidrane <david.sidrane@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 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 FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
- * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
- * configuration.
- *
- * The default flexram setting on the iMXRT 1062 is
- * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
- * This can be changed by using a dcd by minipulating
- * IOMUX GPR16 and GPR17.
- * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
- * 128Kib DTCM.
- *
- * This is the OCRAM inker script.
- * The NXP ROM bootloader will move the FLASH image to OCRAM.
- * We must reserve 32K for the bootloader' OCRAM usage from  the OCRAM Size
- * and an additinal 8K for the ivt_s which is IVT_SIZE(8K) This 40K can be
- * reused once the application is running.
- *
- *      0x2020:A000 to 0x202d:ffff - The application Image's vector table
- *      0x2020:8000 to 0x2020:A000 - IVT
- *      0x2020:0000 to 0x2020:7fff - NXP ROM bootloader.
- *
- * We artificially split the FLASH to allow locating sections that we do not
- * want loaded inoto OCRAM. This is to save on OCRAM where the speen of the
- * code does not matter.
- *
- */
-
-MEMORY
-{
-  flash    (rx)  : ORIGIN = 0x60000000, LENGTH = 7M
-  flashxip (rx)  : ORIGIN = 0x60700000, LENGTH = 1M
-  /*                     Vectors @ boot+ivt   OCRAM2   Flex RAM     Boot  IVT */
-  sram     (rwx) : ORIGIN = 0x2020A000, LENGTH = 512K + 256K + 128K - (32K + 8K)
-  itcm     (rwx) : ORIGIN = 0x00000000, LENGTH = 0K
-  dtcm     (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-EXTERN(g_dcd_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-    /* Image Vector Table and Boot Data for booting from external flash */
-
-    .boot_hdr : ALIGN(4)
-    {
-        FILL(0xff)
-        __boot_hdr_start__ = ABSOLUTE(.) ;
-        KEEP(*(.boot_hdr.conf))
-        . = 0x1000 ;
-        KEEP(*(.boot_hdr.ivt))
-        . = 0x1020 ;
-        KEEP(*(.boot_hdr.boot_data))
-        . = 0x1030 ;
-        KEEP(*(.boot_hdr.dcd_data))
-        __boot_hdr_end__ = ABSOLUTE(.) ;
-        . = 0x2000 ;
-    } > flash
-
-	/* Catch all the section we want not in OCRAM so that the *(.text .text.*) in flash does not */
-	/* Sift and sort with arm-none-eabi-nm -C  -S -n  build/nxp_fmurt1062-v1_default/nxp_fmurt1062-v1_default.elf > list.txt */
-
-    .flashxip : ALIGN(4)
-	{
-		FILL(0xff)
-		/* Order matters */
-		*(.text.__start)
-		*(.text.imxrt_ocram_initialize)
-		*(.slow_memory)
-		*(.text.romfs*)
-		*(.text.cromfs*)
-		*(.text.mpu*)
-		*(.text.arm_memfault*)
-		*(.text.arm_hardfault*)
-		*(.text.up_assert*)
-		*(.text.up_stackdump*)
-		*(.text.up_taskdump*)
-		*(.text.up_mdelay*)
-		*(.text.up_udelay*)
-		*(.text.board_on_reset*)
-		*(.text.board_spi_reset*)
-		*(.text.board_query_manifest*)
-		*(.text.board_reset*)
-		*(.text.board_get*)
-		*(.text.board_mcu*)
-		*(.text.imxrt_xbar_connect*)
-		*(.text.bson*)
-		*(.text.*print_load*)
-		*(.text.*px4_mft*)
-		*(.text.*px4_mtd*)
-		*(.text.syslog*)
-		*(.text.register_driver*)
-		*(.text.nx_start*)
-		*(.text.nx_bringup*)
-		*(.text.irq_unexpected_isr*)
-		*(.text.group*)
-		*(.text.*setenv*)
-		*(.text.*env*)
-		*(.text.cmd*)
-		*(.text.readline*)
-		*(.text.mkfatfs*)
-		*(.text.builtin*)
-		*(.text.basename*)
-		*(.text.dirname*)
-		*(.text.gmtime_r*)
-		*(.text.chdir*)
-		*(.text.devnull*)
-		*(.text.ramdisk*)
-		*(.text.files*)
-		*(.text.unregister_driver*)
-		*(.text.register_blockdriver*)
-		*(.text.bchdev_register*)
-		*(.text.part*)
-		*(.text.ftl*)
-		*(.text.*I2CBusIterator*)
-		*(.text.*SPIBusIterator*)
-		*(.text.*BusCLIArguments*)
-		*(.text.*WorkQueueManager*)
-		*(.text.*param_export*)
-		*(.text.*param_import*)
-		*(.text.*param_load*)
-		*(.text.*BusInstanceIterator*)
-		*(.text.*PRINT_MODULE_USAGE*)
-		*(.text.*px4_getopt*)
-		*(.text.*main*)
-		*(.text.*instantiate*)
-		*(.text.*ADC*)
-		*(.text.*MS5611*)
-		*(.text.*I2CSPIDriver*)
-		*(.text.*CameraCapture*)
-		*(.text.*i2cdetect*)
-		*(.text.*usage*)
-/*		*(.text.*Bosch*) 2% CPU .5% RAM */
-		*(.text.*Tunes*)
-		*(.text.*printStatistics*)
-		*(.text.*init*)
-		*(.text.*test*)
-		*(.text.*task_spawn*)
-		*(.text.*custom_command*)
-		*(.text.*print_usage*)
-		*(.text.*print_status*)
-		*(.text.*status*)
-		*(.text.*CameraInterface*)
-		*(.text.*CameraTrigger*)
-		*(.text.*ModuleBase*)
-		*(.text.*print_message*)
-		*(.text._ZN4Ekf2C2Eb)
-		*(.text._ZN9CommanderC2Ev)
-		*(.text.*PreFlightCheck*)
-		*(.text.*calibrat*)
-		*(.text.*initEv)
-		*(.text.*probe*)
-		*(.text.*thread_main*);
-		*(.text.*listener*)
-		*(.text.*BlockLocalPositionEstimator*)
-		*(.text.nsh_*)
-		*(.text.lib_vscanf)
-		*(.text.lib_vsprintf)
-		*(.text.*configure_streams_to_default*)
-		*(.text.*_main)
-		*(.text.*GPSDriverAshtech*)
-		*(.text.*GPSDriver*)
-		*(.text.*Mavlink*)
-		*(.rodata .rodata.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-
-    } > flashxip
-
-	/* Sections that will go to OCRAM */
-
-    .text :
-    {
-        _stext = ABSOLUTE(.);
-        *(.vectors)
-        *(.text .text.*)
-        _etext = ABSOLUTE(.);
-
-    } > sram AT> 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*)
-        __exidx_end = ABSOLUTE(.);
-    } > flash
-
-    _eronly = ABSOLUTE(.);
-
-    .data :
-    {
-        _sdata = ABSOLUTE(.);
-        *(.data .data.*)
-        *(.gnu.linkonce.d.*)
-        CONSTRUCTORS
-        . = ALIGN(4);
-        _edata = ABSOLUTE(.);
-    } > sram AT > flash
-
-    .ramfunc ALIGN(4):
-    {
-        _sramfuncs = ABSOLUTE(.);
-        *(.ramfunc  .ramfunc.*)
-        _eramfuncs = ABSOLUTE(.);
-    } > sram AT > flash
-
-    _framfuncs = LOADADDR(.ramfunc);
-
-    .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) }
-}

boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld

@@ -1,163 +0,0 @@
-/****************************************************************************
- * configs/nxp_fmurt1062-v1/scripts/flash.ld
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            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 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 FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
- * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
- * configuratin.
- */
-
-MEMORY
-{
-	flash (rx)  : ORIGIN = 0x60000000, LENGTH = 8M
-	sram  (rwx) : ORIGIN = 0x20200000, LENGTH = 768K
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 128K
-	dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-	/* Image Vector Table and Boot Data for booting from external flash */
-
-	.boot_hdr : ALIGN(4)
-	{
-		FILL(0xff)
-		__boot_hdr_start__ = ABSOLUTE(.) ;
-		KEEP(*(.boot_hdr.conf))
-		. = 0x1000 ;
-		KEEP(*(.boot_hdr.ivt))
-		. = 0x1020 ;
-		KEEP(*(.boot_hdr.boot_data))
-		. = 0x1030 ;
-		KEEP(*(.boot_hdr.dcd_data))
-		__boot_hdr_end__ = ABSOLUTE(.) ;
-		. = 0x2000 ;
-	} >flash
-
-	.text :
-	{
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init 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
-
-	.ramfunc ALIGN(4):
-	{
-		_sramfuncs = ABSOLUTE(.);
-		*(.ramfunc  .ramfunc.*)
-		_eramfuncs = ABSOLUTE(.);
-	} > sram AT > flash
-
-	_framfuncs = LOADADDR(.ramfunc);
-
-	.bss :
-	{
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		_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) }
-}

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -1,502 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2019 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
- *
- * NXP fmukrt1062-v1 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include "imxrt_gpio.h"
-#include "imxrt_iomuxc.h"
-#include "hardware/imxrt_pinmux.h"
-
-#include <arch/board/board.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* PX4IO connection configuration */
-
-#if 0 // There is no PX4IO Support on first out
-// This requires serial DMA driver
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS6"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_LPUART8_TX_2
-#define PX4IO_SERIAL_RX_GPIO           GPIO_LPUART8_RX_2
-#define PX4IO_SERIAL_BASE              IMXRT_LPUART8_BASE
-#define PX4IO_SERIAL_VECTOR            IMXRT_IRQ_LPUART8
-#define PX4IO_SERIAL_TX_DMAMAP
-#define PX4IO_SERIAL_RX_DMAMAP
-#define PX4IO_SERIAL_RCC_REG
-#define PX4IO_SERIAL_RCC_EN
-#define PX4IO_SERIAL_CLOCK
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-#endif
-
-/* Configuration ************************************************************************************/
-
-/* FMURT1062 GPIOs ***********************************************************************************/
-/* LEDs */
-/* An RGB LED is connected through GPIO as shown below:
- */
-#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
-#define GPIO_nLED_RED   /* GPIO_B0_00 QTIMER1_TIMER0 GPIO2_IO0  */ (GPIO_PORT2 | GPIO_PIN0  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-#define GPIO_nLED_GREEN /* GPIO_B0_01 QTIMER1_TIMER1 GPIO2_IO1  */ (GPIO_PORT2 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-#define GPIO_nLED_BLUE  /* GPIO_B1_08 QTIMER1_TIMER3 GPIO2_IO24 */ (GPIO_PORT2 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS   1
-#define BOARD_OVERLOAD_LED              LED_RED
-#define BOARD_ARMED_STATE_LED           LED_BLUE
-
-/*
- *  Define the ability to shut off off the sensor signals
- *  by changing the signals to inputs
- */
-
-#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
-
-/*  Define the Chip Selects, Data Ready and Control signals per SPI bus */
-
-#define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
-#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-
-
-/* SPI1 off */
-
-#define _GPIO_LPSPI1_SCK   /* GPIO_EMC_27  GPIO4_IO27 */  (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
-#define _GPIO_LPSPI1_MISO  /* GPIO_EMC_29  GPIO4_IO29 */  (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI1_MOSI  /* GPIO_EMC_28  GPIO4_IO28 */  (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
-
-#define GPIO_SPI1_SCK_OFF   _PIN_OFF(_GPIO_LPSPI1_SCK)
-#define GPIO_SPI1_MISO_OFF  _PIN_OFF(_GPIO_LPSPI1_MISO)
-#define GPIO_SPI1_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI1_MOSI)
-
-#define _GPIO_LPSPI3_SCK   /* GPIO_AD_B1_15 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
-#define _GPIO_LPSPI3_MISO  /* GPIO_AD_B1_13 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI3_MOSI  /* GPIO_AD_B1_14 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
-
-#define GPIO_SPI3_SCK_OFF   _PIN_OFF(_GPIO_LPSPI3_SCK)
-#define GPIO_SPI3_MISO_OFF  _PIN_OFF(_GPIO_LPSPI3_MISO)
-#define GPIO_SPI3_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI3_MOSI)
-
-/*  Define the SPI4 Data Ready and Control signals */
-
-#define GPIO_SPI4_DRDY7_EXTERNAL1   /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT  | DRDY_IOMUX)
-#define GPIO_nSPI4_RESET_EXTERNAL1  /* GPIO_B1_00 GPIO2_IO16 */ (GPIO_PORT2 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
-#define GPIO_SPI4_SYNC_EXTERNAL1    /* GPIO_EMC_05 GPIO4_IO5  */(GPIO_PORT4 | GPIO_PIN5  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
-
-#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1   _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
-#define GPIO_nSPI4_RESET_EXTERNAL1_OFF       _PIN_OFF(GPIO_nSPI4_RESET_EXTERNAL1)
-#define GPIO_SPI4_SYNC_EXTERNAL1_OFF         _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1)
-
-
-#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
-
-#define ADC1_CH(n)                  (n)
-#define ADC1_GPIO(n, p)             (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
-
-/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
-
-#define PX4_ADC_GPIO  \
-	/* BATTERY1_VOLTAGE       GPIO_AD_B1_11 GPIO1 Pin 27 */  ADC1_GPIO(0,  27),  \
-	/* BATTERY1_CURRENT       GPIO_AD_B0_12 GPIO1 Pin 12 */  ADC1_GPIO(1,  12),  \
-	/* BATTERY2_VOLTAGE       GPIO_AD_B0_13 GPIO1 Pin 13 */  ADC1_GPIO(2,  13),  \
-	/* BATTERY2_CURRENT       GPIO_AD_B0_14 GPIO1 Pin 14 */  ADC1_GPIO(3,  14),  \
-	/* SPARE_2_CHANNEL        GPIO_AD_B0_15 GPIO1 Pin 15 */  ADC1_GPIO(4,  15),  \
-	/* HW_VER_SENSE           GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20),  \
-	/* SCALED_V5              GPIO_AD_B1_05 GPIO1 Pin 21 */  ADC1_GPIO(10, 21), \
-	/* SCALED_VDD_3V3_SENSORS GPIO_AD_B1_06 GPIO1 Pin 22 */  ADC1_GPIO(11, 22), \
-	/* HW_REV_SENSE           GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24), \
-	/* SPARE_1                GPIO_AD_B1_09 GPIO1 Pin 25 */  ADC1_GPIO(14, 25), \
-	/* RSSI_IN                GPIO_AD_B1_10 GPIO1 Pin 26 */  ADC1_GPIO(15, 26)
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-
-#define ADC_BATTERY1_VOLTAGE_CHANNEL        /* GPIO_AD_B1_11 GPIO1 Pin 27 */  ADC1_CH(0)
-#define ADC_BATTERY1_CURRENT_CHANNEL        /* GPIO_AD_B0_12 GPIO1 Pin 12 */  ADC1_CH(1)
-#define ADC_BATTERY2_VOLTAGE_CHANNEL        /* GPIO_AD_B0_13 GPIO1 Pin 13 */  ADC1_CH(2)
-#define ADC_BATTERY2_CURRENT_CHANNEL        /* GPIO_AD_B0_14 GPIO1 Pin 14 */  ADC1_CH(3)
-#define ADC1_SPARE_2_CHANNEL                /* GPIO_AD_B0_15 GPIO1 Pin 15 */  ADC1_CH(4)
-#define ADC_HW_VER_SENSE_CHANNEL            /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_CH(9)
-#define ADC_SCALED_V5_CHANNEL               /* GPIO_AD_B1_05 GPIO1 Pin 21 */  ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* GPIO_AD_B1_06 GPIO1 Pin 22 */  ADC1_CH(11)
-#define ADC_HW_REV_SENSE_CHANNEL            /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_CH(13)
-#define ADC1_SPARE_1_CHANNEL                /* GPIO_AD_B1_09 GPIO1 Pin 25 */  ADC1_CH(14)
-#define ADC_RSSI_IN_CHANNEL                 /* GPIO_AD_B1_10 GPIO1 Pin 26 */  ADC1_CH(15)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
-	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY2_CURRENT_CHANNEL)       | \
-	 (1 << ADC1_SPARE_2_CHANNEL)               | \
-	 (1 << ADC_RSSI_IN_CHANNEL)                | \
-	 (1 << ADC_SCALED_V5_CHANNEL)              | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
-	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
-	 (1 << ADC1_SPARE_1_CHANNEL))
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-
-#define BOARD_HAS_HW_VERSIONING
-
-#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST)
-
-#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01   */  (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
-#define GPIO_HW_REV_SENSE     /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24)
-#define GPIO_HW_VER_SENSE     /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20)
-#define HW_INFO_INIT_PREFIX   "V5"
-#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
-#define V540   HW_VER_REV(0x4,0x0) // mini no can 2,3,          Rev 0
-
-/* CAN Silence
- *
- * Silent mode control \ ESC Mux select
- */
-
-#define SILENT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST)
-#define GPIO_CAN1_SILENT_S0  /* GPIO_AD_B0_10	GPIO1_IO10 */ (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-#define GPIO_CAN2_SILENT_S1  /* GPIO_EMC_06	GPIO4_IO06   */ (GPIO_PORT4 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-#define GPIO_CAN3_SILENT_S2  /* GPIO_EMC_09	GPIO4_IO09   */ (GPIO_PORT4 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-
-/* HEATER
- * PWM in future
- */
-#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-#define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
-#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PWM Capture
- *
- * 2  PWM Capture inputs are supported
- */
-#define DIRECT_PWM_CAPTURE_CHANNELS  2
-#define CAP_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-#define PIN_FLEXPWM2_PWMB0  /* P2:7  PWM2 B0 FMU_CAP1 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB00_2)
-#define PIN_FLEXPWM2_PWMB3  /* P3:3  PWM2 A1 FMU_CAP2 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB03_3)
-
-#define nARMED_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
-#define nARMED_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-
-#define GPIO_nARMED_INIT     /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_INPUT | nARMED_INPUT_IOMUX)
-#define GPIO_nARMED          /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
-
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-
-
-/* PWM
- */
-
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define BOARD_NUM_IO_TIMERS         8
-
-// Input Capture not supported on MVP
-
-#define BOARD_HAS_NO_CAPTURE
-
-//#define BOARD_HAS_UI_LED_PWM           1  Not ported yet (Still Kinetis driver)
-#define BOARD_HAS_LED_PWM              1
-#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
-
-/*  UI LEDs are driven by timer 4 the pins have no alternates
- *
- *  nUI_LED_RED   GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1
- *  nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2
- *  nUI_LED_BLUE  GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3
- */
-
-
-/* Power supply control and monitoring GPIOs */
-
-#define GENERAL_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
-#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-
-#define GPIO_nPOWER_IN_A                /* GPIO_B0_12	GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-#define GPIO_nPOWER_IN_B                /* GPIO_B0_13	GPIO2_IO13 */ (GPIO_PORT2 | GPIO_PIN13 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-#define GPIO_nPOWER_IN_C                /* GPIO_B0_14	GPIO2_IO14 */ (GPIO_PORT2 | GPIO_PIN14 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
-#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
-
-#define OC_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
-
-#define GPIO_nVDD_5V_PERIPH_EN          /* GPIO_B1_03    GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-#define GPIO_nVDD_5V_PERIPH_OC          /* GPIO_B1_04    GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT  | OC_INPUT_IOMUX)
-#define GPIO_nVDD_5V_HIPOWER_EN         /* GPIO_B1_01    GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-#define GPIO_nVDD_5V_HIPOWER_OC         /* GPIO_B1_02    GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_INPUT  | OC_INPUT_IOMUX)
-#define GPIO_VDD_3V3_SENSORS_EN         /* GPIO_EMC_41   GPIO3_IO27 */ (GPIO_PORT3 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* GPIO_AD_B0_00 GPIO1_IO00 */ (GPIO_PORT1 | GPIO_PIN0  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-#define GPIO_VDD_5V_RC_EN               /* GPIO_AD_B0_08 GPIO1_IO08 */ (GPIO_PORT1 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-#define GPIO_VDD_5V_WIFI_EN             /* PMIC_STBY_REQ GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-#define GPIO_VDD_3V3_SD_CARD_EN         /* GPIO_EMC_13   GPIO4_IO13 */ (GPIO_PORT4 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX)
-
-/* Define True logic Power Control in arch agnostic form */
-
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
-#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
-#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
-#define VDD_5V_RC_EN(on_true)              px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
-#define VDD_5V_WIFI_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
-#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        2  /* GPT 2 */
-#define TONE_ALARM_CHANNEL      3  /* GPIO_AD_B1_07 GPT2_COMPARE3 */
-
-#define GPIO_BUZZER_1           /* GPIO_AD_B1_07  GPIO1_IO23  */ (GPIO_PORT1 | GPIO_PIN23  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         (GPIO_GPT2_COMPARE3_2 | GENERAL_OUTPUT_IOMUX)
-
-/* USB OTG FS
- *
- * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
- */
-
-/* High-resolution timer */
-#define HRT_TIMER               1  /* use GPT1 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-#define HRT_PPM_CHANNEL         /* GPIO_B1_06 GPT1_CAPTURE2 */  2  /* use capture/compare channel 2 */
-#define GPIO_PPM_IN             /* GPIO_B1_06 GPT1_CAPTURE2 */ (GPIO_GPT1_CAPTURE2_2 | GENERAL_INPUT_IOMUX)
-
-#define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
-/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */
-
-#define PWMIN_TIMER            /* FLEXPWM3_PWMA2 */  3
-#define PWMIN_TIMER_CHANNEL    /* FLEXPWM3_PWMA2 */  2
-#define GPIO_PWM_IN            /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX)
-
-/* Shared pins Both FMU and PX4IO control/monitor
- * FMU Initializes these pins to passive input until it is known
- * if we have and PX4IO on board
- */
-
-#define GPIO_RSSI_IN                       /* GPIO_AD_B1_10 GPIO1_IO26 */ (GPIO_PORT1 | GPIO_PIN26 | GPIO_INPUT | ADC_IOMUX)
-#define GPIO_RSSI_IN_INIT                  /* GPIO_AD_B1_10 GPIO1_IO26 */ 0 /* Using 0 will Leave as ADC RSSI_IN */
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT  | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
-#define SAFETY_IOMUX      (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
-#define SAFETY_SW_IOMUX   (IOMUX_CMOS_INPUT  | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
-
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_INPUT  | SAFETY_INIT_IOMUX)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-#define GPIO_SAFETY_SWITCH_IN              /* GPIO_AD_B1_12 GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | SAFETY_SW_IOMUX)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/*
- * FMUv5 has a separate RC_IN
- *
- * GPIO PPM_IN on GPIO_EMC_23 GPIO4 Pin 23 GPT1_CAPTURE2
- *   Inversion is possible in the UART and can drive GPIO PPM_IN as an output
- */
-
-#define GPIO_PPM_IN_AS_OUT             /* GPIO_B1_06 GPIO2_IO23 GPT1_CAPTURE2 GPT1_CAPTURE2 */ (GPIO_PORT2 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-
-#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
-
-/* FMUv5 never powers odd the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_nARMED_INIT,                 \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_FLEXCAN1_TX,                 \
-		GPIO_FLEXCAN1_RX,                 \
-		GPIO_FLEXCAN2_TX,                 \
-		GPIO_FLEXCAN2_RX,                 \
-		GPIO_FLEXCAN3_TX,                 \
-		GPIO_FLEXCAN3_RX,                 \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S1,              \
-		GPIO_CAN3_SILENT_S2,              \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_nPOWER_IN_B,                 \
-		GPIO_nPOWER_IN_C,                 \
-		GPIO_nVDD_5V_PERIPH_EN,           \
-		GPIO_nVDD_5V_PERIPH_OC,           \
-		GPIO_nVDD_5V_HIPOWER_EN,          \
-		GPIO_nVDD_5V_HIPOWER_OC,          \
-		GPIO_VDD_3V3_SENSORS_EN,          \
-		GPIO_VDD_3V3_SD_CARD_EN,          \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_VDD_5V_RC_EN,                \
-		GPIO_VDD_5V_WIFI_EN,              \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_RSSI_IN_INIT,                \
-		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
-		GPIO_nSPI4_RESET_EXTERNAL1,       \
-		GPIO_SPI4_SYNC_EXTERNAL1,         \
-		GPIO_SAFETY_SWITCH_IN             \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: fmurt1062_usdhc_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int fmurt1062_usdhc_initialize(void);
-
-/****************************************************************************************************
- * Name: imxrt_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void imxrt_spidev_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI Buses.
- *
- ************************************************************************************/
-
-extern int imxrt1062_spi_bus_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_usb_initialize
- *
- * Description:
- *   Called to configure USB.
- *
- ************************************************************************************/
-
-extern int imxrt_usb_initialize(void);
-
-extern void imxrt_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-extern void fmurt1062_timer_initialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.c

