ci: debug with tmate

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.github/ISSUE_TEMPLATE/config.yml

@@ -3,6 +3,3 @@ contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
     about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/docs_bug_report.yml

@@ -0,0 +1,33 @@
+name: 📑 Documentation Bug report
+description: Create a report to help us improve the docs
+title: "[Docs] [Bug] "
+labels: ["Documentation 📑"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+      placeholder: |
+          # A PR to fix the bug is often better than adding this issue!
+          #
+          # If you can't create a PR please provide the following:
+          # - What page and/or section has the problem
+          # - What is the problem - missing information, incorrect information?
+          # - Suggested fixes, links to corresponding code PRs
+          # - Any additional context
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Page URL
+      description: The URL of the problem page.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+    validations:
+      required: false

.github/workflows/build_all_targets.yml

@@ -16,13 +16,15 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   group_targets:
@@ -32,7 +34,6 @@ jobs:
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
       branchname: ${{ steps.set-branch.outputs.branchname }}
     steps:
       - uses: actions/checkout@v4
@@ -53,7 +54,13 @@ jobs:
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        run: |
+          echo "branchname=${{
+            github.event_name == 'pull_request' &&
+            format('pr-{0}', github.event.pull_request.number) ||
+            github.head_ref ||
+            github.ref_name
+          }}" >> $GITHUB_OUTPUT
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
@@ -63,9 +70,9 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -100,7 +107,7 @@ jobs:
 
       - name: Building [${{ matrix.group }}]
         run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
       - name: Arrange Build Artifacts
         run: |
@@ -118,7 +125,7 @@ jobs:
   artifacts:
     name: Upload Artifacts to S3
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
     if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
     steps:
@@ -146,10 +153,12 @@ jobs:
 
   release:
     name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
+    if: startsWith(github.ref, 'refs/tags/')
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4

.github/workflows/compile_ubuntu.yml

@@ -17,6 +17,9 @@ on:
       - 'docs/**'
       - '.github/**'
 
+env:
+  RUNS_IN_DOCKER: true
+
 jobs:
   build_and_test:
     name: Build and Test

.github/workflows/dev_container.yml

@@ -1,4 +1,3 @@
-
 name: Container build
 
 on:
@@ -10,35 +9,144 @@ on:
       - 'release/**'
     tags:
       - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+    paths:
+      - '.github/workflows/dev_container.yml'
+      - 'Tools/setup/ubuntu.sh'
+      - 'Tools/setup/requirements.txt'
+      - 'Tools/setup/Dockerfile'
+      - 'Tools/setup/docker-entrypoint.sh'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
 
 jobs:
-  build:
-    name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
     steps:
+      - uses: runs-on/action@v1
       - uses: actions/checkout@v4
         with:
           fetch-tags: true
           submodules: false
           fetch-depth: 0
 
-      - name: Set PX4 Tag
-        id: px4-tag
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
         run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build Container (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: Tools/setup
+          tags: |
+            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
 
       - name: Login to Docker Hub
         uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -50,58 +158,31 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
-
-      - name: Get Tag Name
-        id: tag_name
+      - name: Verify Images Exist Before Creating Manifest
         run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
 
-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
 
-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}

.github/workflows/docs_deploy.yml

@@ -79,16 +79,21 @@ jobs:
 
       - name: Deploy
         run: |
-          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          rm -rf docs.px4.io/${BRANCH_NAME}
-          mkdir -p docs.px4.io/${BRANCH_NAME}
-          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
+          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
+          # make it an orphan branch      
           cd docs.px4.io
+          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
+          git checkout --orphan "${CURRENT_DATETIME}_main"
+          rm -rf ${BRANCH_NAME}
+          mkdir -p ${BRANCH_NAME}
+          cp -r ~/_book/* ${BRANCH_NAME}/
           git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
           git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add ${BRANCH_NAME}
+          git add .
           git commit -a -m "PX4 docs build update (vitepress) `date`"
-          #git add .
-          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
-          #git commit --allow-empty -m "Empty commit to force rebuild"
+          # push branch as backup
+          git push origin "${CURRENT_DATETIME}_main"
+          # Now make main from backup and push updated
+          git branch -D main
+          git checkout -b main
           git push origin main -f

.github/workflows/docs_metadata_check.yml

@@ -0,0 +1,47 @@
+name: Docs Metadata
+
+permissions:
+  contents: write
+
+on:
+  pull_request: {}
+
+jobs:
+  metadata-check:
+    name: ${{ matrix.name }}
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=true]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: uORB Graphs
+            script: Tools/ci/metadata_uorb_graph.sh
+          - name: Failsafe Web
+            script: Tools/ci/metadata_failsafe_web.sh --debug
+          - name: uORB Messages
+            script: Tools/ci/metadata_msg_docs.sh
+          - name: Parameter Reference
+            script: Tools/ci/metadata_parameters.sh
+          - name: Airframe Reference
+            script: Tools/ci/metadata_airframe.sh
+          - name: Module Reference
+            script: Tools/ci/metadata_modules.sh
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: 0
+          persist-credentials: true
+
+      - name: Mark all directories safe for Git
+        run: git config --system --add safe.directory '*'
+
+      - name: Run ${{ matrix.name }} metadata check
+        run: ${{ matrix.script }} --test-only
+
+      - name: Setup tmate session
+        if: ${{ failure() }}
+        uses: mxschmitt/action-tmate@v3

.github/workflows/failsafe_sim.yml

@@ -27,7 +27,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev:v1.16.0-ondemand
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0
@@ -39,6 +39,9 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
       - name: Install empscripten
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk

.github/workflows/flash_analysis.yml

@@ -28,7 +28,7 @@ jobs:
     name: Analyzing ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev-nuttx-focal
+      image: px4io/px4-dev:v1.16.0-ondemand
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -80,7 +80,7 @@ jobs:
         id: bloaty-step
         with:
           bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,compileunits -s vm -n 20
+          bloaty-additional-args: -d sections,symbols -s vm -n 20
           output-to-summary: true
 
       - name: Generate output

.github/workflows/itcm_check.yml

@@ -0,0 +1,61 @@
+name: ITCM check
+
+permissions:
+  contents: read
+
+on:
+  push:
+    branches:
+      - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+  pull_request:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+
+jobs:
+  check_itcm:
+    name: Checking ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: px4_fmu-v5x
+            scripts: >
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
+          - target: px4_fmu-v6xrt
+            scripts: >
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_tropic-community
+            scripts: >
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}
+
+      - name: Copy built ELF
+        run: cp ./build/**/*.elf ./built.elf
+
+      - name: Install itcm-check dependencies
+        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
+
+      - name: Execute the itcm-check
+        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

.github/workflows/nuttx_env_config.yml

@@ -31,7 +31,7 @@ jobs:
     - name: Build PX4 and Run Test [${{ matrix.config }}]
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        image: px4io/px4-dev:v1.16.0-ondemand
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.gitignore

@@ -109,3 +109,6 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
+
+# metadata dependencies
+_emscripten_sdk/

.vscode/cmake-variants.yaml

@@ -231,6 +231,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: bitcraze_crazyflie_default
+    bluerobotics_navigator_default:
+      short: bluerobotics_navigator
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bluerobotics_navigator_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel
@@ -296,6 +301,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7dualimu_default:
+      short: holybro_kakuteh7dualimu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7dualimu_default
     matek_h743-slim_default:
       short: matek_h743-slim
       buildType: MinSizeRel