@@ -1,198 +0,0 @@
-/****************************************************************************
- * config/imxrt1060-evk/src/imxrt_flexspi_nor_flash.c
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Ivan Ucherdzhiev <ivanucherdjiev@gmail.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 NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*******************************************************************************
- * Included Files
- ******************************************************************************/
-
-
-#include "imxrt_flexspi_nor_flash.h"
-
-/*******************************************************************************
- * Public Data
- ******************************************************************************/
-
-#if defined (CONFIG_NXP_FMURT1062_V3_HYPER_FLASH)
-__attribute__((section(".boot_hdr.conf")))
-const struct flexspi_nor_config_s g_flash_config = {
-	.mem_config               =
-	{
-		.tag                    = FLEXSPI_CFG_BLK_TAG,
-		.version                = FLEXSPI_CFG_BLK_VERSION,
-		.read_sample_clksrc     = FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD,
-		.cs_hold_time           = 3u,
-		.cs_setup_time          = 3u,
-		.column_address_width   = 3u,
-
-		/* Enable DDR mode, Word addassable, Safe configuration, Differential clock */
-
-		.controller_misc_option = (1u << FLEXSPIMISC_OFFSET_DDR_MODE_EN) |
-		(1u << FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN) |
-		(1u << FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN) |
-		(1u << FLEXSPIMISC_OFFSET_DIFFCLKEN),
-		.sflash_pad_type        = SERIAL_FLASH_8PADS,
-		.serial_clk_freq        = FLEXSPI_SERIAL_CLKFREQ_133MHz,
-		.sflash_a1size          = 64u * 1024u * 1024u,
-		.data_valid_time        = {16u, 16u},
-		.lookup_table           =
-		{
-			/* Read LUTs */
-
-			FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xA0, RADDR_DDR, FLEXSPI_8PAD, 0x18),
-			FLEXSPI_LUT_SEQ(CADDR_DDR, FLEXSPI_8PAD, 0x10, DUMMY_DDR, FLEXSPI_8PAD, 0x06),
-			FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP, FLEXSPI_1PAD, 0x0),
-		},
-	},
-	.page_size                = 512u,
-	.sector_size              = 256u * 1024u,
-	.blocksize                = 256u * 1024u,
-	.is_uniform_blocksize     = 1,
-};
-
-#elif defined (CONFIG_NXP_FMURT1062_V3_QSPI_FLASH)
-__attribute__((section(".boot_hdr.conf")))
-const struct flexspi_nor_config_s g_flash_config = {
-	.mem_config =
-	{
-		.tag                    = FLEXSPI_CFG_BLK_TAG,
-		.version                = FLEXSPI_CFG_BLK_VERSION,
-		.read_sample_clksrc     = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD,
-		.cs_hold_time           = 3u,
-		.cs_setup_time          = 3u,
-		.column_address_width   = 0u,
-		.device_type            = FLEXSPI_DEVICE_TYPE_SERIAL_NOR,
-		.sflash_pad_type        = SERIAL_FLASH_4PADS,
-		.serial_clk_freq        = FLEXSPI_SERIAL_CLKFREQ_60MHz,
-		.sflash_a1size          = 8u * 1024u * 1024u,
-		.data_valid_time        = {16u, 16u},
-		.lookup_table           =
-		{
-			/* LUTs */
-			/* 0 Fast read Quad IO DTR Mode Operation in SPI Mode (normal read)*/
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xED, RADDR_DDR, FLEXSPI_4PAD, 0x18),
-			FLEXSPI_LUT_SEQ(DUMMY_DDR, FLEXSPI_4PAD, 0x0C, READ_DDR, FLEXSPI_4PAD, 0x08),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-			/* 1 Read Status */
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05, READ_SDR, FLEXSPI_1PAD, 0x1),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-			/* 2 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 3 */
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x06, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-			/* 4 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 5 Erase Sector */
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xD7, RADDR_SDR, FLEXSPI_1PAD, 0x18),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-			/* 6 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 7 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 8 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 9 Page Program */
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02, RADDR_SDR, FLEXSPI_1PAD, 0x18),
-			FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x8, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-			/* 10 */
-
-			0x00000000,
-			0x00000000,
-			0x00000000,
-			0x00000000,
-
-			/* 11 Chip Erase */
-
-			FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xC7, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-			FLEXSPI_LUT_SEQ(STOP, FLEXSPI_1PAD, 0x0, STOP, FLEXSPI_1PAD, 0x0),
-
-		},
-	},
-
-	.page_size                = 256u,
-	.sector_size              = 4u * 1024u,
-	.blocksize                = 32u * 1024u,
-	.is_uniform_blocksize     = false,
-};
-#else
-# error Boot Flash type not chosen!
-#endif

boards/nxp/fmurt1062-v1/src/imxrt_flexspi_nor_flash.h

@@ -1,349 +0,0 @@
-/****************************************************************************
- * config/imxrt1060-evk/src/imxrt_flexspi_nor_flash.h
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Ivan Ucherdzhiev <ivanucherdjiev@gmail.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 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 __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdint.h>
-#include <stdbool.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* FLEXSPI memory config block related defintions */
-
-#define FLEXSPI_CFG_BLK_TAG         (0x42464346ul)
-#define FLEXSPI_CFG_BLK_VERSION     (0x56010400ul)
-#define FLEXSPI_CFG_BLK_SIZE        (512)
-
-/* FLEXSPI Feature related definitions */
-
-#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1
-
-/* Lookup table related defintions */
-
-#define CMD_INDEX_READ              0
-#define CMD_INDEX_READSTATUS        1
-#define CMD_INDEX_WRITEENABLE       2
-#define CMD_INDEX_WRITE             4
-
-#define CMD_LUT_SEQ_IDX_READ        0
-#define CMD_LUT_SEQ_IDX_READSTATUS  1
-#define CMD_LUT_SEQ_IDX_WRITEENABLE 3
-#define CMD_LUT_SEQ_IDX_WRITE       9
-
-#define CMD_SDR                     0x01
-#define CMD_DDR                     0x21
-#define RADDR_SDR                   0x02
-#define RADDR_DDR                   0x22
-#define CADDR_SDR                   0x03
-#define CADDR_DDR                   0x23
-#define MODE1_SDR                   0x04
-#define MODE1_DDR                   0x24
-#define MODE2_SDR                   0x05
-#define MODE2_DDR                   0x25
-#define MODE4_SDR                   0x06
-#define MODE4_DDR                   0x26
-#define MODE8_SDR                   0x07
-#define MODE8_DDR                   0x27
-#define WRITE_SDR                   0x08
-#define WRITE_DDR                   0x28
-#define READ_SDR                    0x09
-#define READ_DDR                    0x29
-#define LEARN_SDR                   0x0a
-#define LEARN_DDR                   0x2a
-#define DATSZ_SDR                   0x0b
-#define DATSZ_DDR                   0x2b
-#define DUMMY_SDR                   0x0c
-#define DUMMY_DDR                   0x2c
-#define DUMMY_RWDS_SDR              0x0d
-#define DUMMY_RWDS_DDR              0x2d
-#define JMP_ON_CS                   0x1f
-#define STOP                        0
-
-#define FLEXSPI_1PAD                0
-#define FLEXSPI_2PAD                1
-#define FLEXSPI_4PAD                2
-#define FLEXSPI_8PAD                3
-
-#define FLEXSPI_LUT_OPERAND0_MASK   (0xffu)
-#define FLEXSPI_LUT_OPERAND0_SHIFT  (0U)
-#define FLEXSPI_LUT_OPERAND0(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND0_MASK)
-#define FLEXSPI_LUT_NUM_PADS0_MASK  (0x300u)
-#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u)
-#define FLEXSPI_LUT_NUM_PADS0(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS0_MASK)
-#define FLEXSPI_LUT_OPCODE0_MASK    (0xfc00u)
-#define FLEXSPI_LUT_OPCODE0_SHIFT   (10u)
-#define FLEXSPI_LUT_OPCODE0(x)      (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE0_MASK)
-#define FLEXSPI_LUT_OPERAND1_MASK   (0xff0000u)
-#define FLEXSPI_LUT_OPERAND1_SHIFT  (16U)
-#define FLEXSPI_LUT_OPERAND1(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND1_MASK)
-#define FLEXSPI_LUT_NUM_PADS1_MASK  (0x3000000u)
-#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u)
-#define FLEXSPI_LUT_NUM_PADS1(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS1_MASK)
-#define FLEXSPI_LUT_OPCODE1_MASK    (0xfc000000u)
-#define FLEXSPI_LUT_OPCODE1_SHIFT   (26u)
-#define FLEXSPI_LUT_OPCODE1(x)      (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE1_MASK)
-
-#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1)  \
-	(FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \
-	 FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \
-	 FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1))
-
-/*  */
-
-#define NOR_CMD_INDEX_READ          CMD_INDEX_READ
-#define NOR_CMD_INDEX_READSTATUS    CMD_INDEX_READSTATUS
-#define NOR_CMD_INDEX_WRITEENABLE   CMD_INDEX_WRITEENABLE
-#define NOR_CMD_INDEX_ERASESECTOR   3
-#define NOR_CMD_INDEX_PAGEPROGRAM   CMD_INDEX_WRITE
-#define NOR_CMD_INDEX_CHIPERASE     5
-#define NOR_CMD_INDEX_DUMMY         6
-#define NOR_CMD_INDEX_ERASEBLOCK    7
-
-/*  READ LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ    CMD_LUT_SEQ_IDX_READ
-
-/* Read Status LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS
-
-/* 2  Read status DPI/QPI/OPI sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2
-
-/* 3  Write Enable sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE
-
-/* 4  Write Enable DPI/QPI/OPI sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4
-
-/* 5  Erase Sector sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5
-
-/* 8 Erase Block sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8
-
-/* 9  Program sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE
-
-/* 11 Chip Erase sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11
-
-/* 13 Read SFDP sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13
-
-/* 14 Restore 0-4-4/0-8-8 mode sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14
-
-/* 15 Exit 0-4-4/0-8-8 mode sequence id in lookupTable stored in config blobk */
-
-#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/* Definitions for FlexSPI Serial Clock Frequency */
-
-enum flexspi_serial_clkfreq_e {
-	FLEXSPI_SERIAL_CLKFREQ_30MHz  = 1,
-	FLEXSPI_SERIAL_CLKFREQ_50MHz  = 2,
-	FLEXSPI_SERIAL_CLKFREQ_60MHz  = 3,
-	FLEXSPI_SERIAL_CLKFREQ_75MHz  = 4,
-	FLEXSPI_SERIAL_CLKFREQ_80MHz  = 5,
-	FLEXSPI_SERIAL_CLKFREQ_100MHz = 6,
-	FLEXSPI_SERIAL_CLKFREQ_133MHz = 7,
-	FLEXSPI_SERIAL_CLKFREQ_166MHz = 8,
-	FLEXSPI_SERIAL_CLKFREQ_200MHz = 9,
-};
-
-/* FlexSPI clock configuration type*/
-
-enum flexspi_serial_clockmode_e {
-	FLEXSPI_CLKMODE_SDR,
-	FLEXSPI_CLKMODE_DDR,
-};
-
-/* FlexSPI Read Sample Clock Source definition */
-
-enum flash_read_sample_clk_e {
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2,
-	FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD = 3,
-};
-
-/*  Misc feature bit definitions */
-
-enum flash_misc_feature_e {
-	FLEXSPIMISC_OFFSET_DIFFCLKEN = 0,                /* Bit for Differential clock enable */
-	FLEXSPIMISC_OFFSET_CK2EN = 1,                    /* Bit for CK2 enable */
-	FLEXSPIMISC_OFFSET_PARALLELEN = 2,               /* Bit for Parallel mode enable */
-	FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3,      /* Bit for Word Addressable enable */
-	FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4,       /* Bit for Safe Configuration Frequency enable */
-	FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5,  /* Bit for Pad setting override enable */
-	FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6,              /* Bit for DDR clock confiuration indication. */
-};
-
-/* Flash Type Definition */
-
-enum flash_flash_type_e {
-	FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1,              /* Flash devices are Serial NOR */
-	FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2,             /* Flash devices are Serial NAND */
-	FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3,              /* Flash devices are Serial RAM/HyperFLASH */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12,         /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial NAND */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13,          /* Flash deivce is MCP device, A1 is Serial NOR, A2 is Serial RAMs */
-};
-
-/* Flash Pad Definitions */
-
-enum flash_flash_pad_e {
-	SERIAL_FLASH_1PAD  = 1,
-	SERIAL_FLASH_2PADS = 2,
-	SERIAL_FLASH_4PADS = 4,
-	SERIAL_FLASH_8PADS = 8,
-};
-
-/* Flash Configuration Command Type */
-
-enum flash_config_cmd_e {
-	DEVICE_CONFIG_CMD_TYPE_GENERIC,     /* Generic command, for example: configure dummy cycles, drive strength, etc */
-	DEVICE_CONFIG_CMD_TYPE_QUADENABLE,  /* Quad Enable command */
-	DEVICE_CONFIG_CMD_TYPE_SPI2XPI,     /* Switch from SPI to DPI/QPI/OPI mode */
-	DEVICE_CONFIG_CMD_TYPE_XPI2SPI,     /* Switch from DPI/QPI/OPI to SPI mode */
-	DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD,  /* Switch to 0-4-4/0-8-8 mode */
-	DEVICE_CONFIG_CMD_TYPE_RESET,       /* Reset device command */
-};
-
-/* FlexSPI LUT Sequence structure */
-
-struct flexspi_lut_seq_s {
-	uint8_t seq_num;                    /* Sequence Number, valid number: 1-16 */
-	uint8_t seq_id;                     /* Sequence Index, valid number: 0-15 */
-	uint16_t reserved;
-};
-
-/* FlexSPI Memory Configuration Block */
-
-struct flexspi_mem_config_s {
-	uint32_t tag;
-	uint32_t version;
-	uint32_t reserved0;
-	uint8_t read_sample_clksrc;
-	uint8_t cs_hold_time;
-	uint8_t cs_setup_time;
-	uint8_t column_address_width;       /* [0x00f-0x00f] Column Address with, for
-                                       * HyperBus protocol, it is fixed to 3, For
-                                       * Serial NAND, need to refer to datasheet */
-	uint8_t device_mode_cfg_enable;
-	uint8_t device_mode_type;
-	uint16_t wait_time_cfg_commands;
-	struct flexspi_lut_seq_s device_mode_seq;
-	uint32_t device_mode_arg;
-	uint8_t config_cmd_enable;
-	uint8_t config_mode_type[3];
-	struct flexspi_lut_seq_s config_cmd_seqs[3];
-	uint32_t reserved1;
-	uint32_t config_cmd_args[3];
-	uint32_t reserved2;
-	uint32_t controller_misc_option;
-	uint8_t device_type;
-	uint8_t sflash_pad_type;
-	uint8_t serial_clk_freq;
-	uint8_t lut_custom_seq_enable;
-	uint32_t reserved3[2];
-	uint32_t sflash_a1size;
-	uint32_t sflash_a2size;
-	uint32_t sflash_b1size;
-	uint32_t sflash_b2size;
-	uint32_t cspad_setting_override;
-	uint32_t sclkpad_setting_override;
-	uint32_t datapad_setting_override;
-	uint32_t dqspad_setting_override;
-	uint32_t timeout_in_ms;
-	uint32_t command_interval;
-	uint16_t data_valid_time[2];
-	uint16_t busy_offset;
-	uint16_t busybit_polarity;
-	uint32_t lookup_table[64];
-	struct flexspi_lut_seq_s lut_customseq[12];
-	uint32_t reserved4[4];
-};
-
-/* Serial NOR configuration block */
-
-struct flexspi_nor_config_s {
-	struct flexspi_mem_config_s mem_config; /* Common memory configuration info via FlexSPI */
-	uint32_t page_size;                  /* Page size of Serial NOR */
-	uint32_t sector_size;                /* Sector size of Serial NOR */
-	uint8_t ipcmd_serial_clkfreq;        /* Clock frequency for IP command */
-	uint8_t is_uniform_blocksize;        /* Sector/Block size is the same */
-	uint8_t reserved0[2];                /* Reserved for future use */
-	uint8_t serial_nor_type;             /* Serial NOR Flash type: 0/1/2/3 */
-	uint8_t need_exit_nocmdmode;         /* Need to exit NoCmd mode before other IP command */
-	uint8_t halfclk_for_nonreadcmd;      /* Half the Serial Clock for non-read command: true/false */
-	uint8_t need_restore_nocmdmode;      /* Need to Restore NoCmd mode after IP commmand execution */
-	uint32_t blocksize;                  /* Block size */
-	uint32_t reserve2[11];               /* Reserved for future use */
-};
-
-#endif /* __CONFIGS_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */

boards/nxp/fmurt1062-v1/src/spi.cpp

@@ -1,388 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            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_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_log.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/spi/spi.h>
-#include <arch/board/board.h>
-#include <systemlib/px4_macros.h>
-#include <px4_platform/gpio.h>
-
-#include <arm_internal.h>
-#include <chip.h>
-#include "imxrt_lpspi.h"
-#include "imxrt_gpio.h"
-#include "board_config.h"
-#include <systemlib/err.h>
-
-#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \
-    defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4)
-
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::LPSPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::Port3, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin15}), /* GPIO_EMC_40 GPIO3_IO26 */
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin16}), /* GPIO_B1_10 GPIO2_IO26 */
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin31}, SPI::DRDY{GPIO::Port3, GPIO::Pin23}), /* GPIO_B1_15 GPIO2_IO31 */
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::Port3, GPIO::Pin0}), /* GPIO_SD_B1_00 GPIO3_IO00, AUX_MEM */
-	}, {GPIO::Port3, GPIO::Pin27}),
-	initSPIBus(SPI::Bus::LPSPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */
-	}),
-	initSPIBus(SPI::Bus::LPSPI3, {
-		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::Port4, GPIO::Pin14}), /* GPIO_EMC_14 GPIO4_IO14 */
-	}),
-	initSPIBusExternal(SPI::Bus::LPSPI4, {
-		initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin7}), /* GPIO_EMC_07 GPIO4_IO07 */
-		initSPIConfigExternal(SPI::CS{GPIO::Port2, GPIO::Pin30}), /* GPIO_B1_14  GPIO2_IO30 */
-		initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin11}), /* GPIO_EMC_11 GPIO4_IO011 */
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
-
-#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-/************************************************************************************
- * Name: fmurt1062_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
- *
- ************************************************************************************/
-
-void imxrt_spidev_initialize(void)
-{
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio);
-			}
-		}
-	}
-}
-
-/************************************************************************************
- * Name: imxrt_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
- *
- ************************************************************************************/
-
-static const px4_spi_bus_t *_spi_bus1;
-static const px4_spi_bus_t *_spi_bus2;
-static const px4_spi_bus_t *_spi_bus3;
-static const px4_spi_bus_t *_spi_bus4;
-
-__EXPORT int imxrt1062_spi_bus_initialize(void)
-{
-	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
-		switch (px4_spi_buses[i].bus) {
-		case 1: _spi_bus1 = &px4_spi_buses[i]; break;
-
-		case 2: _spi_bus2 = &px4_spi_buses[i]; break;
-
-		case 3: _spi_bus3 = &px4_spi_buses[i]; break;
-
-		case 4: _spi_bus4 = &px4_spi_buses[i]; break;
-		}
-	}
-
-	/* Configure SPI-based devices */
-
-	struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
-
-	if (!spi_sensors) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
-		return -ENODEV;
-	}
-
-	/* Default bus 1 to 1MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
-	SPI_SETBITS(spi_sensors, 8);
-	SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
-
-	/* Get the SPI port for the Memory */
-
-	struct spi_dev_s *spi_memory = px4_spibus_initialize(2);
-
-	if (!spi_memory) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 2);
-		return -ENODEV;
-	}
-
-	/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
-	SPI_SETBITS(spi_memory, 8);
-	SPI_SETMODE(spi_memory, SPIDEV_MODE3);
-
-	/* Get the SPI port for the BARO */
-
-	struct spi_dev_s *spi_baro = px4_spibus_initialize(3);
-
-	if (!spi_baro) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 3);
-		return -ENODEV;
-	}
-
-	/* MS5611 has max SPI clock speed of 20MHz
-	 */
-
-	SPI_SETFREQUENCY(spi_baro, 20 * 1000 * 1000);
-	SPI_SETBITS(spi_baro, 8);
-	SPI_SETMODE(spi_baro, SPIDEV_MODE3);
-
-	/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
-
-	struct spi_dev_s *spi_ext = px4_spibus_initialize(4);
-
-	if (!spi_ext) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4);
-		return -ENODEV;
-	}
-
-	/* Default ext bus to 1MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
-	SPI_SETBITS(spi_ext, 8);
-	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
-
-	/* deselect all */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
-			}
-		}
-	}
-
-	return OK;
-
-}
-
-/****************************************************************************
- * Name:  imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status
- *
- * Description:
- *   The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status must be
- *   provided by board-specific logic.  They are implementations of the select
- *   and status methods of the SPI interface defined by struct spi_ops_s (see
- *   include/nuttx/spi/spi.h). All other methods (including imxrt_lpspibus_initialize())
- *   are provided by common STM32 logic.  To use this common SPI logic on your
- *   board:
- *
- *   1. Provide logic in imxrt_boardinitialize() to configure SPI chip select
- *      pins.
- *   2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() functions in your
- *      board-specific logic.  These functions will perform chip selection and
- *      status operations using GPIOs in the way your board is configured.
- *   3. Add a calls to imxrt_lpspibus_initialize() in your low level application
- *      initialization logic
- *   4. The handle returned by imxrt_lpspibus_initialize() may then be used to bind the
- *      SPI driver to higher level logic (e.g., calling
- *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
- *      the SPI MMC/SD driver).
- *
- ****************************************************************************/
-
-static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		if (bus->devices[i].cs_gpio == 0) {
-			break;
-		}
-
-		if (devid == bus->devices[i].devid) {
-			// SPI select is active low, so write !selected to select the device
-			imxrt_gpio_write(bus->devices[i].cs_gpio, !selected);
-		}
-	}
-}
-
-#if defined(CONFIG_IMXRT_LPSPI1)
-__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus1, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI2)
-__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus2, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI3)
-__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus3, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI4)
-__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus4, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-/************************************************************************************
- * Name: board_spi_reset
- *
- * Description:
- *
- *
- ************************************************************************************/
-
-__EXPORT void board_spi_reset(int ms, int bus_mask)
-{
-#ifdef CONFIG_IMXRT_LPSPI1
-
-	/* Goal not to back feed the chips on the bus via IO lines */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio));
-				}
-
-				if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
-					imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio));
-				}
-			}
-		}
-	}
-
-	imxrt_config_gpio(GPIO_SPI1_SCK_OFF);
-	imxrt_config_gpio(GPIO_SPI1_MISO_OFF);
-	imxrt_config_gpio(GPIO_SPI1_MOSI_OFF);
-
-	imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
-	imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
-	imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
-
-
-	imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
-	imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
-
-	/* set the sensor rail off */
-	imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
-
-	/* wait for the sensor rail to reach GND */
-	usleep(ms * 1000);
-	warnx("reset done, %d ms", ms);
-
-	/* re-enable power */
-
-	/* switch the sensor rail back on */
-	imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 1);
-
-	/* wait a bit before starting SPI, different times didn't influence results */
-	usleep(100);
-
-	/* reconfigure the SPI pins */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio);
-				}
-
-				if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
-					imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio);
-				}
-			}
-		}
-	}
-
-	imxrt_config_gpio(GPIO_LPSPI1_SCK);
-	imxrt_config_gpio(GPIO_LPSPI1_MISO);
-	imxrt_config_gpio(GPIO_LPSPI1_MOSI);
-
-	imxrt_config_gpio(GPIO_LPSPI3_SCK);
-	imxrt_config_gpio(GPIO_LPSPI3_MISO);
-	imxrt_config_gpio(GPIO_LPSPI3_MOSI);
-
-	imxrt_config_gpio(GPIO_LPI2C3_SDA);
-	imxrt_config_gpio(GPIO_LPI2C3_SCL);
-
-#endif /* CONFIG_IMXRT_LPSPI1 */
-
-}
-
-#endif /* CONFIG_IMXRT_LPSPI1 || CONFIG_IMXRT_LPSPI2 || CONFIG_IMXRT_LPSPI3 || CONFIG_IMXRT_LPSPI4  */

boards/nxp/mr-canhubk3/fmu.px4board

@@ -1,18 +1,24 @@
 # CONFIG_BOARD_ROMFSROOT is not set
+CONFIG_DRIVERS_BAROMETER_BMP388=n
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=n
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -47,6 +53,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/nxp/ucans32k146/src/clockconfig.c

@@ -109,10 +109,10 @@ const struct clock_configuration_s g_initial_clkconfig = {
 		.spll          =
 		{
 			.mode        = SCG_SPLL_MONITOR_DISABLE,         /* SPLLCM */
-			.div1        = SCG_ASYNC_CLOCK_DIV_BY_1,         /* SPLLDIV1 */
-			.div2        = SCG_ASYNC_CLOCK_DIV_BY_2,         /* SPLLDIV2 */
+			.div1        = SCG_ASYNC_CLOCK_DIV_BY_2,         /* SPLLDIV1 160 / 2 = 80Mhz */
+			.div2        = SCG_ASYNC_CLOCK_DIV_BY_4,         /* SPLLDIV2 160 / 4 = 40Mhz */
 			.prediv      = 1,                                /* PREDIV */
-			.mult        = 40,                               /* MULT */
+			.mult        = 40,                               /* MULT 8 / 1 * 40 / 2 = 160Mhz */
 			.src         = 0,                                /* SOURCE */
 			.initialize  = true,                             /* Initialize */
 			.locked      = false,                            /* LK */

boards/px4/fmu-v2/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v3/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v4pro/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default SYS_USE_IO 1
-
 set LOGGER_BUF 64

boards/px4/fmu-v5/init/rc.board_defaults

@@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V5004000 V5006000
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs

boards/px4/fmu-v5x/default.px4board

@@ -33,7 +33,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -70,12 +70,14 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -84,7 +86,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y

boards/px4/fmu-v5x/init/rc.board_defaults

@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client

boards/px4/fmu-v6c/init/rc.board_defaults

@@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v6x/default.px4board

@@ -31,7 +31,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -72,17 +72,18 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y

boards/px4/fmu-v6x/init/rc.board_defaults

@@ -12,11 +12,11 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550
 
+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
-
-param set-default SYS_USE_IO 1
+param set-default SENS_EN_INA226 0
 
 if ver hwtypecmp V6X009010 V6X010010
 then

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -3,6 +3,7 @@
 # PX4 FMUv6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
+set INA_CONFIGURED no
 
 if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
 then
@@ -25,6 +26,8 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA228 1
@@ -35,6 +38,8 @@ then
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA238 1
@@ -45,12 +50,24 @@ then
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 #Start Auterion Power Module selector for Skynode boards
 if ver hwtypecmp V6X009010 V6X010010
 then
 	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
 fi
 
 if ver hwtypecmp V6X000006 V6X004006 V6X005006
@@ -144,4 +161,5 @@ fi
 # Baro on I2C3
 ms5611 -X start
 
+unset INA_CONFIGURED
 unset HAVE_PM2

boards/px4/fmu-v6x/nuttx-config/nsh/defconfig

@@ -207,7 +207,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -287,6 +286,7 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600

boards/px4/fmu-v6xrt/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/px4/fmu-v6xrt/default.px4board