Makefile

@@ -300,6 +300,8 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 px4io_update:
@@ -377,7 +379,10 @@ module_documentation:
 extract_events:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+msg_docs:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_msg_documentation ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events msg_docs
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name HexarotorX SITL for SIH
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Matthias Grob <maetugr@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -37,8 +37,8 @@ param set-default RO_YAW_P 5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

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

@@ -109,6 +109,7 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
+	10044_sihsim_hex
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

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

@@ -1,15 +1,13 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-echo "INFO  [init] Gazebo simulator"
-
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
 
 if [ -z "$GZ_SIM_VERSION" ]; then
-    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-    exit 1
+	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+	exit 1
 fi
 
 # Use sort compare, check that MIN_GZ_VERSION is ordered last
@@ -17,6 +15,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"
 
+	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
+
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,11 +24,11 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-    exit 1
+	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+	exit 1
 fi
 
-# If not standalone
+# If not standalone launch the world
 if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
 	# Look for an already running world
@@ -89,6 +89,21 @@ while [ $ATTEMPTS -gt 0 ]; do
 	sleep 1
 done
 
+# World is ready, check if custom location is provided
+if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
+	# must have all three
+	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
+		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
+		exit 1
+	fi
+	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
+		--reqtype gz.msgs.SphericalCoordinates \
+		--reptype gz.msgs.Boolean \
+		--timeout 1000 \
+		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
+fi
+
 # Start gz_bridge - either spawn a model or connect to existing one
 if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	# Spawn a model

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -295,10 +295,15 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
+	# Override, as variable is set (empty or not)
+	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
+		# Override namespace if environment variable is non-empty
+		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	else
+		# Clear namespace if variable is empty
+		uxrce_dds_ns=""
+	fi
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then

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

@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -37,14 +37,14 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
+param set-default RO_YAW_P 2.5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -30,12 +30,12 @@ param set-default RO_JERK_LIM 20
 param set-default RO_MAX_THR_SPEED 2.8
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0
-param set-default RO_YAW_RATE_P 0
-param set-default RO_YAW_RATE_LIM 0
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 120
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 0
+param set-default RO_YAW_P 2.5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -15,7 +15,8 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control start
+fw_mode_manager start
+fw_lat_lon_control start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-# 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 3
 
 param set-default COM_POS_LOW_EPH 50

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -20,7 +20,5 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
-param set-default GPS_UBX_DYNMODEL 6
-
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -226,10 +226,7 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
-	if ! iis2mdc -X -q start
-	then
-		lis2mdl -X -q start
-	fi
+	iis2mdc -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
 	if ! lis3mdl -X -q start

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -27,7 +27,8 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control start vtol
+fw_mode_manager start
+fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
-# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
-param set-default COM_POS_FS_EPH 50
-
 param set-default COM_POS_LOW_EPH 50
 
 param set-default MIS_TAKEOFF_ALT 20

ROMFS/px4fmu_common/init.d/rcS

@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
 set PARAM_DEFAULTS_VER 1
 
 #

Tools/ci/check_msg_versioning.sh

@@ -27,9 +27,9 @@ do
     # - An old .msg version exists
     # - A translation header exists and is included
 
-    # Ignore changes to comments or constants
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    # Ignore changes to comments or constants and trim whitespace
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
     if [ "${content_a}" == "${content_b}" ]; then
       echo "No version update required for ${file}"
       continue

Tools/ci/generate_board_targets_json.py

@@ -86,21 +86,17 @@ def process_target(px4board_file, target_name):
     assert platform, f"PLATFORM not found in {px4board_file}"
 
     if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
+        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
         if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                     group = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
                     group = 'armhf'
                 else:
                     if verbose: print(f'unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
             group = 'nuttx'
         else:
             if verbose: print(f'unmatched platform: {platform}')
@@ -124,7 +120,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
+grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -206,6 +202,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []
@@ -223,6 +220,7 @@ if (args.group):
                     "container": grouped_targets[arch]['container'],
                     "targets": targets,
                     "arch": arch,
+                    "runner": runner,
                     "group": group_name,
                     "len": len(grouped_targets[arch]['manufacturers'][man])
                 })
@@ -240,6 +238,7 @@ if (args.group):
                         "container": grouped_targets[arch]['container'],
                         "targets": targets,
                         "arch": arch,
+                        "runner": runner,
                         "group": group_name,
                         "len": len(chunk),
                     })
@@ -260,6 +259,7 @@ if (args.group):
                 "container": grouped_targets[arch]['container'],
                 "targets": targets,
                 "arch": arch,
+                "runner": runner,
                 "group": group_name,
                 "len": temp_len
             })
@@ -277,6 +277,7 @@ if (args.group):
                     "container": grouped_targets[arch]['container'],
                     "targets": targets,
                     "arch": arch,
+                    "runner": runner,
                     "group": group_name,
                     "len": len(chunk),
                 })

Tools/ci/metadata_airframe.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+#
+# metadata_airframe.sh — generate and sync PX4 airframe reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_airframe.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="airframe_metadata"
+src_file="build/px4_sitl_default/docs/airframes.md"
+dest_file="docs/en/airframes/airframe_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing airframe reference docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Airframe reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Airframe reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated airframe_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Airframe docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update airframe reference metadata'"
+  exit 1
+fi

Tools/ci/metadata_failsafe_web.sh

@@ -0,0 +1,112 @@
+#!/usr/bin/env bash
+#
+# metadata_failsafe_web.sh — build and sync failsafe webapp metadata files
+#
+# Usage:
+#   Tools/ci/metadata_failsafe_web.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run build and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full build output and debug info for file comparisons and EMSDK install
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and commands
+build_cmd="make failsafe_web"
+src_dir="build/px4_sitl_default_failsafe_web"
+dest_dir="docs/public/config/failsafe"
+
+# Ensure Emscripten SDK is available
+if ! command -v emcc >/dev/null 2>&1; then
+  echo "🔧 Emscripten not found. Ensuring EMSDK is installed."
+  # Clone SDK only if not already present
+  if [ ! -d "_emscripten_sdk" ]; then
+    if [ "$debug" = true ]; then
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+    else
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk > /dev/null 2>&1
+    fi
+  fi
+  pushd _emscripten_sdk >/dev/null
+  if [ "$debug" = true ]; then
+    ./emsdk install latest
+    ./emsdk activate latest
+  else
+    ./emsdk install latest > /dev/null 2>&1
+    ./emsdk activate latest > /dev/null 2>&1
+  fi
+  popd >/dev/null
+  # Load environment into current shell
+  if [ "$debug" = true ]; then
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh
+  else
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh > /dev/null 2>&1
+  fi
+fi
+
+# Build step
+if [ "$debug" = true ]; then
+  echo "🔧 Running build: $build_cmd"
+  $build_cmd
+else
+  echo "🔧 Running build"
+  $build_cmd > /dev/null 2>&1
+fi
+
+# Gather built files
+src_files=("$src_dir"/*.{js,wasm,json})
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated files found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# Prepare destination
+echo "🔍 Checking failsafe web metadata"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All failsafe web metadata files are in sync."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Failsafe web metadata needs update; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated files"
+for f in "${changed[@]}"; do cp -v "$src_dir/$f" "$dest_dir/$f"; done
+
+echo "🚨 Failsafe web metadata updated; please commit changes."
+exit 1