@@ -1,28 +1,36 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_LINKER_PREFIX="ocram"
+CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UWB_UWB_SR150=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_COMMON_UWB=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -37,6 +45,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -48,21 +57,27 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

boards/px4/fmu-v6xrt/firmware.prototype

@@ -1,10 +1,10 @@
 {
-    "board_id": 31,
+    "board_id": 35,
     "magic": "PX4FWv1",
-    "description": "Firmware for the NXPFMURT1062v1 board",
+    "description": "Firmware for the PX4FMUv6XRT board",
     "image": "",
     "build_time": 0,
-    "summary": "NXPFMURT1062v1",
+    "summary": "PX4FMUv6XRT",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 7340032,

boards/px4/fmu-v6xrt/init/rc.board_defaults

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
+
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 1
+
+param set-default SYS_USE_IO 1
+
+safety_button start
+
+if param greater -s UAVCAN_ENABLE 0
+then
+	ifup can0
+	ifup can1
+	ifup can2
+fi

boards/px4/fmu-v6xrt/init/rc.board_mavlink

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# PX4 FMUv6X-RT specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# if skynode base board is detected start Mavlink on Telem2
+if ver hwtypecmp V6XRT009000 V6XRT010000
+then
+	mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
+
+	# Ensure nothing else starts on TEL2 (ttyS5)
+	set PRT_TEL2_ 1
+fi

boards/px4/fmu-v6xrt/init/rc.board_sensors

@@ -0,0 +1,89 @@
+#!/bin/sh
+#
+# PX4 FMUv5 specific board sensors init
+#------------------------------------------------------------------------------
+#
+# UART mapping on PX4 FMU-V6XRT:
+#
+# LPUART1       /dev/ttyS0      CONSOLE
+# LPUART3       /dev/ttyS1      GPS
+# LPUART4       /dev/ttyS2      TELEM1
+# LPUART5       /dev/ttyS4      GPS2
+# LPUART6       /dev/ttyS5      PX4IO
+# LPUART8       /dev/ttyS6      TELEM2
+# LPUART10      /dev/ttyS7      TELEM3
+# LPUART11      /dev/ttyS8      EXT2
+#
+#------------------------------------------------------------------------------
+
+set HAVE_PM2 yes
+
+if ver hwtypecmp V5X005000 V5X005001 V5X005002
+then
+	set HAVE_PM2 no
+fi
+if param compare -s ADC_ADS1115_EN 1
+then
+	ads1115 start -X
+else
+	board_adc start
+fi
+
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina226 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina228 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina238 -X -b 2 -t 2 -k start
+	fi
+fi
+
+# Internal SPI bus ICM42688p (hard-mounted)
+icm42688p -R 12 -b 1 -s start
+
+# Internal on IMU SPI BMI088
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start
+
+# Internal on IMU SPI bus ICM42688p
+icm42688p -R 6 -b 2 -s start
+
+# Internal magnetometer on I2c
+bmm150 -I start
+
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+# Possible internal Baro
+
+# Disable startup of internal baros if param is set to false
+if param compare SENS_INT_BARO_EN 1
+then
+	bmp388 -I -b 3 -a 0x77 start
+	bmp388 -X -b 2 start
+fi
+unset HAVE_PM2

boards/px4/fmu-v6xrt/nuttx-config/Kconfig

@@ -5,12 +5,12 @@
 
 choice
 	prompt "Boot Flash"
-	default NXP_FMURT1062_V3_QSPI_FLASH
+	default PX4_FMU_V6XRT_V3_QSPI_FLASH
 
-config NXP_FMURT1062_V3_HYPER_FLASH
+config PX4_FMU_V6XRT_V3_HYPER_FLASH
 	bool "HYPER Flash"
 
-config NXP_FMURT1062_V3_QSPI_FLASH
+config PX4_FMU_V6XRT_V3_QSPI_FLASH
 	bool "QSPI Flash"
 
 endchoice # Boot Flash
@@ -39,3 +39,21 @@ config BOARD_FORCE_ALIGNMENT
 		Adds -mno-unaligned-access to build flags. to force alignment.
 		This can be needed if data is stored in a region of memory, that
 		is Strongly ordered and dcache is off.
+
+config BOARD_BOOTLOADER_INVALID_FCB
+	bool "Disables the FCB header"
+	default n
+
+	---help---
+		This can be used to keep the ROM bootloader in the serial Download mode.
+		Thus preventing bootlooping on `is_debug_pending` in the lame Rev B
+		silicon ROM bootloader. You can not cold boot (Power cycle) but can
+		Jtag from Load and be abel to reset it.
+
+config BOARD_BOOTLOADER_FIXUP
+	bool "Restores OCTAL Flash when No FCB"
+	default n
+	select ARCH_RAMFUNCS
+
+	---help---
+		Restores OCTAL Flash when FCB is invalid.

boards/px4/fmu-v6xrt/nuttx-config/bootloader/defconfig

@@ -0,0 +1,110 @@
+#
+# 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_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6xrt/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="imxrt"
+CONFIG_ARCH_CHIP_IMXRT=y
+CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_ITCM=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_BOOTLOADER_FIXUP=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_FORCE_ALIGNMENT=y
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=104926
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x001d
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6XRT.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3643
+CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEBUG_USAGEFAULT=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_EDMA=y
+CONFIG_IMXRT_EDMA_EDBG=y
+CONFIG_IMXRT_EDMA_ELINK=y
+CONFIG_IMXRT_EDMA_NTCD=64
+CONFIG_IMXRT_FLEXSPI2=y
+CONFIG_IMXRT_LPUART8=y
+CONFIG_IMXRT_SNVS_LPSRTC=y
+CONFIG_IMXRT_USBDEV=y
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPUART8_BAUD=57600
+CONFIG_LPUART8_IFLOWCONTROL=y
+CONFIG_LPUART8_OFLOWCONTROL=y
+CONFIG_LPUART8_RXBUFSIZE=600
+CONFIG_LPUART8_RXDMA=y
+CONFIG_LPUART8_TXBUFSIZE=1500
+CONFIG_LPUART8_TXDMA=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=1835008
+CONFIG_RAM_START=0x20240000
+CONFIG_RAW_BINARY=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_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DMA=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/px4/fmu-v6xrt/nuttx-config/include/board.h

@@ -0,0 +1,355 @@
+/************************************************************************************
+ * nuttx-configs/px4/fmu-v6xrt/include/board.h
+ *
+ *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            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 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 __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+#define BOARD_CPU_FREQUENCY 996000000 //FIXME
+#define IMXRT_IPG_PODF_DIVIDER 5
+#define BOARD_GPT_FREQUENCY  24000000
+#define BOARD_XTAL_FREQUENCY 24000000
+
+/* SDIO *********************************************************************/
+
+/* Pin drive characteristics - drive strength in particular may need tuning
+ * for specific boards.
+ */
+
+#define PIN_USDHC1_D0     (GPIO_USDHC1_DATA0_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_02 */
+#define PIN_USDHC1_D1     (GPIO_USDHC1_DATA1_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_03 */
+#define PIN_USDHC1_D2     (GPIO_USDHC1_DATA2_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_04 */
+#define PIN_USDHC1_D3     (GPIO_USDHC1_DATA3_1 | IOMUX_USDHC1_DATAX_DEFAULT) /* GPIO_SD_B1_05 */
+#define PIN_USDHC1_DCLK   (GPIO_USDHC1_CLK_1   | IOMUX_USDHC1_CLK_DEFAULT)   /* GPIO_SD_B1_01 */
+#define PIN_USDHC1_CMD    (GPIO_USDHC1_CMD_1   | IOMUX_USDHC1_CMD_DEFAULT)   /* GPIO_SD_B1_00 */
+#define PIN_USDHC1_CD     (GPIO_USDHC1_CD_2    | IOMUX_USDHC1_CLK_DEFAULT)   /* GPIO_AD_32    */
+
+/* 386 KHz for initial inquiry stuff */
+
+#define BOARD_USDHC_IDMODE_PRESCALER    USDHC_SYSCTL_SDCLKFS_DIV256
+#define BOARD_USDHC_IDMODE_DIVISOR      USDHC_SYSCTL_DVS_DIV(2)
+
+/* 24.8MHz for other modes */
+
+#define BOARD_USDHC_MMCMODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
+#define BOARD_USDHC_MMCMODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
+
+#define BOARD_USDHC_SD1MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
+#define BOARD_USDHC_SD1MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
+
+#define BOARD_USDHC_SD4MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
+#define BOARD_USDHC_SD4MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
+
+/* LED definitions ******************************************************************/
+/* The px4 fmu-v6x board has numerous LEDs but only three, LED_GREEN a Green LED,
+ * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* PIO Disambiguation ***************************************************************/
+/* LPUARTs
+ *
+ * We pull down CTS so that if nothing is connected, conde will not block.
+ */
+#define IOMUX_UART_CTS_DEFAULT              (IOMUX_PULL_DOWN | IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_SLOW)
+#define IOMUX_UART_BOARD_DEFAULT            (IOMUX_PULL_NONE | IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
+
+/* Debug */
+
+#define GPIO_LPUART1_RX  (GPIO_LPUART1_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION)       /* UART1_RX_DEBUG GPIO_DISP_B1_03 */
+#define GPIO_LPUART1_TX  (GPIO_LPUART1_TX_2|IOMUX_UART_BOARD_DEFAULT)            /* UART1_TX_DEBUG GPIO_DISP_B1_02 */
+
+/* GPS 1 */
+
+#define GPIO_LPUART3_RX  (GPIO_LPUART3_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION)       /* UART3_RX_GPS1 GPIO_AD_31 */
+#define GPIO_LPUART3_TX  (GPIO_LPUART3_TX_1|IOMUX_UART_DEFAULT)                   /* UART3_TX_GPS1 GPIO_AD_30 */
+
+/* Telem 1 */
+
+#define GPIO_LPUART4_CTS (GPIO_LPUART4_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART4_CTS_TELEM1 GPIO_DISP_B1_05 */
+#define GPIO_LPUART4_RTS (GPIO_PORT4 | GPIO_PIN28 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART4_RTS_TELEM1 GPIO_DISP_B1_07  GPIO4 Pin 28  */
+#define GPIO_LPUART4_RX  (GPIO_LPUART4_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION)      /* UART4_RX_TELEM1 GPIO_DISP_B1_04 */
+#define GPIO_LPUART4_TX  (GPIO_LPUART4_TX_1|IOMUX_UART_BOARD_DEFAULT)           /* UART4_TX_TELEM1 GPIO_DISP_B1_06 */
+
+/* GPS 2 */
+
+#define GPIO_LPUART5_RX  (GPIO_LPUART5_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION)     /* UART5_RX_GPS2 GPIO_AD_29 */
+#define GPIO_LPUART5_TX  (GPIO_LPUART5_TX_1|IOMUX_UART_DEFAULT)                 /* UART5_TX_GPS2 GPIO_AD_28 */
+
+/* PX4IO */
+
+#define GPIO_LPUART6_RX  (GPIO_LPUART6_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION)     /* UART6_RX_FROM_IO__NC GPIO_EMC_B1_41 */
+#define GPIO_LPUART6_TX  (GPIO_LPUART6_TX_1|IOMUX_UART_DEFAULT)                 /* UART6_TX_TO_IO__RC_INPUT GPIO_EMC_B1_40 */
+
+/* Telem 2 */
+
+#define GPIO_LPUART8_CTS (GPIO_LPUART8_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART8_CTS_TELEM2 GPIO_AD_04 */
+#define GPIO_LPUART8_RTS (GPIO_PORT3 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART8_RTS_TELEM2 GPIO_AD_05 GPIO3 Pin 4 */
+#define GPIO_LPUART8_RX  (GPIO_LPUART8_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION)      /* UART8_RX_TELEM2 GPIO_AD_03 */
+#define GPIO_LPUART8_TX  (GPIO_LPUART8_TX_2|IOMUX_UART_BOARD_DEFAULT)            /* UART8_TX_TELEM2 GPIO_AD_02 */
+
+/* Telem 3 */
+
+#define GPIO_LPUART10_CTS (GPIO_LPUART10_CTS_1|IOMUX_UART_CTS_DEFAULT|PADMUX_SION) /* UART10_CTS_TELEM3 GPIO_AD_34 */
+#define GPIO_LPUART10_RTS (GPIO_PORT4 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* UART10_RTS_TELEM3 GPIO_AD_35 GPIO4 Pin 2 */
+#define GPIO_LPUART10_RX  (GPIO_LPUART10_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION)      /* UART10_RX_TELEM3 GPIO_AD_33 */
+#define GPIO_LPUART10_TX  (GPIO_LPUART10_TX_1|IOMUX_UART_BOARD_DEFAULT)            /* UART10_TX_TELEM3 GPIO_AD_15 */
+
+/* Ext 2 */
+
+/* No DMA Support at this time for lack of DMA1, DMAMUX1 support */
+
+#define GPIO_LPUART11_RX  (GPIO_LPUART11_RX_2|IOMUX_UART_DEFAULT|PADMUX_SION) /* UART11_RX_EXTERNAL2 GPIO_LPSR_05 */
+#define GPIO_LPUART11_TX  (GPIO_LPUART11_TX_2|IOMUX_UART_DEFAULT)             /* UART11_TX_EXTERNAL2 GPIO_LPSR_04 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ * CAN2 is routed to transceiver.
+ * CAN3 is routed to transceiver.
+ */
+
+#define FLEXCAN_IOMUX     (IOMUX_PULL_UP | IOMUX_SLEW_FAST)
+
+#define GPIO_FLEXCAN1_TX  (GPIO_FLEXCAN1_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_06 */
+#define GPIO_FLEXCAN1_RX  (GPIO_FLEXCAN1_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_07 */
+
+#define GPIO_FLEXCAN2_TX  (GPIO_FLEXCAN2_TX_1 | FLEXCAN_IOMUX) /* GPIO_AD_00 */
+#define GPIO_FLEXCAN2_RX  (GPIO_FLEXCAN2_RX_1 | FLEXCAN_IOMUX) /* GPIO_AD_01 */
+
+#define GPIO_FLEXCAN3_TX  (GPIO_FLEXCAN3_TX_1 | FLEXCAN_IOMUX) /* GPIO_LPSR_00 */
+#define GPIO_FLEXCAN3_RX  (GPIO_FLEXCAN3_RX_1 | FLEXCAN_IOMUX) /* GPIO_LPSR_01 */
+
+/* LPSPI */
+
+#define GPIO_LPSPI1_MISO  (GPIO_LPSPI1_SDI_2|IOMUX_LPSPI_DEFAULT) /* SPI1_MISO_SENSOR1 GPIO_EMC_B2_03 */
+#define GPIO_LPSPI1_MOSI  (GPIO_LPSPI1_SDO_2|IOMUX_LPSPI_DEFAULT) /* SPI1_MOSI_SENSOR1 GPIO_EMC_B2_02 */
+#define GPIO_LPSPI1_SCK   (GPIO_LPSPI1_SCK_2|IOMUX_LPSPI_DEFAULT) /* SPI1_SCK_SENSOR1 GPIO_EMC_B2_00 */
+
+#define GPIO_LPSPI2_MISO  (GPIO_LPSPI2_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI2_MISO_SENSOR2 GPIO_AD_27 */
+#define GPIO_LPSPI2_MOSI  (GPIO_LPSPI2_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI2_MOSI_SENSOR2 GPIO_AD_26 */
+#define GPIO_LPSPI2_SCK   (GPIO_LPSPI2_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI2_SCK_SENSOR2 GPIO_AD_24 */
+
+#define GPIO_LPSPI3_MISO  (GPIO_LPSPI3_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI3_MISO_SENSOR3 GPIO_EMC_B2_07 */
+#define GPIO_LPSPI3_MOSI  (GPIO_LPSPI3_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI3_MOSI_SENSOR3 GPIO_EMC_B2_06 */
+#define GPIO_LPSPI3_SCK   (GPIO_LPSPI3_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI3_SCK_SENSOR3 GPIO_EMC_B2_04 */
+
+/* SPI4 Not connected to anything */
+
+//#define GPIO_LPSPI4_MISO  (GPIO_LPSPI4_SDI_2|IOMUX_LPSPI_DEFAULT) /* SPI4_MISO_SENSOR4 GPIO_DISP_B2_13 */
+//#define GPIO_LPSPI4_MOSI  (GPIO_LPSPI4_SDO_2|IOMUX_LPSPI_DEFAULT) /* SPI4_MOSI_SENSOR4 GPIO_DISP_B2_14 */
+//#define GPIO_LPSPI4_SCK   (GPIO_LPSPI4_SCK_2|IOMUX_LPSPI_DEFAULT) /* SPI4_SCK_SENSOR4 GPIO_DISP_B2_12 */
+
+/* LPSPI6 No DMA Support at this time for lack of DMA1, DMAMUX1 support */
+
+
+#define GPIO_LPSPI6_MISO  (GPIO_LPSPI6_SDI_1|IOMUX_LPSPI_DEFAULT) /* SPI6_MISO_EXTERNAL1 GPIO_LPSR_12 */
+#define GPIO_LPSPI6_MOSI  (GPIO_LPSPI6_SDO_1|IOMUX_LPSPI_DEFAULT) /* SPI6_MOSI_EXTERNAL1 GPIO_LPSR_11 */
+#define GPIO_LPSPI6_SCK   (GPIO_LPSPI6_SCK_1|IOMUX_LPSPI_DEFAULT) /* SPI6_SCK_EXTERNAL1 GPIO_LPSR_10 */
+
+/* LPI2Cs */
+
+#define GPIO_LPI2C1_SCL_RESET  (GPIO_PORT3 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C1_SCL_GPS1 GPIO_AD_08 GPIO_GPIO3_IO07 */
+#define GPIO_LPI2C1_SDA_RESET  (GPIO_PORT3 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C1_SDA_GPS1 GPIO_AD_09 GPIO_GPIO3_IO08 */
+
+#define GPIO_LPI2C1_SCL        (GPIO_LPI2C1_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C1_SCL_GPS1 GPIO_AD_08 */
+#define GPIO_LPI2C1_SDA        (GPIO_LPI2C1_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C1_SDA_GPS1 GPIO_AD_09 */
+
+#define GPIO_LPI2C2_SCL_RESET  (GPIO_PORT3 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C2_SCL_GPS2 GPIO_AD_18 GPIO_GPIO3_IO17 */
+#define GPIO_LPI2C2_SDA_RESET  (GPIO_PORT3 | GPIO_PIN18 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C2_SDA_GPS2 GPIO_AD_19 GPIO_GPIO3_IO18 */
+
+#define GPIO_LPI2C2_SCL        (GPIO_LPI2C2_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C2_SCL_GPS2 GPIO_AD_18 */
+#define GPIO_LPI2C2_SDA        (GPIO_LPI2C2_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C2_SDA_GPS2 GPIO_AD_19 */
+
+#define GPIO_LPI2C3_SCL_RESET  (GPIO_PORT5 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C3_SCL_FMU GPIO_DISP_B2_10 GPIO_GPIO5_IO11_1 */
+#define GPIO_LPI2C3_SDA_RESET  (GPIO_PORT5 | GPIO_PIN12 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C3_SDA_FMU GPIO_DISP_B2_11 GPIO_GPIO5_IO12_1 */
+
+#define GPIO_LPI2C3_SCL        (GPIO_LPI2C3_SCL_2|IOMUX_LPI2C_DEFAULT) /* I2C3_SCL_FMU GPIO_DISP_B2_10 */
+#define GPIO_LPI2C3_SDA        (GPIO_LPI2C3_SDA_2|IOMUX_LPI2C_DEFAULT) /* I2C3_SDA_FMU GPIO_DISP_B2_11 */
+
+#define GPIO_LPI2C6_SCL_RESET  (GPIO_PORT6 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C6_SCL_EXTERNAL2 GPIO_LPSR_07 GPIO_GPIO6_IO07_1 */
+#define GPIO_LPI2C6_SDA_RESET  (GPIO_PORT6 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* I2C6_SDA_EXTERNAL2 GPIO_LPSR_06 GPIO_GPIO6_IO06_1 */
+
+/* LPI2C6 No DMA Support at this time for lack of DMA1, DMAMUX1 support */
+
+#define GPIO_LPI2C6_SCL        (GPIO_LPI2C6_SCL_1|IOMUX_LPI2C_DEFAULT) /* I2C6_SCL_EXTERNAL2 GPIO_LPSR_07 */
+#define GPIO_LPI2C6_SDA        (GPIO_LPI2C6_SDA_1|IOMUX_LPI2C_DEFAULT) /* I2C6_SDA_EXTERNAL2 GPIO_LPSR_06 */
+
+/* ETH Disambiguation *******************************************************/
+
+// This is the ENET_1G interface.
+
+#if defined(CONFIG_ETH0_PHY_TJA1103)
+#  define BOARD_PHY_ADDR (18)
+#endif
+#if defined(CONFIG_ETH0_PHY_LAN8742A)
+#  define BOARD_PHY_ADDR (0)
+#endif
+
+#define GPIO_ENET2_TX_DATA00  (GPIO_ENET_1G_TX_DATA0_1|IOMUX_ENET_DATA_DEFAULT)  /* GPIO_DISP_B1_09 */
+#define GPIO_ENET2_TX_DATA01  (GPIO_ENET_1G_TX_DATA1_1|IOMUX_ENET_DATA_DEFAULT)  /* GPIO_DISP_B1_08 */
+#define GPIO_ENET2_RX_DATA00  (GPIO_ENET_1G_RX_DATA0_2|IOMUX_ENET_DATA_DEFAULT)  /* GPIO_EMC_B2_15  */
+#define GPIO_ENET2_RX_DATA01  (GPIO_ENET_1G_RX_DATA1_2|IOMUX_ENET_DATA_DEFAULT)  /* GPIO_EMC_B2_16  */
+#define GPIO_ENET2_MDIO       (GPIO_ENET_1G_MDIO_1|IOMUX_ENET_MDIO_DEFAULT)      /* GPIO_EMC_B2_20  */
+#define GPIO_ENET2_MDC        (GPIO_ENET_1G_MDC_1|IOMUX_ENET_MDC_DEFAULT)        /* GPIO_EMC_B2_19  */
+#define GPIO_ENET2_RX_EN      (GPIO_ENET_1G_RX_EN_1|IOMUX_ENET_EN_DEFAULT)       /* GPIO_DISP_B1_00 */
+#define GPIO_ENET2_RX_ER      (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT)       /* GPIO_DISP_B1_01 */
+#define GPIO_ENET2_TX_CLK     (GPIO_ENET_1G_REF_CLK_1|IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_DISP_B1_11 */
+#define GPIO_ENET2_TX_EN      (GPIO_ENET_1G_TX_EN_1|IOMUX_ENET_EN_DEFAULT)       /* GPIO_DISP_B1_10 */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+#include <imxrt_gpio.h>
+#include <imxrt_iomuxc.h>
+// add     -I<full path> build/px4_fmu-v6xrt_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in
+#define PROBE_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1 /* GPIO_B0_06    */  (GPIO_PORT2 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_2 /* GPIO_EMC_08   */  (GPIO_PORT4 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_3 /* GPIO_EMC_10   */  (GPIO_PORT4 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_4 /* GPIO_AD_B0_09 */  (GPIO_PORT1 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_5 /* GPIO_EMC_33   */  (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_6 /* GPIO_EMC_30   */  (GPIO_PORT4 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_7 /* GPIO_EMC_04   */  (GPIO_PORT4 | GPIO_PIN4  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_8 /* GPIO_EMC_01   */  (GPIO_PORT4 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { imxrt_config_gpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { imxrt_config_gpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { imxrt_config_gpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { imxrt_config_gpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { imxrt_config_gpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \
+	} while(0)
+
+# define PROBE(n,s)  do {imxrt_gpio_write(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __NUTTX_CONFIG_PX4_FMU_V6XRT_INCLUDE_BOARD_H */

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -5,21 +5,24 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
+# CONFIG_NDEBUG is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MH is not set
+# CONFIG_NSH_DISABLE_MW is not set
+# CONFIG_SPI_CALLBACK is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmurt1062-v1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6xrt/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="imxrt"
 CONFIG_ARCH_CHIP_IMXRT=y
-CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
-CONFIG_ARCH_INTERRUPTSTACK=750
+CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_RAMVECTORS=y
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_ITCM=y
@@ -28,37 +31,39 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_BOOTLOADER_FIXUP=y
+CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_FORCE_ALIGNMENT=y
 CONFIG_BOARD_LOOPSPERMSEC=104926
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOOT_RUNFROMISRAM=y
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001d
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMURT1062 v1.x"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6XRT.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1FC9
-CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
-CONFIG_DEBUG_FULLOPT=y
+CONFIG_CDCACM_VENDORID=0x3643
+CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_ETH0_PHY_LAN8742A=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -67,9 +72,19 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_IMXRT_BOOTLOADER_HEAP=y
-CONFIG_IMXRT_DTCM_HEAP=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_DTCM=0
+CONFIG_IMXRT_EDMA=y
+CONFIG_IMXRT_EDMA_EDBG=y
+CONFIG_IMXRT_EDMA_ELINK=y
+CONFIG_IMXRT_EDMA_NTCD=64
+CONFIG_IMXRT_ENET2=y
+CONFIG_IMXRT_ENET=y
+CONFIG_IMXRT_FLEXCAN1=y
+CONFIG_IMXRT_FLEXCAN2=y
+CONFIG_IMXRT_FLEXCAN3=y
+CONFIG_IMXRT_FLEXSPI2=y
+CONFIG_IMXRT_GPIO13_IRQ=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
 CONFIG_IMXRT_GPIO1_16_31_IRQ=y
 CONFIG_IMXRT_GPIO2_0_15_IRQ=y
@@ -82,96 +97,136 @@ CONFIG_IMXRT_GPIO5_0_15_IRQ=y
 CONFIG_IMXRT_GPIO5_16_31_IRQ=y
 CONFIG_IMXRT_GPIO6_0_15_IRQ=y
 CONFIG_IMXRT_GPIO6_16_31_IRQ=y
-CONFIG_IMXRT_GPIO7_0_15_IRQ=y
-CONFIG_IMXRT_GPIO7_16_31_IRQ=y
-CONFIG_IMXRT_GPIO8_0_15_IRQ=y
-CONFIG_IMXRT_GPIO8_16_31_IRQ=y
-CONFIG_IMXRT_GPIO9_0_15_IRQ=y
-CONFIG_IMXRT_GPIO9_16_31_IRQ=y
 CONFIG_IMXRT_GPIO_IRQ=y
+CONFIG_IMXRT_INIT_FLEXRAM=y
 CONFIG_IMXRT_ITCM=0
 CONFIG_IMXRT_LPI2C1=y
 CONFIG_IMXRT_LPI2C2=y
 CONFIG_IMXRT_LPI2C3=y
+CONFIG_IMXRT_LPI2C6=y
+CONFIG_IMXRT_LPI2C_DMA=y
+CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16
 CONFIG_IMXRT_LPI2C_DYNTIMEO=y
 CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10
 CONFIG_IMXRT_LPSPI1=y
+CONFIG_IMXRT_LPSPI1_DMA=y
 CONFIG_IMXRT_LPSPI2=y
+CONFIG_IMXRT_LPSPI2_DMA=y
 CONFIG_IMXRT_LPSPI3=y
-CONFIG_IMXRT_LPSPI4=y
-CONFIG_IMXRT_LPUART2=y
+CONFIG_IMXRT_LPSPI3_DMA=y
+CONFIG_IMXRT_LPSPI6=y
+CONFIG_IMXRT_LPSPI_DMA=y
+CONFIG_IMXRT_LPUART10=y
+CONFIG_IMXRT_LPUART11=y
+CONFIG_IMXRT_LPUART1=y
 CONFIG_IMXRT_LPUART3=y
 CONFIG_IMXRT_LPUART4=y
 CONFIG_IMXRT_LPUART5=y
 CONFIG_IMXRT_LPUART6=y
-CONFIG_IMXRT_LPUART7=y
 CONFIG_IMXRT_LPUART8=y
 CONFIG_IMXRT_LPUART_INVERT=y
 CONFIG_IMXRT_LPUART_SINGLEWIRE=y
-CONFIG_IMXRT_RTC_MAGIC_REG=1
+CONFIG_IMXRT_PHY_POLLING=y
+CONFIG_IMXRT_PHY_PROVIDES_TXC=y
 CONFIG_IMXRT_SNVS_LPSRTC=y
 CONFIG_IMXRT_USBDEV=y
 CONFIG_IMXRT_USDHC1=y
 CONFIG_IMXRT_USDHC1_INVERT_CD=y
 CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
-CONFIG_LPUART2_BAUD=57600
-CONFIG_LPUART2_RXBUFSIZE=600
-CONFIG_LPUART2_TXBUFSIZE=1500
+CONFIG_LPI2C1_DMA=y
+CONFIG_LPI2C2_DMA=y
+CONFIG_LPI2C3_DMA=y
+CONFIG_LPUART10_IFLOWCONTROL=y
+CONFIG_LPUART10_OFLOWCONTROL=y
+CONFIG_LPUART10_RXBUFSIZE=600
+CONFIG_LPUART10_RXDMA=y
+CONFIG_LPUART10_TXBUFSIZE=3000
+CONFIG_LPUART10_TXDMA=y
+CONFIG_LPUART1_BAUD=57600
+CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_LPUART3_BAUD=57600
-CONFIG_LPUART3_IFLOWCONTROL=y
-CONFIG_LPUART3_OFLOWCONTROL=y
 CONFIG_LPUART3_RXBUFSIZE=600
+CONFIG_LPUART3_RXDMA=y
 CONFIG_LPUART3_TXBUFSIZE=3000
+CONFIG_LPUART3_TXDMA=y
 CONFIG_LPUART4_BAUD=57600
 CONFIG_LPUART4_IFLOWCONTROL=y
 CONFIG_LPUART4_OFLOWCONTROL=y
 CONFIG_LPUART4_RXBUFSIZE=600
-CONFIG_LPUART4_TXBUFSIZE=1500
+CONFIG_LPUART4_RXDMA=y
+CONFIG_LPUART4_TXBUFSIZE=3000
+CONFIG_LPUART4_TXDMA=y
 CONFIG_LPUART5_BAUD=57600
 CONFIG_LPUART5_RXBUFSIZE=600
+CONFIG_LPUART5_RXDMA=y
 CONFIG_LPUART5_TXBUFSIZE=1500
+CONFIG_LPUART5_TXDMA=y
 CONFIG_LPUART6_BAUD=57600
 CONFIG_LPUART6_RXBUFSIZE=600
+CONFIG_LPUART6_RXDMA=y
 CONFIG_LPUART6_TXBUFSIZE=1500
-CONFIG_LPUART7_BAUD=57600
-CONFIG_LPUART7_RXBUFSIZE=120
-CONFIG_LPUART7_SERIAL_CONSOLE=y
-CONFIG_LPUART7_TXBUFSIZE=1500
+CONFIG_LPUART6_TXDMA=y
 CONFIG_LPUART8_BAUD=57600
-CONFIG_LPUART8_RXBUFSIZE=600
-CONFIG_LPUART8_TXBUFSIZE=1500
+CONFIG_LPUART8_IFLOWCONTROL=y
+CONFIG_LPUART8_OFLOWCONTROL=y
+CONFIG_LPUART8_RXDMA=y
+CONFIG_LPUART8_TXBUFSIZE=10000
+CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_MONITOR=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_EXTID=y
+CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_BASENAME=y
-CONFIG_NSH_DISABLE_CMP=y
-CONFIG_NSH_DISABLE_DD=y
-CONFIG_NSH_DISABLE_DIRNAME=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
-CONFIG_NSH_DISABLE_LOSETUP=y
-CONFIG_NSH_DISABLE_MKFIFO=y
-CONFIG_NSH_DISABLE_MKRD=y
-CONFIG_NSH_DISABLE_PRINTF=y
-CONFIG_NSH_DISABLE_PUT=y
-CONFIG_NSH_DISABLE_REBOOT=y
-CONFIG_NSH_DISABLE_UNAME=y
-CONFIG_NSH_DISABLE_WGET=y
-CONFIG_NSH_DISABLE_XD=y
-CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -179,16 +234,15 @@ CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=1048576
-CONFIG_RAM_START=0x20200000
+CONFIG_RAM_SIZE=1835008
+CONFIG_RAM_START=0x20240000
 CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
@@ -217,7 +271,10 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CLE=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y

boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,195 @@
+/****************************************************************************
+ * boards/px4/fmu-v6xrt/nuttx-config/scripts/bootloader_script.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Specify the memory areas */
+
+ /* Reallocate
+  * Final Configuration is
+  *    No DTCM
+  *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
+  *    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
+  *    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
+  *    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
+  *    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
+  *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
+  *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
+  */
+
+MEMORY
+{
+  flash (rx)  : ORIGIN = 0x30000000, LENGTH = 128K
+  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
+  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
+  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(g_flash_config)
+EXTERN(g_image_vector_table)
+EXTERN(g_boot_data)
+EXTERN(board_get_manifest)
+EXTERN(_bootdelay_signature)
+
+ENTRY(__start)
+
+SECTIONS
+{
+    /* Image Vector Table and Boot Data for booting from external flash */
+
+    .boot_hdr : ALIGN(4)
+    {
+        FILL(0xff)
+        . = 0x400 ;
+        __boot_hdr_start__ = ABSOLUTE(.) ;
+        KEEP(*(.boot_hdr.conf))
+        . = 0x1000 ;
+        KEEP(*(.boot_hdr.ivt))
+        . = 0x1020 ;
+        KEEP(*(.boot_hdr.boot_data))
+        . = 0x1030 ;
+        KEEP(*(.boot_hdr.dcd_data))
+        __boot_hdr_end__ = ABSOLUTE(.) ;
+        . = 0x2000 ;
+    } >flash
+
+    .vectors :
+    {
+        KEEP(*(.vectors))
+        *(.text .text.__start)
+    } >flash
+
+    .itcmfunc :
+    {
+        . = ALIGN(8);
+        _sitcmfuncs = ABSOLUTE(.);
+        FILL(0xFF)
+        . = 0x40 ;
+        . = ALIGN(8);
+        _eitcmfuncs = ABSOLUTE(.);
+    } > itcm AT > flash
+
+    _fitcmfuncs = LOADADDR(.itcmfunc);
+
+    /* The RAM vector table (if present) should lie at the beginning of SRAM */
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > dtcm
+
+    .text : ALIGN(4)
+    {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        . = ALIGN(4096);
+        _etext = ABSOLUTE(.);
+        _srodata = ABSOLUTE(.);
+        *(.rodata .rodata.*)
+        . = ALIGN(4096);
+        _erodata = ABSOLUTE(.);
+    } > flash
+
+    .init_section :
+    {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > flash
+
+    .ARM.extab :
+    {
+        *(.ARM.extab*)
+    } > flash
+
+    .ARM.exidx :
+    {
+        __exidx_start = ABSOLUTE(.);
+        *(.ARM.exidx*)
+        __exidx_end = ABSOLUTE(.);
+    } > flash
+
+    _eronly = ABSOLUTE(.);
+
+    .data :
+    {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram AT > flash
+
+    .ramfunc ALIGN(4):
+    {
+        _sramfuncs = ABSOLUTE(.);
+        *(.ramfunc  .ramfunc.*)
+        _eramfuncs = ABSOLUTE(.);
+    } > sram AT > flash
+
+    _framfuncs = LOADADDR(.ramfunc);
+
+    .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) }
+
+    _boot_loadaddr = ORIGIN(flash);
+    _boot_size = LENGTH(flash);
+    _ram_size = LENGTH(sram);
+    _sdtcm = ORIGIN(dtcm);
+    _edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
+}