Tools/ci/metadata_modules.sh

@@ -0,0 +1,99 @@
+#!/usr/bin/env bash
+#
+# metadata_modules.sh - generate and sync PX4 module reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_modules.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="module_documentation"
+src_dir="build/px4_sitl_default/docs/modules"
+dest_dir="docs/en/modules"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated module docs found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# ─── Strip trailing whitespace from all generated module docs (unless test-only) ─────────────
+if [ "$test_only" = false ]; then
+  echo "✂️ Removing trailing whitespace from generated module docs"
+  for src in "${src_files[@]}"; do
+    sed -i 's/[[:space:]]\+$//' "$src"
+  done
+else
+  [ "$debug" = true ] && echo "🧪 Test-only mode: skipping whitespace removal"
+fi
+
+echo "🔍 Checking module reference docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -e "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  else
+    # Use diff -q -b (ignore whitespace changes) and --strip-trailing-cr (ignore CRLF vs LF)
+    if ! diff -q -b --strip-trailing-cr "$src" "$dst" > /dev/null; then
+      [ "$debug" = true ] && echo "DEBUG: diff -q -b --strip-trailing-cr '$src' '$dst'  (exit_code=$?)"
+      changed+=("$name")
+    fi
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All module reference docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in module docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Module reference docs need updating; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated module docs to $dest_dir"
+for f in "${changed[@]}"; do
+  cp -rv "$src_dir/$f" "$dest_dir/$f"
+done
+
+echo "🚨 Module reference docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update module reference metadata'"
+exit 1

Tools/ci/metadata_msg_docs.sh

@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+#
+# metadata_msg_docs.sh — generate and sync uORB message reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_msg_docs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="msg_docs"
+src_dir="build/px4_sitl_default/msg_docs"
+dest_dir="docs/en/msg_docs"
+middleware_dir="docs/en/middleware"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No files found in $src_dir. Build target '$make_target' failed or path is wrong."
+  exit 1
+fi
+
+echo "🔍 Checking uORB message docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+
+  # special-case dds_topics.md
+  if [[ "$name" == "dds_topics.md" ]]; then
+    dst="$middleware_dir/$name"
+  else
+    dst="$dest_dir/$name"
+  fi
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All uORB message docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in the following docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 uORB message docs need updating! Rerun without --test-only to apply changes."
+  exit 1
+fi
+
+echo "📂 Copying updated doc files to $dest_dir"
+for f in "${changed[@]}"; do
+  if [[ "$f" == "dds_topics.md" ]]; then
+    cp -v "$src_dir/$f" "$middleware_dir/$f"
+  else
+    cp -v "$src_dir/$f" "$dest_dir/$f"
+  fi
+done
+
+echo "🚨 uORB message docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update uORB message reference docs'"
+exit 1

Tools/ci/metadata_parameters.sh

@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+#
+# metadata_parameters.sh — generate and sync PX4 parameter reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_parameters.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="parameters_metadata"
+src_file="build/px4_sitl_default/docs/parameters.md"
+dest_file="docs/en/advanced_config/parameter_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# ─── Strip trailing whitespace from the newly generated Markdown ────────────────────────────────
+echo "✂️ Removing trailing whitespace from $src_file"
+sed -i 's/[[:space:]]\+$//' "$src_file"
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing parameter docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Parameter reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Parameter reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated parameter_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Parameter docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update parameter reference metadata'"
+  exit 1
+fi

Tools/ci/metadata_uorb_graph.sh

@@ -0,0 +1,108 @@
+#!/usr/bin/env bash
+#
+# update_uorb_graphs.sh — generate, compare, and sync uORB graph JSONs
+#
+# Usage:
+#   ./scripts/update_uorb_graphs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run generation and comparison only; exit 1 if diffs found, without copying files
+#   --debug       Echo debug info for missing or differing files and show full make output
+#
+# Examples:
+#   # CI mode: fail if docs need updates
+#   ./scripts/update_uorb_graphs.sh --test-only
+#
+#   # Developer mode: regenerate and sync JSONs
+#   ./scripts/update_uorb_graphs.sh
+#
+set -euo pipefail
+
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+	case "$1" in
+		--test-only)
+			test_only=true
+			shift
+			;;
+		--debug)
+			debug=true
+			shift
+			;;
+		*)
+			echo "Usage: $0 [--test-only] [--debug]"
+			exit 2
+			;;
+	esac
+done
+
+# Paths
+graph_dir="Tools/uorb_graph"
+dest_dir="docs/public/middleware"
+
+# Generate uORB graphs (conditionally silent)
+if [ "$debug" = true ]; then
+	echo "🔧 Generating uORB message graphs (verbose output)"
+	make uorb_graphs
+else
+	echo "🔧 Generating uORB message graphs"
+	make uorb_graphs > /dev/null 2>&1
+fi
+
+# Verify generation
+src_files=("$graph_dir"/*.json)
+if [ ${#src_files[@]} -eq 0 ]; then
+	echo "❌ No JSON files found in $graph_dir. Generation failed or path is wrong."
+	exit 1
+fi
+
+echo "🔍 Checking for updated uORB graph JSONs"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+	name=$(basename "$src")
+	dst="$dest_dir/$name"
+
+	if [[ ! -f "$dst" ]]; then
+		[ "$debug" = true ] && echo "DEBUG: $dst missing"
+		changed+=("$name")
+
+	elif ! cmp -s "$src" "$dst"; then
+		[ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+		changed+=("$name")
+	fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+	echo "✅ All uORB graph JSONs are already in sync."
+	exit 0
+fi
+
+echo "⚠️ Detected updates in the following files:"
+for name in "${changed[@]}"; do
+	echo "	- $name"
+done
+
+if [ "$test_only" = true ]; then
+	echo
+	echo "🚨 uORB graph docs need updating! Rerun without --test-only to apply changes."
+	exit 1
+fi
+
+echo
+echo "📂 Copying updated files over"
+for name in "${changed[@]}"; do
+	cp -v "$graph_dir/$name" "$dest_dir/$name"
+done
+
+echo
+echo "🚨 uORB graph docs need updating! Review above, then run:"
+echo "	git status -s $dest_dir/"
+echo "	git add $dest_dir/*.json"
+echo "	git commit -m 'docs: metadata: update uORB graph JSONs'"
+exit 1

Tools/ci/package_build_artifacts.sh

@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
   mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
   # Airframe
@@ -26,21 +26,23 @@ for build_dir_path in build/*/ ; do
   echo "----------"
 done
 
-# general metadata
-mkdir artifacts/_general/
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Airframe
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Parameters
-cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-# Actuators
-cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-# Events
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# ROS 2 msgs
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# Module Docs
-ls -la artifacts/_general/
+if [ -d artifacts/px4_sitl_default ]; then
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Airframe
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Parameters
+  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+  # Actuators
+  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+  # Events
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
+  ls -la artifacts/_general/
+fi

Tools/docker_run.sh

@@ -2,19 +2,7 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -27,17 +15,9 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
 fi
 
-# docker hygiene
-
-#Delete all stopped containers (including data-only containers)
-#docker rm $(docker ps -a -q)
-
-#Delete all 'untagged/dangling' (<none>) images
-#docker rmi $(docker images -q -f dangling=true)
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/itcm_check.py