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -0,0 +1,830 @@
+*(.text.hrt_absolute_time)
+*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
+*(.text._ZN13MavlinkStream6updateERKy)
+*(.text._ZN7Mavlink16update_rate_multEv)
+*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
+*(.text._ZN13MavlinkStream12get_size_avgEv)
+*(.text._ZN16ControlAllocator3RunEv)
+*(.text._ZN22MulticopterRateControl3RunEv.part.0)
+*(.text._ZN7Mavlink9task_mainEiPPc)
+*(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
+*(.text.memset)
+*(.text._ZN4uORB12Subscription9subscribeEv.part.0)
+*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
+*(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
+*(.text.exception_common)
+*(.text.strcmp)
+*(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._Z12get_orb_meta6ORB_ID)
+*(.text.nxsem_wait)
+*(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
+*(.text.nxsem_post)
+*(.text._ZN3px49WorkQueue3RunEv)
+*(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
+*(.text._ZN4EKF23RunEv)
+*(.text.imxrt_lpspi_exchange)
+*(.text.imxrt_dmach_xfrsetup)
+*(.text.arm_doirq)
+*(.text._ZN7sensors10VehicleIMU7PublishEv)
+*(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
+*(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
+*(.text._ZN9ICM42688P8FIFOReadERKyh)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+*(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
+*(.text.up_block_task)
+*(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
+*(.text._ZN4uORB12Subscription10advertisedEv)
+*(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
+*(.text._ZN7sensors10VehicleIMU11UpdateAccelEv)
+*(.text.perf_set_elapsed.part.0)
+*(.text._ZN4uORB12Subscription6updateEPv)
+*(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
+*(.text.hrt_tim_isr)
+*(.text.nxsig_timedwait)
+*(.text.nxsem_foreachholder)
+*(.text._ZN7sensors10VehicleIMU3RunEv)
+*(.text.up_unblock_task)
+*(.text.__aeabi_l2f)
+*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
+*(.text.sched_unlock)
+*(.text.pthread_mutex_timedlock)
+*(.text.nxsem_restore_baseprio)
+*(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
+*(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
+*(.text._ZN6device3SPI9_transferEPhS1_j)
+*(.text._ZN15OutputPredictor21calculateOutputStatesEyRKN6matrix7Vector3IfEEfS4_f)
+*(.text._ZN7sensors18VotedSensorsUpdate7imuPollER17sensor_combined_s)
+*(.text._Z9rotate_3i8RotationRsS0_S0_)
+*(.text.fs_getfilep)
+*(.text.MEM_DataCopy0_1)
+*(.text._ZN7sensors19VehicleAcceleration3RunEv)
+*(.text.sched_note_resume)
+*(.text.uart_ioctl)
+*(.text._ZN26MulticopterPositionControl3RunEv.part.0)
+*(.text.pthread_mutex_take)
+*(.text._ZN14ImuDownSampler6updateERKN9estimator9imuSampleE)
+*(.text.irq_dispatch)
+*(.text._ZN39ControlAllocationSequentialDesaturation6mixYawEv)
+*(.text._ZN16ControlAllocator25publish_actuator_controlsEv.part.0)
+*(.text._ZN9ICM42688P7RunImplEv)
+*(.text._ZN4uORB12Subscription9subscribeEv)
+*(.text.param_get)
+*(.text._do_memcpy)
+*(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
+*(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
+*(.text.wd_start)
+*(.text.sq_rem)
+*(.text.nxsem_add_holder_tcb)
+*(.text.imxrt_dmaterminate)
+*(.text.hrt_call_enter)
+*(.text._ZN4EKF220PublishLocalPositionERKy)
+*(.text._mav_finalize_message_chan_send)
+*(.text.nxsched_add_blocked)
+*(.text.arm_switchcontext)
+*(.text._ZN3Ekf19fixCovarianceErrorsEb)
+*(.text.nxsched_add_prioritized)
+*(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
+*(.text.ioctl)
+*(.text._ZN6events12SendProtocol6updateERKy)
+*(.text.imxrt_dmach_interrupt)
+*(.text.sched_lock)
+*(.text._ZN6device3SPI8transferEPhS1_j)
+*(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
+*(.text.hrt_call_internal)
+*(.text.arm_svcall)
+*(.text._ZN39ControlAllocationSequentialDesaturation18mixAirmodeDisabledEv)
+*(.text._ZN7Mavlink15get_free_tx_bufEv)
+*(.text.nx_poll)
+*(.text.sched_note_suspend)
+*(.text._ZN15MavlinkReceiver3runEv)
+*(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
+*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
+*(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
+*(.text._ZN3px46logger6Logger3runEv)
+*(.text.nxsem_freecount0holder)
+*(.text._ZN4uORB20SubscriptionInterval7updatedEv)
+*(.text._ZN24MavlinkStreamCommandLong4sendEv)
+*(.text._ZN9Commander3runEv)
+*(.text.nxsem_release_holder)
+*(.text._ZN3Ekf17predictCovarianceERKN9estimator9imuSampleE)
+*(.text.wd_cancel)
+*(.text._ZN7Sensors3RunEv)
+*(.text.perf_end)
+*(.text._ZN4uORB12Subscription7updatedEv)
+*(.text._ZN13land_detector12LandDetector3RunEv)
+*(.text.sched_idletask)
+*(.text.atanf)
+*(.text.uart_write)
+*(.text.pthread_mutex_unlock)
+*(.text.__ieee754_asinf)
+*(.text.MEM_DataCopy0_2)
+*(.text._ZN20MavlinkCommandSender13check_timeoutE17mavlink_channel_t)
+*(.text._ZN16ControlAllocator32publish_control_allocator_statusEi)
+*(.text.__ieee754_atan2f)
+*(.text._ZNK18DynamicSparseLayer3getEt)
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boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld

@@ -0,0 +1,197 @@
+/****************************************************************************
+ * boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Specify the memory areas */
+
+ /* Reallocate
+  * Final Configuration is
+  *    No DTCM
+  *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
+  *    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
+  *    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
+  *    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
+  *    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
+  *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
+  *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
+  */
+
+MEMORY
+{
+  flash (rx)  : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */
+  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
+  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
+  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(g_flash_config)
+EXTERN(g_image_vector_table)
+EXTERN(g_boot_data)
+EXTERN(board_get_manifest)
+EXTERN(_bootdelay_signature)
+EXTERN(imxrt_flexspi_initialize)
+
+ENTRY(__start)
+
+SECTIONS
+{
+    /* Image Vector Table and Boot Data for booting from external flash */
+
+    .boot_hdr : ALIGN(4)
+    {
+        FILL(0xff)
+        . = 0x400 ;
+        __boot_hdr_start__ = ABSOLUTE(.) ;
+        KEEP(*(.boot_hdr.conf))
+        . = 0x1000 ;
+        KEEP(*(.boot_hdr.ivt))
+        . = 0x1020 ;
+        KEEP(*(.boot_hdr.boot_data))
+        . = 0x1030 ;
+        KEEP(*(.boot_hdr.dcd_data))
+        __boot_hdr_end__ = ABSOLUTE(.) ;
+        . = 0x2000 ;
+    } >flash
+
+    .vectors :
+    {
+        KEEP(*(.vectors))
+        *(.text .text.__start)
+    } >flash
+
+    .itcmfunc :
+    {
+        . = ALIGN(8);
+        _sitcmfuncs = ABSOLUTE(.);
+        FILL(0xFF)
+        . = 0x40 ;
+        INCLUDE "itcm_functions_includes.ld"
+        . = ALIGN(8);
+        _eitcmfuncs = ABSOLUTE(.);
+    } > itcm AT > flash
+
+    _fitcmfuncs = LOADADDR(.itcmfunc);
+
+    /* The RAM vector table (if present) should lie at the beginning of SRAM */
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > dtcm
+
+    .text : ALIGN(4)
+    {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        . = ALIGN(4096);
+        _etext = ABSOLUTE(.);
+        _srodata = ABSOLUTE(.);
+        *(.rodata .rodata.*)
+        . = ALIGN(4096);
+        _erodata = ABSOLUTE(.);
+    } > flash
+
+    .init_section :
+    {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > flash
+
+    .ARM.extab :
+    {
+        *(.ARM.extab*)
+    } > flash
+
+    .ARM.exidx :
+    {
+        __exidx_start = ABSOLUTE(.);
+        *(.ARM.exidx*)
+        __exidx_end = ABSOLUTE(.);
+    } > flash
+
+    _eronly = ABSOLUTE(.);
+
+    .data :
+    {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram AT > flash
+
+    .ramfunc ALIGN(4):
+    {
+        _sramfuncs = ABSOLUTE(.);
+        *(.ramfunc  .ramfunc.*)
+        _eramfuncs = ABSOLUTE(.);
+    } > sram AT > flash
+
+    _framfuncs = LOADADDR(.ramfunc);
+
+    .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) }
+
+    _boot_loadaddr = ORIGIN(flash);
+    _boot_size = LENGTH(flash);
+    _ram_size = LENGTH(sram);
+    _sdtcm = ORIGIN(dtcm);
+    _edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
+}

boards/px4/fmu-v6xrt/src/CMakeLists.txt

@@ -0,0 +1,92 @@
+############################################################################
+#
+#   Copyright (c) 2016, 2019, 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		imxrt_romapi.c
+		imxrt_flexspi_nor_boot.c
+		imxrt_flexspi_nor_flash.c
+		imxrt_clockconfig.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	if(CONFIG_IMXRT1170_FLEXSPI_FRAM)
+	    list(APPEND SRCS
+			imxrt_flexspi_fram.c
+	    )
+	endif()
+
+	px4_add_library(drivers_board
+		autoleds.c
+		automount.c
+		#can.c
+		i2c.cpp
+		init.c
+		led.c
+		manifest.c
+		mtd.cpp
+		sdhc.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+		imxrt_romapi.c
+		imxrt_flexspi_fram.c
+		imxrt_flexspi_nor_boot.c
+		imxrt_flexspi_nor_flash.c
+		imxrt_clockconfig.c
+		${SRCS}
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_board_hw_info
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()

boards/px4/fmu-v6xrt/src/autoleds.c

@@ -46,21 +46,21 @@
  *   BLUE   CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
  *
  * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
- * the NXP fmurt1062-v1.  The following definitions describe how NuttX controls
+ * the PX4 fmu-v6xrt.  The following definitions describe how NuttX controls
  * the LEDs:
  *
- *   SYMBOL                Meaning                 LED state
- *                                                 RED   GREEN  BLUE
- *   -------------------  -----------------------  -----------------
- *   LED_STARTED          NuttX has been started    OFF  OFF  OFF
- *   LED_HEAPALLOCATE     Heap has been allocated   OFF  OFF  ON
- *   LED_IRQSENABLED      Interrupts enabled        OFF  OFF  ON
- *   LED_STACKCREATED     Idle stack created        OFF  ON   OFF
- *   LED_INIRQ            In an interrupt          (no change)
- *   LED_SIGNAL           In a signal handler      (no change)
- *   LED_ASSERTION        An assertion failed      (no change)
- *   LED_PANIC            The system has crashed    FLASH OFF OFF
- *   LED_IDLE             K66 is in sleep mode     (Optional, not used)
+ *   SYMBOL                Meaning                   LED state
+ *                                                   RED   GREEN  BLUE
+ *   -------------------  -----------------------    -----------------
+ *   LED_STARTED          NuttX has been started      OFF  OFF  OFF
+ *   LED_HEAPALLOCATE     Heap has been allocated     OFF  OFF  ON
+ *   LED_IRQSENABLED      Interrupts enabled          OFF  OFF  ON
+ *   LED_STACKCREATED     Idle stack created          OFF  ON   OFF
+ *   LED_INIRQ            In an interrupt            (no change)
+ *   LED_SIGNAL           In a signal handler        (no change)
+ *   LED_ASSERTION        An assertion failed        (no change)
+ *   LED_PANIC            The system has crashed      FLASH OFF OFF
+ *   LED_IDLE             fmu-v6xrt is in sleep mode (Optional, not used)
  */
 
 /****************************************************************************

boards/px4/fmu-v6xrt/src/board_config.h

@@ -0,0 +1,663 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2019 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
+ *
+ * PX4 fmu-v6xrt internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include "imxrt_gpio.h"
+#include "imxrt_iomuxc.h"
+#include "hardware/imxrt_pinmux.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+
+/* PX4IO connection configuration */
+// This requires serial DMA driver
+#define BOARD_USES_PX4IO_VERSION       2
+#define PX4IO_SERIAL_DEVICE            "/dev/ttyS4"
+#define PX4IO_SERIAL_TX_GPIO           GPIO_LPUART6_TX
+#define PX4IO_SERIAL_RX_GPIO           GPIO_LPUART6_RX
+#define PX4IO_SERIAL_BASE              IMXRT_LPUART6_BASE
+#define PX4IO_SERIAL_VECTOR            IMXRT_IRQ_LPUART6
+#define PX4IO_SERIAL_TX_DMAMAP         IMXRT_DMACHAN_LPUART6_TX
+#define PX4IO_SERIAL_RX_DMAMAP         IMXRT_DMACHAN_LPUART6_RX
+#define PX4IO_SERIAL_CLOCK_OFF         imxrt_clockoff_lpuart6
+#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
+
+/* Configuration ************************************************************************************/
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_LTC44XX_VALIDS      2 //  N Bricks
+#define BOARD_HAS_USB_VALID           1 // LTC Has USB valid
+#define BOARD_HAS_NBAT_V              2d // 2 Digital Voltage
+#define BOARD_HAS_NBAT_I              2d // 2 Digital Current
+
+
+/* FMU-V6XRT GPIOs ***********************************************************************************/
+/* LEDs */
+/* An RGB LED is connected through GPIO as shown below:
+ */
+
+#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE)
+#define GPIO_nLED_RED   /* GPIO_DISP_B2_00 GPIO5_IO01 */ (GPIO_PORT5 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
+#define GPIO_nLED_GREEN /* GPIO_DISP_B2_01 GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
+#define GPIO_nLED_BLUE  /* GPIO_EMC_B1_13  GPIO1_IO13 */ (GPIO_PORT1 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
+#define BOARD_OVERLOAD_LED              LED_RED
+#define BOARD_ARMED_STATE_LED           LED_BLUE
+
+/* I2C busses */
+
+/* Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
+#define PX4_I2C_OBDEV_SE050         0x48
+
+
+/*
+ * From the radion souce code
+ * // Serial flow control
+ * #define SERIAL_RTS PIN_ENABLE  // always an input
+ * #define SERIAL_CTS PIN_CONFIG  // input in bootloader, output in app
+ *
+ * RTS is an out from FMU
+ * CTS is in input to the FMU but the booloader on the radion will treat it as an input, and the
+ * radion APP as output.
+ *
+ * To ensure radios do not go into bootloader mode because our CTS is configured with Pull downs
+ * We init with pull ups, then enable power, then initalize the CTS will pull downs
+ */
+
+#define GPIO_LPUART4_CTS_INIT     PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART4_CTS, IOMUX_PULL_UP)
+#define GPIO_LPUART8_CTS_INIT     PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART8_CTS, IOMUX_PULL_UP)
+#define GPIO_LPUART10_CTS_INIT    PX4_MAKE_GPIO_PULLED_INPUT(GPIO_LPUART10_CTS,IOMUX_PULL_UP)
+
+/*
+ *  Define the ability to shut off off the sensor signals
+ *  by changing the signals to inputs
+ */
+
+#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN))
+
+/*  Define the Chip Selects, Data Ready and Control signals per SPI bus */
+
+#define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST)
+#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST)
+
+
+/* SPI1 off */
+
+#define _GPIO_LPSPI1_SCK   /* GPIO_EMC_B2_00  GPIO2_IO10 */  (GPIO_PORT2 | GPIO_PIN10 | CS_IOMUX)
+#define _GPIO_LPSPI1_MISO  /* GPIO_EMC_B2_03  GPIO2_IO13 */  (GPIO_PORT2 | GPIO_PIN13 | CS_IOMUX)
+#define _GPIO_LPSPI1_MOSI  /* GPIO_EMC_B2_02  GPIO2_IO12 */  (GPIO_PORT2 | GPIO_PIN12 | CS_IOMUX)
+
+#define GPIO_SPI1_SCK_OFF   _PIN_OFF(_GPIO_LPSPI1_SCK)
+#define GPIO_SPI1_MISO_OFF  _PIN_OFF(_GPIO_LPSPI1_MISO)
+#define GPIO_SPI1_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI1_MOSI)
+
+/* SPI2 off */
+
+#define _GPIO_LPSPI2_SCK   /* GPIO_AD_24  GPIO3_IO23 */  (GPIO_PORT3 | GPIO_PIN23 | CS_IOMUX)
+#define _GPIO_LPSPI2_MISO  /* GPIO_AD_27  GPIO3_IO26 */  (GPIO_PORT3 | GPIO_PIN26 | CS_IOMUX)
+#define _GPIO_LPSPI2_MOSI  /* GPIO_AD_26  GPIO3_IO25 */  (GPIO_PORT3 | GPIO_PIN25 | CS_IOMUX)
+
+#define GPIO_SPI2_SCK_OFF   _PIN_OFF(_GPIO_LPSPI2_SCK)
+#define GPIO_SPI2_MISO_OFF  _PIN_OFF(_GPIO_LPSPI2_MISO)
+#define GPIO_SPI2_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI2_MOSI)
+
+/* SPI3 off */
+
+#define _GPIO_LPSPI3_SCK   /* GPIO_EMC_B2_04 GPIO2_IO14 */  (GPIO_PORT2 | GPIO_PIN14 | CS_IOMUX)
+#define _GPIO_LPSPI3_MISO  /* GPIO_EMC_B2_07 GPIO2_IO17 */  (GPIO_PORT2 | GPIO_PIN17 | CS_IOMUX)
+#define _GPIO_LPSPI3_MOSI  /* GPIO_EMC_B2_06 GPIO2_IO16 */  (GPIO_PORT2 | GPIO_PIN16 | CS_IOMUX)
+
+#define GPIO_SPI3_SCK_OFF   _PIN_OFF(_GPIO_LPSPI3_SCK)
+#define GPIO_SPI3_MISO_OFF  _PIN_OFF(_GPIO_LPSPI3_MISO)
+#define GPIO_SPI3_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI3_MOSI)
+
+/* SPI4 off */
+
+#define _GPIO_LPSPI4_SCK   /* GPIO_DISP_B2_12 GPIO5_IO13 */  (GPIO_PORT5 | GPIO_PIN13 | CS_IOMUX)
+#define _GPIO_LPSPI4_MISO  /* GPIO_DISP_B2_13 GPIO5_IO14 */  (GPIO_PORT5 | GPIO_PIN14 | CS_IOMUX)
+#define _GPIO_LPSPI4_MOSI  /* GPIO_DISP_B2_14 GPIO5_IO15 */  (GPIO_PORT5 | GPIO_PIN15 | CS_IOMUX)
+
+#define GPIO_SPI4_SCK_OFF   _PIN_OFF(_GPIO_LPSPI4_SCK)
+#define GPIO_SPI4_MISO_OFF  _PIN_OFF(_GPIO_LPSPI4_MISO)
+#define GPIO_SPI4_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI4_MOSI)
+
+/* SPI6 off */
+
+#define _GPIO_LPSPI6_SCK   /* GPIO_LPSR_10 GPIO6_IO10 */  (GPIO_PORT6 | GPIO_PIN10 | CS_IOMUX)
+#define _GPIO_LPSPI6_MISO  /* GPIO_LPSR_12 GPIO6_IO12 */  (GPIO_PORT6 | GPIO_PIN12 | CS_IOMUX)
+#define _GPIO_LPSPI6_MOSI  /* GPIO_LPSR_11 GPIO6_IO11 */  (GPIO_PORT6 | GPIO_PIN11 | CS_IOMUX)
+
+#define GPIO_SPI6_SCK_OFF   _PIN_OFF(_GPIO_LPSPI6_SCK)
+#define GPIO_SPI6_MISO_OFF  _PIN_OFF(_GPIO_LPSPI6_MISO)
+#define GPIO_SPI6_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI6_MOSI)
+
+
+/*  Define the SPI Data Ready and Control signals */
+#define DRDY_IOMUX (IOMUX_PULL_UP)
+
+
+/*  SPI1 */
+
+#define GPIO_SPI1_DRDY1_SENSOR1   /* GPIO_AD_20      GPIO3_IO19 */ (GPIO_PORT3 | GPIO_PIN19  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI2_DRDY1_SENSOR2   /* GPIO_EMC_B1_39  GPIO2_IO07 */ (GPIO_PORT2 | GPIO_PIN07  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI3_DRDY1_SENSOR3   /* GPIO_AD_21      GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI3_DRDY2_SENSOR3   /* GPIO_EMC_B2_09  GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI4_DRDY1_SENSOR4   /* GPIO_EMC_B1_16  GPIO1_IO16 */ (GPIO_PORT1 | GPIO_PIN16  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI6_DRDY1_EXTERNAL1 /* GPIO_EMC_B1_05  GPIO1_IO05 */ (GPIO_PORT1 | GPIO_PIN05  | GPIO_INPUT  | DRDY_IOMUX)
+#define GPIO_SPI6_DRDY2_EXTERNAL1 /* GPIO_EMC_B1_07  GPIO1_IO07 */ (GPIO_PORT1 | GPIO_PIN07  | GPIO_INPUT  | DRDY_IOMUX)
+
+
+#define GPIO_SPI6_nRESET_EXTERNAL1  /* GPIO_EMC_B1_11 GPIO1_IO11 */ (GPIO_PORT1 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
+#define GPIO_SPIX_SYNC              /* GPIO_EMC_B1_18 GPIO1_IO18 */ (GPIO_PORT1 | GPIO_PIN18  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
+
+#define GPIO_DRDY_OFF_SPI6_DRDY2_EXTERNAL1   _PIN_OFF(GPIO_SPI6_DRDY2_EXTERNAL1)
+#define GPIO_SPI6_nRESET_EXTERNAL1_OFF       _PIN_OFF(GPIO_SPI6_nRESET_EXTERNAL1)
+#define GPIO_SPIX_SYNC_OFF                   _PIN_OFF(GPIO_SPIX_SYNC)
+
+#define ADC_IOMUX (IOMUX_PULL_NONE)
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because we are only use ADC2 for REV/VER. */
+#define ADC2_CH(n)                  (n)
+
+#define ADC_GPIO(n, p)             (GPIO_PORT3 | GPIO_PIN##p | GPIO_INPUT | ADC_IOMUX) //
+
+/* Define GPIO pins used as ADC
+ * ADC1 has 12 inputs 0-5A and 0-5B
+ *   We represent this as:
+ *   0      ADC1 CH0A
+ *   1      ADC1 CH0B
+ *   ...
+ *   10     ADC1 CH5A
+ *   11     ADC1 CH5B
+ *
+ * ADC2 has 14 inputs 0-6A and 0-6B
+ *
+ *   0      ADC2 CH0A
+ *   1      ADC2 CH0B
+ *   ...
+ *   12     ADC2 CH6A
+ *   13     ADC2 CH6B
+ *
+ *
+ *
+ *  */
+
+#define PX4_ADC_GPIO  \
+	/* SCALED_VDD_3V3_SENSORS1 GPIO_AD_10 GPIO3 Pin 9  ADC1_CH2A */  ADC_GPIO(4,  9),  \
+	/* SCALED_VDD_3V3_SENSORS2 GPIO_AD_11 GPIO3 Pin 10 ADC1_CH2B */  ADC_GPIO(5,  10), \
+	/* SCALED_VDD_3V3_SENSORS3 GPIO_AD_12 GPIO3 Pin 11 ADC1_CH3A */  ADC_GPIO(6,  11), \
+	/* SCALED_V5               GPIO_AD_13 GPIO3 Pin 12 ADC1_CH3B */  ADC_GPIO(7,  12), \
+	/* ADC_6V6                 GPIO_AD_14 GPIO3 Pin 13 ADC1_CH4A */  ADC_GPIO(8,  13), \
+	/* ADC_3V3                 GPIO_AD_16 GPIO3 Pin 15 ADC1_CH5A */  ADC_GPIO(10, 15), \
+	/* SCALED_VDD_3V3_SENSORS4 GPIO_AD_17 GPIO3 Pin 16 ADC1_CH5B */  ADC_GPIO(11, 16),  \
+	/* HW_VER_SENSE            GPIO_AD_22 GPIO3 Pin 21 ADC2_CH2A */  ADC_GPIO(4,  21), \
+	/* HW_REV_SENSE            GPIO_AD_23 GPIO3 Pin 22 ADC2_CH2B */  ADC_GPIO(5,  22)
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* GPIO_AD_10 GPIO3 Pin 9  ADC1_CH2A */  ADC1_CH(4)
+#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* GPIO_AD_11 GPIO3 Pin 10 ADC1_CH2B */  ADC1_CH(5)
+#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL /* GPIO_AD_12 GPIO3 Pin 11 ADC1_CH3A */  ADC1_CH(6)
+#define ADC_SCALED_V5_CHANNEL               /* GPIO_AD_13 GPIO3 Pin 12 ADC1_CH3B */  ADC1_CH(7)
+#define ADC_ADC_6V6_CHANNEL                 /* GPIO_AD_14 GPIO3 Pin 13 ADC1_CH4A */  ADC1_CH(8)
+#define ADC_ADC_3V3_CHANNEL                 /* GPIO_AD_16 GPIO3 Pin 15 ADC1_CH5A */  ADC1_CH(10)
+#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL /* GPIO_AD_17 GPIO3 Pin 16 ADC1_CH5B */  ADC1_CH(11)
+#define ADC_HW_VER_SENSE_CHANNEL            /* GPIO_AD_22 GPIO3 Pin 21 ADC2_CH2A */  ADC2_CH(4)
+#define ADC_HW_REV_SENSE_CHANNEL            /* GPIO_AD_23 GPIO3 Pin 22 ADC2_CH2B */  ADC2_CH(5)
+
+#define ADC_CHANNELS \
+	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL)  | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL)  | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL)  | \
+	 (1 << ADC_SCALED_V5_CHANNEL)                | \
+	 (1 << ADC_ADC_6V6_CHANNEL)                  | \
+	 (1 << ADC_ADC_3V3_CHANNEL)                  | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL))
+
+// The ADC is used in SCALED mode.
+// The V that is converted to a DN is 30/64 of Vin of the pin.
+// The DN is therfore 30/64 of the real voltage
+
+#define BOARD_ADC_POS_REF_V (1.825f * 64.0f / 30.0f)
+
+#define HW_REV_VER_ADC_BASE IMXRT_LPADC2_BASE
+#define SYSTEM_ADC_BASE     IMXRT_LPADC1_BASE
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+
+#define BOARD_HAS_HW_VERSIONING
+
+#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
+
+#define GPIO_HW_VER_REV_DRIVE /* GPIO_GPIO_EMC_B1_26 GPIO1_IO26   */  (GPIO_PORT1 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
+#define GPIO_HW_REV_SENSE     /* GPIO_AD_22 GPIO9 Pin 21 */  ADC_GPIO(4, 21)
+#define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
+#define HW_INFO_INIT_PREFIX   "V6XRT"
+#define V6XRT_00             HW_VER_REV(0x0,0x0) // First Release
+
+#define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
+
+/* HEATER
+ * PWM in future
+ */
+#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
+//#define GPIO_HEATER_OUTPUT   /* GPIO_EMC_B2_17 QTIMER3 TIMER0 GPIO2_IO27 */ (GPIO_QTIMER3_TIMER0_3 | HEATER_IOMUX)
+#define GPIO_HEATER_OUTPUT     /* GPIO_EMC_B2_17 GPIO2_IO27 */ (GPIO_PORT2 | GPIO_PIN27 | GPIO_OUTPUT | HEATER_IOMUX)
+#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
+/* nARMED GPIO1_IO17
+ *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
+ *  While armed it shall be configured at a GPIO OUT set LOW
+ */
+#define nARMED_INPUT_IOMUX  (IOMUX_PULL_UP)
+#define nARMED_OUTPUT_IOMUX (IOMUX_PULL_KEEP | IOMUX_SLEW_FAST)
+
+#define GPIO_nARMED_INIT     /* GPIO1_IO17 */ (GPIO_PORT1 | GPIO_PIN17 | GPIO_INPUT | nARMED_INPUT_IOMUX)
+#define GPIO_nARMED          /* GPIO1_IO17 */ (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
+
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+
+/* PWM Capture
+ *
+ * 2  PWM Capture inputs are supported
+ */
+#define DIRECT_PWM_CAPTURE_CHANNELS  1
+#define CAP_IOMUX (IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
+#define GPIO_FMU_CAP1 /* GPIO_EMC_B1_20 TMR4_TIMER0 */  (GPIO_QTIMER4_TIMER0_1 | CAP_IOMUX)
+
+/* PWM
+ */
+
+#define DIRECT_PWM_OUTPUT_CHANNELS  12
+#define BOARD_NUM_IO_TIMERS         12
+
+// Input Capture not supported on MVP
+
+#define BOARD_HAS_NO_CAPTURE
+
+/* Power supply control and monitoring GPIOs */
+
+#define GENERAL_INPUT_IOMUX  (IOMUX_PULL_UP)
+#define GENERAL_OUTPUT_IOMUX (IOMUX_PULL_KEEP | IOMUX_SLEW_FAST)
+
+#define GPIO_nPOWER_IN_A                /* GPIO_EMC_B1_28  GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
+#define GPIO_nPOWER_IN_B                /* GPIO_EMC_B1_30  GPIO1_IO30 */ (GPIO_PORT1 | GPIO_PIN30 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
+#define GPIO_nPOWER_IN_C                /* GPIO_EMC_B1_32  GPIO2_IO00 */ (GPIO_PORT2 | GPIO_PIN0  | GPIO_INPUT | GENERAL_INPUT_IOMUX)
+
+
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
+#define BOARD_NUMBER_BRICKS             2
+#define BOARD_NUMBER_DIGITAL_BRICKS     2
+#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
+
+#define OC_INPUT_IOMUX  (IOMUX_PULL_NONE)
+
+#define GPIO_VDD_5V_PERIPH_nEN          /* GPIO_EMC_B1_34 GPIO2_IO02 */ (GPIO_PORT2 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_5V_PERIPH_nOC          /* GPIO_EMC_B1_15 GPIO1_IO15 */ (GPIO_PORT1 | GPIO_PIN15 | GPIO_INPUT  | OC_INPUT_IOMUX)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* GPIO_EMC_B1_37 GPIO2_IO05 */ (GPIO_PORT2 | GPIO_PIN5  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* GPIO_EMC_B1_12 GPIO1_IO12 */ (GPIO_PORT1 | GPIO_PIN12 | GPIO_INPUT  | OC_INPUT_IOMUX)
+#define GPIO_VDD_3V3_SENSORS1_EN        /* GPIO_EMC_B1_33 GPIO2_IO01 */ (GPIO_PORT2 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_3V3_SENSORS2_EN        /* GPIO_EMC_B1_22 GPIO1_IO22 */ (GPIO_PORT1 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_3V3_SENSORS3_EN        /* GPIO_EMC_B1_14 GPIO1_IO14 */ (GPIO_PORT1 | GPIO_PIN14 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* GPIO_EMC_B1_36 GPIO2_IO04 */ (GPIO_PORT2 | GPIO_PIN4  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+
+#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* GPIO_EMC_B1_38 GPIO2_IO06 */ (GPIO_PORT2 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+#define GPIO_VDD_3V3_SD_CARD_EN         /* GPIO_EMC_B1_01 GPIO1_IO1  */ (GPIO_PORT1 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX)
+
+/* ETHERNET GPIO */
+
+#define GPIO_ETH_POWER_EN              /* GPIO_DISP_B2_08 GPIO5_IO09 */ (GPIO_PORT5 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+
+#define GPIO_ETH_PHY_nINT              /* GPIO_DISP_B2_09 GPIO5_IO10 */ (GPIO_PORT5 | GPIO_PIN10  | GPIO_INPUT |  GENERAL_INPUT_IOMUX)
+
+#define GPIO_ENET2_RX_ER_CONFIG1       /* GPIO_DISP_B1_01 GPIO4_IO22 PHYAD18        Open */  (GPIO_PORT4 | GPIO_PIN22 | GPIO_INPUT | OC_INPUT_IOMUX | IOMUX_PULL_NONE)
+#define GPIO_ENET2_RX_DATA01_CONFIG4   /* GPIO_EMC_B2_16  GPIO2_IO26 (RMII-Rev)     Low  */  (GPIO_PORT2 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+#define GPIO_ENET2_RX_DATA00_CONFIG5   /* GPIO_EMC_B2_15  GPIO2_IO25 SLAVE:Auto     Open */  (GPIO_PORT2 | GPIO_PIN25 | GPIO_INPUT  | OC_INPUT_IOMUX | IOMUX_PULL_NONE)
+#define GPIO_ENET2_CRS_DV_CONFIG6      /* GPIO_DISP_B1_00 GPIO4_IO21 SLAVE:POl Corr Low  */  (GPIO_PORT4 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+
+
+/* NFC GPIO */
+
+#define GPIO_NFC_GPIO                  /* GPIO_EMC_B1_04 GPIO1_IO04 */ (GPIO_PORT1 | GPIO_PIN4  | GPIO_INPUT |  GENERAL_INPUT_IOMUX)
+
+#define GPIO_GPIO_EMC_B2_12           /* GPIO_EMC_B2_12 AKA PD15, PH11 */  (GPIO_PORT2 | GPIO_PIN22 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
+
+
+/* 10/100 Mbps Ethernet & Gigabit Ethernet */
+
+/* 10/100 Mbps Ethernet Interrupt: GPIO_AD_12
+ * Gigabit Ethernet Interrupt: GPIO_DISP_B2_12
+ *
+ * This pin has a week pull-up within the PHY, is open-drain, and requires
+ * an external 1k ohm pull-up resistor (present on the EVK).  A falling
+ * edge then indicates a change in state of the PHY.
+ */
+
+#define GPIO_ENET_INT  (IOMUX_ENET_INT_DEFAULT | GPIO_OUTPUT | GPIO_PORT3 | GPIO_PIN11)  /* GPIO_AD_12 */
+#define GPIO_ENET_IRQ  IMXRT_IRQ_GPIO3_0_15
+
+#define GPIO_ENET1G_INT (IOMUX_ENET_INT_DEFAULT | GPIO_PORT5 | GPIO_PIN13)  /* GPIO_DISP_B2_12 */
+#define GPIO_ENET1G_IRQ IMXRT_IRQ_GPIO5_13
+
+/* 10/100 Mbps Ethernet Reset:  GPIO_LPSR_12
+ * Gigabit Ethernet Reset: GPIO_DISP_B2_13
+ *
+ * The #RST uses inverted logic.  The initial value of zero will put the
+ * PHY into the reset state.
+ */
+
+#define GPIO_ENET_RST   (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GPIO_PORT6 | GPIO_PIN12 | IOMUX_ENET_RST_DEFAULT)  /* GPIO_LPSR_12 */
+
+#define GPIO_ENET1G_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GPIO_PORT5 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT)  /* GPIO_DISP_B2_13 */
+
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+#define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        3  /* GPT 3 */
+#define TONE_ALARM_CHANNEL      2  /* GPIO_EMC_B2_09 GPT3_COMPARE2 */
+
+#define GPIO_BUZZER_1           /* GPIO_EMC_B2_09  GPIO2_IO19  */ (GPIO_PORT2 | GPIO_PIN19  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         (GPIO_GPT3_COMPARE2_1 | GENERAL_OUTPUT_IOMUX)
+
+/* USB OTG FS
+ *
+ * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
+ */
+
+/* High-resolution timer */
+#define HRT_TIMER               5  /* use GPT5 for the HRT */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 1 */
+
+#define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
+#define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)
+
+#define RC_SERIAL_PORT          "/dev/ttyS4"
+#define RC_SERIAL_SINGLEWIRE
+
+/* FLEXSPI4 */
+
+#define GPIO_FLEXSPI2_CS      (GPIO_FLEXSPI2_A_SS0_B_1|IOMUX_FLEXSPI_DEFAULT)
+#define GPIO_FLEXSPI2_IO0     (GPIO_FLEXSPI2_A_DATA0_1|IOMUX_FLEXSPI_DEFAULT) /* SOUT */
+#define GPIO_FLEXSPI2_IO1     (GPIO_FLEXSPI2_A_DATA1_1|IOMUX_FLEXSPI_DEFAULT) /* SIN */
+#define GPIO_FLEXSPI2_SCK     (GPIO_FLEXSPI2_A_SCLK_1|IOMUX_FLEXSPI_CLK_DEFAULT)
+
+/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_B1_08 GPIO1_IO8 FLEXPWM2_PWM1_A */
+
+#define PWMIN_TIMER            /* FLEXPWM2_PWM1_A */  2
+#define PWMIN_TIMER_CHANNEL    /* FLEXPWM2_PWM1_A */  1
+#define GPIO_PWM_IN            /* GPIO_EMC_B1_08 GPIO1_IO8 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX)
+
+/* Safety Switch is HW version dependent on having an PX4IO
+ * So we init to a benign state with the _INIT definition
+ * and provide the the non _INIT one for the driver to make a run time
+ * decision to use it.
+ */
+#define SAFETY_INIT_IOMUX (IOMUX_PULL_NONE )
+#define SAFETY_IOMUX      ( IOMUX_PULL_NONE | IOMUX_SLEW_SLOW)
+#define SAFETY_SW_IOMUX   ( IOMUX_PULL_UP )
+
+#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* GPIO_EMC_B1_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_INPUT  | SAFETY_INIT_IOMUX)
+#define GPIO_nSAFETY_SWITCH_LED_OUT        /* GPIO_EMC_B1_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX)
+
+/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
+#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
+#define GPIO_SAFETY_SWITCH_IN              /* GPIO_EMC_B1_24 GPIO1_IO24 */ (GPIO_PORT1 | GPIO_PIN24 | GPIO_INPUT | SAFETY_SW_IOMUX)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
+#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
+
+
+/* Power switch controls ******************************************************/
+
+#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
+/*
+ * FMU-V6RT has a separate RC_IN and PPM
+ *
+ * GPIO PPM_IN on GPIO_EMC_B1_09 GPIO1 Pin 9 GPT5_CAPTURE1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on TX UART6_TX_TO_IO__RC_INPUT GPIO_EMC_B1_40 GPIO2 Pin 8
+ *   Inversion is possible in the UART and can drive GPIO PPM_IN as an output
+ */
+
+#define GPIO_UART_AS_OUT             /* GPIO_EMC_B1_40 GPIO2_IO8 */ (GPIO_PORT2 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_UART_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()          px4_arch_configgpio(GPIO_LPUART6_TX_1)
+#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_UART_AS_OUT, (_one_true))
+
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+
+#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
+
+/* FMUv5 never powers odd the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C1_SCL_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C1_SDA_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C2_SCL_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C2_SDA_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C3_SCL_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C3_SDA_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C6_SCL_RESET), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_LPI2C6_SDA_RESET), \
+		GPIO_LPUART4_CTS_INIT ,           \
+		GPIO_LPUART8_CTS_INIT ,           \
+		GPIO_LPUART10_CTS_INIT,           \
+		GPIO_nLED_RED,                    \
+		GPIO_nLED_GREEN,                  \
+		GPIO_nLED_BLUE,                   \
+		GPIO_BUZZER_1,                    \
+		GPIO_HW_VER_REV_DRIVE,            \
+		GPIO_FLEXCAN1_TX,                 \
+		GPIO_FLEXCAN1_RX,                 \
+		GPIO_FLEXCAN2_TX,                 \
+		GPIO_FLEXCAN2_RX,                 \
+		GPIO_FLEXCAN3_TX,                 \
+		GPIO_FLEXCAN3_RX,                 \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_FMU_CAP1,                    \
+		GPIO_nPOWER_IN_A,                 \
+		GPIO_nPOWER_IN_B,                 \
+		GPIO_nPOWER_IN_C,                 \
+		GPIO_VDD_5V_PERIPH_nEN,           \
+		GPIO_VDD_5V_PERIPH_nOC,           \
+		GPIO_VDD_5V_HIPOWER_nEN,          \
+		GPIO_VDD_5V_HIPOWER_nOC,          \
+		GPIO_VDD_3V3_SENSORS1_EN,         \
+		GPIO_VDD_3V3_SENSORS2_EN,         \
+		GPIO_VDD_3V3_SENSORS3_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_SPIX_SYNC,                   \
+		GPIO_SPI6_nRESET_EXTERNAL1,       \
+		GPIO_ETH_POWER_EN,                \
+		GPIO_ETH_PHY_nINT,                \
+		GPIO_GPIO_EMC_B2_12,              \
+		GPIO_NFC_GPIO,                    \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
+		GPIO_SAFETY_SWITCH_IN,            \
+		GPIO_PPM_IN,                      \
+		GPIO_nARMED_INIT,                 \
+		GPIO_ENET2_RX_ER_CONFIG1,         \
+		GPIO_ENET2_RX_DATA01_CONFIG4,     \
+		GPIO_ENET2_RX_DATA00_CONFIG5,     \
+		GPIO_ENET2_CRS_DV_CONFIG6,        \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define PX4_I2C_BUS_MTD      1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: fmuv6xrt_usdhc_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int fmuv6xrt_usdhc_initialize(void);
+
+/************************************************************************************
+ * Name: imxrt_usb_initialize
+ *
+ * Description:
+ *   Called to configure USB.
+ *
+ ************************************************************************************/
+
+extern int imxrt_usb_initialize(void);
+
+/****************************************************************************************************
+ * Name: nxp_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void imxrt_spiinitialize(void);
+
+
+extern void imxrt_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+extern void fmuv6xrt_timer_initialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+int imxrt_flexspi_fram_initialize(void);
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/px4/fmu-v6xrt/src/bootloader_main.c