@@ -0,0 +1,185 @@
+#! /usr/bin/env python3
+
+"""
+Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
+
+This helps against linker scripts that "rot" as the linker does not warn in case of a function
+not existing. Thus, it is possible to forget to update the linker script after a code update.
+
+The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
+exist in the built ELF file.
+
+It is expected that the linker scripts that are analyzed by the tool are linker script include
+files that only contain the name of the sections (functions) that should be mapped to ITCM in
+the following format:
+```
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+[...]
+```
+
+A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
+```
+*(.text.arm_ack_irq) /* itcm-check-ignore */
+```
+"""
+
+import argparse
+import re
+from elftools.elf.elffile import ELFFile
+from elftools.elf.sections import SymbolTableSection
+from elftools.dwarf.die import DIE
+from pathlib import Path
+from typing import List, Set
+
+
+def die_get_funcs_rec(die: DIE, ret: Set[str]):
+    """
+    Recursively gets the mangled and demangled name of all functions in the given `die`.
+
+    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
+    :param ret: Output set where all function names are added to.
+    """
+    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
+        link_name_att = die.attributes.get("DW_AT_linkage_name")
+        name_att = die.attributes.get("DW_AT_name")
+        if link_name_att:
+            ret.add(link_name_att.value.decode("utf-8"))
+        if name_att:
+            ret.add(name_att.value.decode("utf-8"))
+
+    # Recurse into the DIE children
+    for child in die.iter_children():
+        die_get_funcs_rec(child, ret)
+
+
+def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the DWARF debug info.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        if not elf.has_dwarf_info():
+            print("ELF does not have debug info. Compile with debug info.")
+            exit(1)
+        dwarf_info = elf.get_dwarf_info()
+        for CU in dwarf_info.iter_CUs():
+            top_die = CU.get_top_DIE()
+            die_get_funcs_rec(top_die, ret)
+
+    return ret
+
+
+def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the symbol table section.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        for section in elf.iter_sections():
+            if isinstance(section, SymbolTableSection):
+                for sym in section.iter_symbols():
+                    ret.add(sym.name)
+    return ret
+
+
+def is_section_supported(section: str) -> bool:
+    """
+    Returns whether this type of section can be checked.
+
+    :param section: Name of the section that should be checked for support.
+
+    :return: Whether the type of section is supported.
+    """
+    not_supported_sections = [".isra", ".part", ".constprop"]
+    return not any(not_supported in section for not_supported in not_supported_sections)
+
+
+def get_input_sections(script_path: Path) -> List[str]:
+    """
+    Gets all sections (named after the functions) that should be mapped to ITCM according
+    to the linker script.
+
+    :param script_path: Path of the linker script.
+
+    :return: The names of the sections
+    """
+    ret = []
+    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
+    ignored_marker = "itcm-check-ignore"
+    with open(script_path, 'r') as f:
+        for line in f:
+            match = section_pattern.match(line)
+            if match and ignored_marker not in line:
+                section_name = match.group(1).replace("text.", "")
+                if is_section_supported(section_name):
+                    ret.append(section_name)
+    return ret
+
+
+def check_itcm(elf_path: Path, script_paths: List[Path]):
+    """
+    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
+
+    :param elf_path: Path of the ELF file.
+    :param script_paths: Path of all linker scripts that should be checked.
+    """
+    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
+    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
+    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
+    input_sections = []
+    for script_path in script_paths:
+        script_input_sections = get_input_sections(script_path)
+        if script_input_sections:
+            input_sections.extend(script_input_sections)
+        else:
+            print(f"No input sections found in {script_path}, please check if the path is correct.")
+
+    check_passed = True
+    for input_section in input_sections:
+        if input_section not in elf_symbols:
+            check_passed = False
+            print(f"Section: {input_section} not found in the ELF file!")
+
+    if check_passed:
+        print("ITCM check passed!")
+        exit(0)
+    else:
+        print("ITCM check failed!")
+        exit(1)
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
+    parser.add_argument(
+        "--elf-file",
+        help="Path of the compiled ELF file",
+        type=Path,
+        required=True
+    )
+    parser.add_argument(
+        "--script-files",
+        help="Paths of the linker script files",
+        nargs="+",
+        type=Path,
+        required=True
+    )
+
+    args = parser.parse_args()
+    check_itcm(args.elf_file, args.script_files)
+
+
+if __name__ == '__main__':
+    main()

Tools/msg/generate_msg_docs.py

@@ -2,6 +2,7 @@
 
 """
 Generate docs from .msg files
+Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """
 
 import os
@@ -9,6 +10,109 @@ import argparse
 import sys
 
 
+import yaml
+
+def sort_dds_topics(topics):
+    return sorted(
+        topics,
+        key=lambda pub: pub["type"].rsplit("::", 1)[-1]
+    )
+
+def generate_dds_yaml_doc(allMessageFiles, output_dir):
+    """
+    Generates human readable version of dds_topics.yaml.
+    Default output is to docs/en/middleware/dds_topics.md
+    """
+    output_file = 'dds_topics.md'
+    dds_markdown = ""
+    if not os.path.isdir(output_dir):
+        print("Output directory not found")
+        sys.exit(1)
+
+    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
+    output_file_path = os.path.join(output_dir, output_file)
+
+    try:
+        with open(dds_file_path, 'r') as file:
+            data = yaml.safe_load(file)
+
+        # Get messages and topics that are not published by default
+        # Start by getting all that are published.
+        all_messages_in_source = set()
+        all_message_types =set()
+        all_topics =set()
+        for message in data["publications"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        for message in data["subscriptions"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
+        for message in allMessageFiles:
+            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
+        messagesNotExported = sorted(all_messages_in_source - all_message_types)
+
+        # write out the dds file
+        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+"""
+
+        for message in sort_dds_topics(data["publications"]):
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
+
+        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
+
+        for message in sort_dds_topics(data["subscriptions"]):
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
+
+        dds_markdown += "\n## Subscriptions Multi\n\n"
+
+        if not data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+        else:
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in sort_dds_topics(data["subscriptions_multi"]):
+                dds_markdown += f"{message['topic']} | {message['type']}\n"
+
+        if messagesNotExported:
+            # Print the topics that are not exported to DDS
+            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
+            dds_markdown += "\n\n::: details See messages\n"
+            for item in sorted(messagesNotExported):
+                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
+            dds_markdown += "\n:::\n" # End of details block
+
+        with open(output_file_path, 'w') as content_file:
+                content_file.write(dds_markdown)
+
+    except yaml.YAMLError as exc:
+        print(f"Error parsing YAML: {exc}")
+    except FileNotFoundError:
+        print(f"Error: {dds_file_path} not found.")
+
+
 def get_msgs_list(msgdir):
     """
     Makes a list of relative paths of .msg files in the given directory
@@ -30,8 +134,10 @@ def get_msgs_list(msgdir):
 
 
 if __name__ == "__main__":
+
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('--dds_topics', dest='dds_topics', help='Generate dds yaml doc', action='store_true')
     args = parser.parse_args()
 
     output_dir = args.dir
@@ -42,6 +148,9 @@ if __name__ == "__main__":
     msg_files = get_msgs_list(msg_path)
     msg_files.sort()
 
+    if args.dds_topics:
+        generate_dds_yaml_doc(msg_files, output_dir)
+
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
 

Tools/px4moduledoc/markdownout.py

@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
         for category in sorted(module_groups):
-            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
+            result += f"- [{category.capitalize()}](modules_{category}.md)\n"
 
         self._outputs['main'] = result
 
         for category in sorted(module_groups):
-            result = "# Modules Reference: %s\n" % category.capitalize()
+            result = f"# Modules Reference: {category.capitalize()}\n\n"
             subcategories = module_groups[category]
+
             if len(subcategories) > 1:
-                result += 'Subcategories:\n'
-                for subcategory in subcategories:
+                result += 'Subcategories:\n\n'
+                for subcategory in sorted(subcategories): 
                     if subcategory == '':
                         continue
                     subcategory_label = subcategory.replace('_', ' ').title()
                     subcategory_file_name = category+'_'+subcategory
-                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
+                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
 