@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/px4/fmu-v6xrt/src/hw_config.h

@@ -0,0 +1,130 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x30020000
+#define APP_VECTOR_OFFSET              0x2000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
+#define BOOT_DELAY_ADDRESS             0x3003b540
+#define BOARD_TYPE                     35
+// The board has a 64 Mb part with 16384, 4K secors, but we artificialy limit it to 4 Mb
+// as 1024, 4K sectors
+#define BOARD_FLASH_SECTORS            1024 // Really (16384)
+#define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 32 // We resreve 128K for the bootloader
+#define BOARD_FLASH_SIZE               (4 * 1024 * 1024)
+
+#define OSC_FREQ                       24
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */

boards/px4/fmu-v6xrt/src/i2c.cpp

@@ -33,8 +33,11 @@
 
 #include <px4_arch/i2c_hw_description.h>
 
+#if defined(CONFIG_I2C)
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
 	initI2CBusExternal(2),
 	initI2CBusInternal(3),
+	initI2CBusExternal(6),
 };
+#endif

boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c

@@ -0,0 +1,510 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_clockconfig.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "imxrt_clockconfig.h"
+
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* Each FMU-V6XRT board must provide the following initialized structure.
+ * This is needed to establish the initial board clocking.
+ */
+
+const struct clock_configuration_s g_initial_clkconfig = {
+	.ccm               =
+	{
+		.m7_clk_root     =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = M7_CLK_ROOT_PLL_ARM_CLK,
+		},
+		.m4_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = M4_CLK_ROOT_SYS_PLL3_PFD3,
+		},
+		.bus_clk_root =
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = BUS_CLK_ROOT_SYS_PLL3_CLK,
+		},
+		.bus_lpsr_clk_root =
+		{
+			.enable        = 1,
+			.div           = 3,
+			.mux           = BUS_LPSR_CLK_ROOT_SYS_PLL3_CLK,
+		},
+		.semc_clk_root =
+		{
+			.enable        = 0,
+			.div           = 3,
+			.mux           = SEMC_CLK_ROOT_SYS_PLL2_PFD1,
+		},
+		.cssys_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = CSSYS_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.cstrace_clk_root =
+		{
+			.enable        = 1,
+			.div           = 4,
+			.mux           = CSTRACE_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.m4_systick_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = M4_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.m7_systick_clk_root =
+		{
+			.enable        = 1,
+			.div           = 240,
+			.mux           = M7_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.adc1_clk_root =
+		{
+			.enable        = 1,
+			.div           = 6,
+			.mux           = ADC1_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.adc2_clk_root =
+		{
+			.enable        = 1,
+			.div           = 6,
+			.mux           = ADC2_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.acmp_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.flexio1_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = FLEXIO1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.flexio2_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = FLEXIO2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.gpt1_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.gpt2_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.gpt3_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT3_CLK_ROOT_OSC_24M,
+		},
+		.gpt4_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT4_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.gpt5_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT5_CLK_ROOT_OSC_24M,
+		},
+		.gpt6_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = GPT6_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.flexspi1_clk_root =
+		{
+			.enable        = 1,
+			.div           = 4,
+			.mux           = FLEXSPI1_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.flexspi2_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = FLEXSPI2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.can1_clk_root = /* 240 / 3 = 80Mhz */
+		{
+			.enable        = 1,
+			.div           = 3,
+			.mux           = CAN1_CLK_ROOT_SYS_PLL3_DIV2,
+		},
+		.can2_clk_root = /* 240 / 3 = 80Mhz */
+		{
+			.enable        = 1,
+			.div           = 3,
+			.mux           = CAN2_CLK_ROOT_SYS_PLL3_DIV2,
+		},
+		.can3_clk_root = /* 480 / 6 = 80Mhz */
+		{
+			.enable        = 1,
+			.div           = 6,
+			.mux           = CAN3_CLK_ROOT_SYS_PLL3_CLK,
+		},
+		.lpuart1_clk_root = /* 528 / 22 = 24Mhz */
+		{
+			.enable        = 1,
+			.div           = 22,
+			.mux           = LPUART1_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart3_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART3_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart4_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART4_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart5_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART5_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart6_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART6_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart8_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART8_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart10_clk_root = /* 528 / 11 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 11,
+			.mux           = LPUART10_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpuart11_clk_root = /* 480 / 10 = 48Mhz */
+		{
+			.enable        = 1,
+			.div           = 10,
+			.mux           = LPUART11_CLK_ROOT_SYS_PLL3_CLK,
+		},
+		.lpi2c1_clk_root = /* 528 / 22 = 24Mhz */
+		{
+			.enable        = 1,
+			.div           = 22,
+			.mux           = LPI2C1_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpi2c2_clk_root = /* 528 / 22 = 24Mhz */
+		{
+			.enable        = 1,
+			.div           = 22,
+			.mux           = LPI2C2_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpi2c3_clk_root = /* 528 / 22 = 24Mhz */
+		{
+			.enable        = 1,
+			.div           = 22,
+			.mux           = LPI2C3_CLK_ROOT_SYS_PLL2_CLK,
+		},
+		.lpi2c6_clk_root = /* 480 / 20 = 24Mhz */
+		{
+			.enable        = 1,
+			.div           = 20,
+			.mux           = LPI2C6_CLK_ROOT_SYS_PLL3_CLK,
+		},
+		.lpspi1_clk_root = /* 200 / 2 = 100Mhz */
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = LPSPI1_CLK_ROOT_SYS_PLL1_DIV5,
+		},
+		.lpspi2_clk_root = /* 200 / 2 = 100Mhz */
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = LPSPI2_CLK_ROOT_SYS_PLL1_DIV5,
+		},
+		.lpspi3_clk_root = /* 200 / 2 = 100Mhz */
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = LPSPI3_CLK_ROOT_SYS_PLL1_DIV5,
+		},
+		.lpspi6_clk_root = /* 200 / 2 = 100Mhz */
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = LPSPI6_CLK_ROOT_SYS_PLL1_DIV5,
+		},
+		.emv1_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = EMV1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.emv2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = EMV2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.enet1_clk_root =
+		{
+			.enable        = 0,
+			.div           = 10,
+			.mux           = ENET1_CLK_ROOT_SYS_PLL1_DIV2,
+		},
+		.enet2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 10,
+			.mux           = ENET2_CLK_ROOT_SYS_PLL1_DIV2,
+		},
+		.enet_qos_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = ENET_QOS_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.enet_25m_clk_root =
+		{
+			.enable        = 1,
+			.div           = 1,
+			.mux           = ENET_25M_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.enet_timer1_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = ENET_TIMER1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.enet_timer2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = ENET_TIMER2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.enet_timer3_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = ENET_TIMER3_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.usdhc1_clk_root =
+		{
+			.enable        = 1,
+			.div           = 2,
+			.mux           = USDHC1_CLK_ROOT_SYS_PLL2_PFD2,
+		},
+		.usdhc2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = USDHC2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.asrc_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = ASRC_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.mqs_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = MQS_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.mic_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = MIC_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.spdif_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = SPDIF_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.sai1_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = SAI1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.sai2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = SAI2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.sai3_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = SAI3_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.sai4_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = SAI4_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.gc355_clk_root =
+		{
+			.enable        = 0,
+			.div           = 2,
+			.mux           = GC355_CLK_ROOT_VIDEO_PLL_CLK,
+		},
+		.lcdif_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = LCDIF_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.lcdifv2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = LCDIFV2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.mipi_ref_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = MIPI_REF_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.mipi_esc_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = MIPI_ESC_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.csi2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CSI2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.csi2_esc_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CSI2_ESC_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.csi2_ui_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CSI2_UI_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.csi_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CSI_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.cko1_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CKO1_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+		.cko2_clk_root =
+		{
+			.enable        = 0,
+			.div           = 1,
+			.mux           = CKO2_CLK_ROOT_OSC_RC_48M_DIV2,
+		},
+	},
+	.arm_pll =
+	{
+		/* ARM_PLL = Fin * ( loop_div / ( 2 * post_div ) ) */
+		/* ARM_PLL = Fin * (    166    / ( 2 * 2 ) ) */
+
+		.post_div        = 0, /* 0 = DIV by 2
+                           * 1 = DIV by 4
+                           * 2 = DIV by 8
+                           * 3 = DIV by 1 */
+		.loop_div        = 166, /* ARM_PLL = 996 Mhz */
+	},
+	.sys_pll1 =
+	{
+		.enable          = 1,
+		.div             = 41,
+		.num             = 178956970,
+		.denom           = 268435455,
+	},
+	.sys_pll2 =
+	{
+		.mfd             = 268435455,
+		.ss_enable       = 0,
+		.pfd0            = 27, /* (528 * 18) / 27 = 352 MHz */
+		.pfd1            = 16, /* (528 * 16) / 16 = 594 MHz */
+		.pfd2            = 24, /* (528 * 24) / 27 = 396 MHz */
+		.pfd3            = 32, /* (528 * 32) / 27 = 297 MHz */
+	},
+	.sys_pll3 =
+	{
+		.pfd0            = 13, /* (480 * 18) / 13 = 8640/13 = 664.62 MHz */
+		.pfd1            = 17, /* (480 * 18) / 17 = 8640/17 = 508.24 MHz */
+		.pfd2            = 32, /* (480 * 18) / 32 = 270 MHz */
+		.pfd3            = 22, /* (480 * 18) / 22 = 8640/20 = 392.73 MHz */
+	}
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/