                     # add a sub-page for the subcategory
-                    result_subpage = '# Modules Reference: %s (%s)\n' % \
-                        (subcategory_label, category.capitalize())
+                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
                     result_subpage += self._ProcessModules(subcategories[subcategory])
                     self._outputs[subcategory_file_name] = result_subpage
 
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
     def _ProcessModules(self, module_list):
         result = ''
         for module in module_list:
-            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
+            result += f"\n## {module.name()}\n\n"
+            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
             doc = module.documentation()
             if len(doc) > 0:
-                result += "%s\n" % doc
+                result += f"{doc}\n"
             usage_string = module.usage_string()
             if len(usage_string) > 0:
-                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
+                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
         return result
 
     def Save(self, dirname):

Tools/px4moduledoc/srcparser.py

@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
     """
 
     # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/setup/Dockerfile

@@ -8,22 +8,25 @@ ENV LC_ALL=C.UTF-8
 ENV DISPLAY=:99
 ENV TERM=xterm
 ENV TZ=UTC
+ENV RUNS_IN_DOCKER=true
 
 # SITL UDP PORTS
 EXPOSE 14556/udp
 EXPOSE 14557/udp
 
+# Install Shell Script Entrypoint
 COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
 
 # Install PX4 Requirements
 COPY requirements.txt /tmp/requirements.txt
 COPY ubuntu.sh /tmp/ubuntu.sh
-RUN touch /.dockerenv
+
 RUN bash /tmp/ubuntu.sh --no-sim-tools
 
+# Make sure git is ok with your local copy
 RUN git config --global --add safe.directory '*'
 
-# create user with id 1001 (jenkins docker workflow default)
+# Create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]

Tools/setup/docker-entrypoint.sh

@@ -1,19 +1,27 @@
 #!/bin/bash
 
+GREEN='\033[0;32m'
+NO_COLOR='\033[0m' # No Color
+SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
+
+echo -e "$SCRIPTID Starting"
+
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "[docker-entrypoint.sh] Starting Xvfb"
+	echo -e "$SCRIPTID Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi
 
 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
+	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"

Tools/setup/optional-requirements.txt

@@ -1 +1,2 @@
+pyelftools>=0.32,<1
 symforce>=0.9.0

Tools/setup/ubuntu.sh

@@ -27,9 +27,12 @@ do
 	fi
 done
 
+echo "[ubuntu.sh] Starting..."
+echo "[ubuntu.sh] arch: $INSTALL_ARCH"
+
 # detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
+if [ "$RUNS_IN_DOCKER" = "true" ]; then
+	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -47,7 +50,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi
 
@@ -55,10 +58,8 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "Ubuntu ${UBUNTU_RELEASE}"
-
-echo
-echo "Installing PX4 general dependencies"
+echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
+echo "[ubuntu.sh] Installing PX4 general dependencies"
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -91,7 +92,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 
 # Python3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -109,18 +110,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "Installing NuttX dependencies"
-
+	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
 		build-essential \
 		curl \
+		clang \
+		clang-tidy \
+		clang-format \
 		flex \
-		g++-multilib \
-		gcc-arm-none-eabi \
-		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -139,6 +140,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
+		lldb \
+		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -147,6 +150,21 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;
 
+	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-multilib \
+			gcc-arm-none-eabi \
+			gcc-multilib \
+			;
+	fi
+
+	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-aarch64-linux-gnu \
+			g++-arm-linux-gnueabihf \
+			;
+	fi
+
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -157,7 +175,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo "[ubuntu.sh] Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -182,8 +200,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

Tools/simulation/gz

@@ -1 +1 @@
-Subproject commit 6caa6d54fa95b0141c9974bbd836b0f6fe0f26ee
+Subproject commit e05f4312d3f28aa621157610584a4870406cb6d3

Tools/uorb_graph/create.py

@@ -59,7 +59,7 @@ def get_N_colors(N, s=0.8, v=0.9):
 def topic_filename(topic):
     MSG_PATH = 'msg/'
 
-    file_list = os.listdir(MSG_PATH)
+    file_list = sorted(os.listdir(MSG_PATH))
     msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
 
     if topic in msg_files:
@@ -369,12 +369,14 @@ class Graph(object):
             if not scope.is_empty():
                 scopes_with_topic[name] = scope
 
+        # scopes_with_topic = sorted(scopes_with_topic)
+
         self._print_ambiguities = ambiguous_topics
         if use_topic_pubsub_union:
-            self._print_topics = subscribed_topics | published_topics
+            self._print_topics = sorted(subscribed_topics | published_topics)
             self._print_scopes = scopes_with_topic
         else:
-            self._print_topics = subscribed_topics & published_topics
+            self._print_topics = sorted(subscribed_topics & published_topics)
 
             # cull scopes to only those that pub or sub to a topic that has both
             intersect_scopes = {}
@@ -392,7 +394,7 @@ class Graph(object):
             log.debug('ignoring excluded path '+path)
             return
 
-        entries = os.listdir(path)
+        entries = sorted(os.listdir(path))
 
         # check if entering a new scope
         cmake_file = 'CMakeLists.txt'
@@ -685,8 +687,8 @@ class OutputJSON(object):
 
 
         # edges
-        for name,scope in output_scopes.items():
-            for topic in scope.publications:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.publications):
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 'm_'+name
@@ -695,8 +697,8 @@ class OutputJSON(object):
                     edge['style'] = 'dashed'
                     edges.append(edge)
 
-        for name,scope in output_scopes.items():
-            for topic in scope.subscriptions:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.subscriptions):
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 't_'+topic
@@ -723,10 +725,16 @@ if "__main__" == __name__:
             log.setLevel(logging.DEBUG)
             print("set log level to DEBUG")
 
+
+    print('')
+    print('== Starting uorb_graph/create.py ==')
+    if args.file:
+        print('  =Filename:', os.path.basename(args.file))
+
     # ignore topics that are subscribed/published by many topics, but are not really
     # useful to show in the graph
     topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
-    print('Excluded topics: '+str(topic_blacklist))
+    print('  =Excluded Topics: '+str(topic_blacklist))
 
     if len(args.modules) == 0:
         scope_whitelist = []
@@ -757,7 +765,7 @@ if "__main__" == __name__:
     if 0 < len(args.exclude_path):
         path_blacklist = args.exclude_path
     if path_blacklist:
-        print('Excluded Path: '+str(path_blacklist))
+        print('  =Excluded Path: '+str(path_blacklist))
 
     graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
 
@@ -784,3 +792,6 @@ if "__main__" == __name__:
         pass
     else:
         print('Error: unknown output format '+args.output)
+
+    print("== Completed uorb_graph/create.py ==")
+    print("")

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -41,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/airmind/mindpx-v2/default.px4board

@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/airmind/mindpx-v2/src/init.c

@@ -129,7 +129,7 @@ __EXPORT void board_on_reset(int status)
  *
  * Description:
  *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
  *   and mapped but before any devices have been initialized.
  *
  ************************************************************************************/

boards/ark/can-flow-mr/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/can-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/can-rtk-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/cannode/init/rc.board_sensors

@@ -107,7 +107,7 @@ icm20948_i2c_passthrough -X -q start
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-lis2mdl -X -q start
+iis2mdc -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start

boards/ark/cannode/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/fmu-v6x/default.px4board

@@ -56,7 +56,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

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

@@ -296,6 +296,7 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXBUFSIZE=800
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y

boards/ark/fmu-v6x/src/board_config.h

@@ -127,6 +127,9 @@
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
 #define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
 
+// ADIS16507 hardware reset
+#define GPIO_ADIS16507_RESET(reset) SPI6_RESET(reset)
+
 /* I2C busses */
 
 /* Devices on the onboard buses.

boards/ark/fpv/default.px4board

@@ -27,6 +27,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -36,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,9 +57,11 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/ark/septentrio-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/teseo-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/auterion/fmu-v6s/bootloader.px4board

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

boards/auterion/fmu-v6s/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/auterion/fmu-v6s/default.px4board

@@ -0,0 +1,95 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_BMI088_ACCELEROMETER_INT2=y
+CONFIG_COMMON_INS=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DATAMAN_PERSISTENT_STORAGE=n
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_LOGGER_STACK_SIZE=4100
+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_RC_UPDATE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TIME_PERSISTOR=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=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
+CONFIG_SYSTEMCMDS_MFT_CFG=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_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/auterion/fmu-v6s/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 60,
+    "magic": "AutFWv1",
+    "description": "Firmware for the AutFMUv6S board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AutFMUv6S",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# Set the backend of the dataman to SRAM
+param set-default SYS_DM_BACKEND 1
+# Set TELEM1 as default mavlink connection
+param set-default MAV_0_CONFIG 0
+# Disable logger writing to FRAM, only stream over MAVLINK
+set LOGGER_ARGS "-m mavlink"
+
+# 200kOhm/10kOhm voltage divider on V_BAT
+param set-default BAT1_V_DIV 21
+
+# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
+param set-default UXRCE_DDS_PTCFG 2
+param set-default UXRCE_DDS_AG_IP 170461697
+param set-default UXRCE_DDS_CFG 1000
+
+# Update default IP config if needed
+netman update_default -i eth0
+
+# Start a second NSH connected to the debug port
+nshterm /dev/ttyS3 &
+
+# Start the time_persistor to cyclically store the RTC in FRAM
+time_persistor start
+
+# Start the ESC telemetry
+dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/init/rc.board_mavlink

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Auterion FMUv6s specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+if param compare MAV_S_FORWARD 1
+then
+	set S_FORWARD "-f"
+else
+	set S_FORWARD ""
+fi
+
+# TELEM1 is mapped to USART1 with flow control
+mavlink start -d /dev/ttyS0 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z $S_FORWARD
+
+# Ensure nothing else starts on TEL1
+set PRT_TEL1_ 1
+
+unset S_FORWARD

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# Forward is where the MIPI and ESC connectors are
+#
+# Auterion FMUv6S specific board sensors init
+#------------------------------------------------------------------------------
+
+# For system_power and battery_status
+board_adc start
+
+# IMU3 on SPI3, ROTATION_NONE=0
+bmi088 -A -R 0 -s start
+bmi088 -G -R 0 -s start
+
+if ver hwtypecmp V6S013 V6S015
+then
+	# Revision(s) with BMM150
+	# MAG on I2C4, ROTATION_ROLL_180=8
+	bmm150 -I -R 8 start
+else
+	# Revision(s) with BMM350
+	# MAG on I2C4, ROTATION_ROLL_180=8
+	bmm350 -I -R 8 start
+fi
+
+# 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
+
+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start

boards/auterion/fmu-v6s/multicopter.px4board

@@ -0,0 +1,13 @@
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_COMMON_RC=y
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_SIDESLIP is not set
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/auterion/fmu-v6s/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.

boards/auterion/fmu-v6s/nuttx-config/bootloader/defconfig

@@ -0,0 +1,79 @@
+#
+# 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_STM32H7_SYSCFG is not set
+# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/fmu-v6s/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="auterion"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=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=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=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=245760
+CONFIG_RAM_START=0x20010000
+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_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USEC_PER_TICK=1000

boards/auterion/fmu-v6s/nuttx-config/include/board.h

@@ -0,0 +1,494 @@
+/************************************************************************************
+ * nuttx-configs/auterion_fmu-v6s/include/board.h
+ *
+ *   Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
+ *   Authors: 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.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The auterion_fmu-v6s  board provides the following clock sources:
+ *
+ *   XTAL4: 24 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 24 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 24,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 2 - 4 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (24,000,000 / 12) * 450 = 900 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 900 MHz /  2  = 450   MHz
+ *   PLL1Q = PLL1_VCO/9  = 900 MHz /  9  = 100   MHz **used for ETH REF CLK via MCO1/2**
+ *   PLL1R = PLL1_VCO/8  = 900 MHz /  8  = 112.5 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_2_4_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(12)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(450)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(9)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 12) * 450)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 9)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(6)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 6) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(6)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 6) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 450MHz
+ * CPUCLK = SYSCLK / 1 = 450 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 225
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (112.5 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (112.5 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (112.5 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (112.5 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+
+/* LED definitions ******************************************************************/
+/* The Auterion FMUV6S board has 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.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+/* ADC1 */
+
+#define GPIO_ADC1_INP16      GPIO_ADC1_INP16_0                     /* PA0 */
+#define GPIO_ADC123_INP10    GPIO_ADC123_INP10_0                   /* PC0 */
+#define GPIO_ADC12_INP15     GPIO_ADC12_INP15_0                    /* PA3 */
+#define GPIO_ADC12_INP13     GPIO_ADC12_INP13_0                    /* PC3 */
+#define GPIO_ADC12_INP5      GPIO_ADC12_INP5_0                     /* PB1 */
+#define GPIO_ADC12_INP18     GPIO_ADC12_INP18_0                    /* PA4 */
+
+/* Trace */
+
+#define GPIO_TRACESWO GPIO_TRACESWO_0
+
+/* U[S]ARTs */
+
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2                          /* PA10 */
+#define GPIO_USART1_TX  (GPIO_USART1_TX_2 | GPIO_SPEED_25MHz)      /* PA9 */
+#define GPIO_USART1_RTS  GPIO_USART1_RTS_0                         /* PA12 */
+#define GPIO_USART1_CTS  GPIO_USART1_CTS_NSS_0                     /* PA11 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2                          /* PD6 */
+#define GPIO_USART2_TX  (GPIO_USART2_TX_2 | GPIO_SPEED_25MHz)      /* PD5 */
+#define GPIO_USART2_RTS  0                                         /* PD4 */
+#define GPIO_USART2_CTS  0                                         /* PD3 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3                          /* PD9 */
+#define GPIO_USART3_TX  (GPIO_USART3_TX_3 | GPIO_SPEED_2MHz)       /* PD8 */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_5                           /* PD0 */
+#define GPIO_UART4_TX   (GPIO_UART4_TX_5 | GPIO_SPEED_2MHz)        /* PD1 */
+
+#define GPIO_UART5_RX   (GPIO_UART5_RX_3 | GPIO_SPEED_2MHz)        /* PD2 */
+#define GPIO_UART5_TX    0    /* We did not route out the TX pin of UART5 */
+
+#define GPIO_UART7_RX    0    /* We did not route out the RX pin of UART7 */
+#define GPIO_UART7_TX   (GPIO_UART7_TX_3 | GPIO_SPEED_2MHz)        /* PE8 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1                           /* PE0 */
+#define GPIO_UART8_TX   (GPIO_UART8_TX_1 | GPIO_SPEED_2MHz)        /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     (GPIO_CAN1_RX_2 | GPIO_SPEED_50MHz)       /* PB8 */
+#define GPIO_CAN1_TX     (GPIO_CAN1_TX_2 | GPIO_SPEED_50MHz)       /* PB9 */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is FRAM
+ *
+ */
+
+#define GPIO_SPI1_MISO      (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)  /* PA6 */
+#define GPIO_SPI1_MOSI      (GPIO_SPI1_MOSI_3 | GPIO_SPEED_50MHz)  /* PD7 */
+#define GPIO_SPI1_SCK       (GPIO_SPI1_SCK_1  | GPIO_SPEED_50MHz)  /* PA5 */
+
+#define GPIO_SPI2_MISO      (GPIO_SPI2_MISO_2 | GPIO_SPEED_50MHz)  /* PC2 */
+#define GPIO_SPI2_MOSI      (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)  /* PB15 */
+#define GPIO_SPI2_SCK       (GPIO_SPI2_SCK_3  | GPIO_SPEED_50MHz)  /* PB10 */
+
+
+#define GPIO_SPI3_MISO      (GPIO_SPI3_MISO_2 | GPIO_SPEED_50MHz)  /* PC11 */
+#define GPIO_SPI3_MOSI      (GPIO_SPI3_MOSI_3 | GPIO_SPEED_50MHz)  /* PB2 */
+#define GPIO_SPI3_SCK       (GPIO_SPI3_SCK_2  | GPIO_SPEED_50MHz)  /* PC10 */
+
+
+#define GPIO_SPI4_MISO     (GPIO_SPI4_MISO_2 | GPIO_SPEED_50MHz)  /* PE5 */
+#define GPIO_SPI4_MOSI     (GPIO_SPI4_MOSI_2 | GPIO_SPEED_50MHz)  /* PE6 */
+#define GPIO_SPI4_SCK      (GPIO_SPI4_SCK_2  | GPIO_SPEED_50MHz)  /* PE2 */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL        (GPIO_I2C1_SCL_1 | GPIO_SPEED_2MHz)         /* PB6 */
+#define GPIO_I2C1_SDA        (GPIO_I2C1_SDA_1 | GPIO_SPEED_2MHz)         /* PB7 */
+#define GPIO_I2C1_SCL_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C4_SCL        (GPIO_I2C4_SCL_1 | GPIO_SPEED_2MHz)         /* PD12 */
+#define GPIO_I2C4_SDA        (GPIO_I2C4_SDA_1 | GPIO_SPEED_2MHz)         /* PD13 */
+#define GPIO_I2C4_SCL_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO   (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+
+/* The STM32H7 connects MAC-to-MAC to iMX8MP
+ *
+ *   STM32H7  BOARD
+ *   GPIO     SIGNAL       PIN NAME
+ *   -------- ------------ -------------
+ *   PA7     ETH_CRS_DV    CRS_DV
+ *   PC1     ETH_MDC       MDC
+ *   PA2     ETH_MDIO      MDIO
+ *   PA1     ETH_REF_CL    X1
+ *   PC4     ETH_RXD0      RX_D0
+ *   PC5     ETH_RXD1      RX_D1
+ *   PB11    ETH_TX_EN     TX_EN
+ *   PB12    ETH_TXD0      TX_D0
+ *   PB13    ETH_TXD1      TX_D1
+ *
+ * The PHY address is 1, since COL/PHYAD0 features a pull up.
+ */
+
+#define GPIO_ETH_MDC              GPIO_ETH_MDC_0                              /* PC1 */
+#define GPIO_ETH_MDIO             GPIO_ETH_MDIO_0                             /* PA2 */
+#define GPIO_ETH_RMII_CRS_DV      GPIO_ETH_RMII_CRS_DV_0                      /* PA7 */
+#define GPIO_ETH_RMII_REF_CLK     GPIO_ETH_RMII_REF_CLK_0                     /* PA1 */
+
+#define GPIO_ETH_RMII_RXD0        GPIO_ETH_RMII_RXD0_0                        /* PC4 */
+#define GPIO_ETH_RMII_RXD1        GPIO_ETH_RMII_RXD1_0                        /* PC5 */
+
+#define GPIO_ETH_RMII_TX_EN      (GPIO_ETH_RMII_TX_EN_1 | GPIO_SPEED_100MHz)  /* PB11 */
+#define GPIO_ETH_RMII_TXD0       (GPIO_ETH_RMII_TXD0_1 | GPIO_SPEED_100MHz)   /* PB12 */
+#define GPIO_ETH_RMII_TXD1       (GPIO_ETH_RMII_TXD1_1 | GPIO_SPEED_100MHz)   /* PB13 */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)   /* PE9  AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)   /* PC6  AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)   /* PB5  AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)   /* PB0  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN9)   /* PC9  AUX8 */
+# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)   /* PC7  CAP1 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H  */

boards/auterion/fmu-v6s/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/*
+FDCAN2 => no DMA, but dedicated message RAM
+ETH => has its own DMA engine
+I2C => has its own DMA engine
+
+The rest are general DMA engines:
+
+MDMA (D1): not supported by NuttX
+
+DMA1 (D2): 8 streams, mapped to DMAMUX1 requests 0-7
+
+DMA2 (D2): 8 streams, mapped to DMAMUX1 requests 8-15
+
+BDMA (D3): 8 streams, mapped to DMAMUX2 requests 0-7
+
+I2C1_RX => DMAMUX1:33 (EXT)
+I2C1_TX => DMAMUX1:34 (EXT)
+I2C4_RX => DMAMUX2:29 (BARO + MAG + EEPROM)
+I2C4_TX => DMAMUX2:30 (BARO + MAG + EEPROM)
+
+SPI3_RX => DMAMUX1:61 (IMU3 BMI088)
+SPI3_TX => DMAMUX1:62 (IMU3 BMI088)
+SPI4_RX => DMAMUX1:83 (FRAM)
+SPI4_TX => DMAMUX1:84 (FRAM)
+
+UART4_RX => DMAMUX1:63 (NSH DEBUG)
+UART4_TX => DMAMUX1:64 (NSH DEBUG)
+UART7_RX => DMAMUX1:79 (SBUS INPUT)
+UART7_RX => DMAMUX1:79 (ESC RX)
+UART8_RX => DMAMUX1:81 (GPS)
+UART8_TX => DMAMUX1:82 (GPS)
+USART3_RX => DMAMUX1:45 (EXTRAS)
+USART3_TX => DMAMUX1:46 (EXTRAS)
+
+USART1_RX => DMAMUX1:41 (MAVLINK)
+USART1_TX => DMAMUX1:42 (MAVLINK)
+USART2_RX => DMAMUX1:43 (NSH IMX)
+USART2_TX => DMAMUX1:44 (NSH IMX)
+
+(TIM1_CH1 => DMAMUX1:11)
+(TIM1_CH2 => DMAMUX1:12)
+(TIM1_CH3 => DMAMUX1:13)
+(TIM1_CH4 => DMAMUX1:14)
+TIM1_UP => DMAMUX1:15 (PWM)
+
+(TIM3_CH1 => DMAMUX1:23)
+(TIM3_CH2 => DMAMUX1:24)
+(TIM3_CH3 => DMAMUX1:25)
+(TIM3_CH4 => DMAMUX1:26)
+TIM3_UP => DMAMUX1:27 (PWM)
+
+TIM8_CH2 => DMAMUX1:48 (PPM INPUT)
+(TIM8_UP => DMAMUX1:51)
+
+*/
+
+
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   /* 1 TELEM1 (MAVLINK) */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   /* 2 TELEM1 (MAVLINK) */
+
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0    /* 3 GPS1 */
+#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0    /* 4 GPS1 */
+
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0   /* 5 NSH IMX TX */
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0    /* 6 NSH DBG TX */
+
+// Assigned in timer_config.cpp
+
+// Timer 1                                          /* 7 TIM1UP */
+// Timer 3                                          /* 8 TIM3UP */
+
+
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 BMI088 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 BMI088 */
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1     /* 3 FRAM */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1     /* 4 FRAM */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 5 TELEM2 */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 6 TELEM2 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 7 SBUS IN */
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 8 ESC IN */

boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig

@@ -0,0 +1,301 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/fmu-v6s/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="auterion"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_LAN8742A=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_BLOCK_CYCLE=-1
+CONFIG_FS_LITTLEFS_BLOCK_SIZE_FACTOR=4
+CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=64
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=4000
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_IPADDR=0xA290A02
+CONFIG_NETINIT_MONITOR=n
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_ETHMAC=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_PHY_POLLING=y
+CONFIG_STM32H7_NO_PHY=y
+CONFIG_STM32H7_AUTONEG=n
+CONFIG_STM32H7_ETHFD=y
+CONFIG_STM32H7_ETH100MBPS=y
+CONFIG_STM32H7_RMII_EXTCLK=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TASK_NAME_SIZE=24
+
+CONFIG_USART1_BAUD=3000000
+CONFIG_USART1_IFLOWCONTROL=y
+CONFIG_USART1_OFLOWCONTROL=y
+CONFIG_USART1_RXBUFSIZE=1500
+CONFIG_USART1_TXBUFSIZE=10000
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXDMA=y
+
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=500
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
+CONFIG_USART2_SERIAL_CONSOLE=y
+
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXDMA=y
+
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=500
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_TXDMA=y
+
+CONFIG_UART5_BAUD=100000
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_RXDMA=y
+
+CONFIG_UART7_BAUD=115200
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXDMA=y
+
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y

boards/auterion/fmu-v6s/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The Auterion FMUV6S uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The Auterion FMUV6S has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.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
+
+	.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/auterion/fmu-v6s/nuttx-config/scripts/script.ld

@@ -0,0 +1,229 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The Auterion FMUV6S uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The Auterion FMUV6S has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_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)
+		*(.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(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* 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/auterion/fmu-v6s/performance-test.px4board

@@ -0,0 +1,29 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
+CONFIG_BOARD_ROMFSROOT="performance-test"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MFT_CFG=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_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/auterion/fmu-v6s/rover.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y

boards/auterion/fmu-v6s/src/CMakeLists.txt

@@ -0,0 +1,72 @@
+############################################################################
+#
+#   Copyright (c) 2016 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
+		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()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		spi.cpp
+		timer_config.cpp
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()

boards/auterion/fmu-v6s/src/board_config.h

@@ -0,0 +1,209 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * Auterion FMU-v6s internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* Configuration ************************************************************************************/
+
+/* FIXME: remove with BOARD_HAS_SIMPLE_HW_VERSIONING */
+#define BOARD_HAS_HW_SPLIT_VERSIONING
+#define BOARD_HAS_ONLY_EEPROM_VERSIONING
+
+#define HW_INFO_INIT_PREFIX    "V6S"
+
+
+/* Auterion FMU GPIOs ***********************************************************************************/
+/* LEDs are driven with push pull */
+#define GPIO_nLED_RED        /* PB14 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_nLED_BLUE       /* PC13 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_nLED_GREEN      /* PE3  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+
+/* SPI */
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 1
+
+
+/* I2C busses
+ * Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define BOARD_MTD_NUM_EEPROM 1 /* MTD: imu_eeprom */
+#define PX4_I2C_BUS_MTD      4
+
+
+/* CAN */
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC1_CH(n)                  (n)
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+/* PC3_C connected to PC3 internally, which connects to GPIO_ADC12_INP13 */
+
+#define PX4_ADC_GPIO \
+	/* PB1 */ GPIO_ADC12_INP5, \
+	/* PC0 */ GPIO_ADC123_INP10, \
+	/* PC3 */ GPIO_ADC12_INP13, \
+	/* PA3 */ GPIO_ADC12_INP15, \
+	/* PA0 */ GPIO_ADC1_INP16, \
+	/* PA4 */ GPIO_ADC12_INP18
+
+/* Define Channel numbers must match above GPIO pin IN(n)
+ * Note: These channel names are special, see board_common.h */
+#define ADC_BATTERY_CURRENT_CHANNEL             /* PB1 = 0 */  ADC1_CH(5)
+#define ADC_SCALED_V5_EXTERNAL_CHANNEL          /* PC0 = 1 */  ADC1_CH(10)
+#define ADC_BATTERY_VOLTAGE_CHANNEL             /* PC3 = 2 */  ADC1_CH(13)
+#define ADC_SCALED_V5_CHANNEL                   /* PA3 = 3 */  ADC1_CH(15)
+#define ADC_EXTRAS_CHANNEL                      /* PA0 = 4 */  ADC1_CH(16)
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA4 = 5 */  ADC1_CH(18)
+
+#define ADC_CHANNELS \
+	((1 << ADC_EXTRAS_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_EXTERNAL_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL) | \
+	 (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL))
+
+// Definitions for drivers/adc/board_adc
+#define BOARD_ADC_USB_CONNECTED 0
+// a hack to also measure the external 5V rail
+#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL ADC_SCALED_V5_EXTERNAL_CHANNEL
+
+
+/* PWM Timers */
+#define BOARD_NUM_IO_TIMERS 2
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+#define HRT_PPM_CHANNEL         /* T8C2 */  2  /* use capture/compare channel 1 */
+#define GPIO_PPM_IN             /* PC7  */ GPIO_TIM8_CH2IN_1
+
+/* RC Serial port (input only) */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
+
+/* 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
+
+/* PD4 is ARMED
+ * The GPIO will be set as input while not armed with internal pull DOWN.
+ * While armed it shall be configured at a GPIO OUT set HIGH
+ */
+#define GPIO_ARMED_INIT  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN4)
+#define GPIO_ARMED       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN4)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_ARMED : GPIO_ARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_ARMED)
+
+/* All pins to initialize on boot */
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_ARMED_INIT, \
+		PX4_ADC_GPIO,    \
+		GPIO_CAN1_TX,    \
+		GPIO_CAN1_RX,    \
+	}
+
+/* Enable the buffer for the dmesg command */
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the Auterion FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/auterion/fmu-v6s/src/bootloader_main.c

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file 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 <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+void board_late_initialize(void)
+{
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/auterion/fmu-v6s/src/can.c

@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	return 0b01;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */

boards/auterion/fmu-v6s/src/hw_config.h

@@ -0,0 +1,126 @@
+/*
+ * 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 SERIAL0_DEV    0x01
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  0
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,1500000"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     60
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 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                   1
+#define BOARD_LED_OFF                  0
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+// Connected to SAI3_RXC on i.MX8MP side, has a pulldown by default
+#define BOARD_FORCE_BL_PIN             (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN3)
+#define BOARD_FORCE_BL_STATE           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 SERIAL0_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB SERIAL0_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */

boards/auterion/fmu-v6s/src/i2c.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(4),
+};

boards/auterion/fmu-v6s/src/init.c

@@ -0,0 +1,244 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * Auterion FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure Ethernet Reference Clock */
+	/* PLLQ1 is 100MHz, we need 50MHz on MCO1 => /2 */
+	/* stm32_mco1config(RCC_CFGR_MCO1_PLL1Q, RCC_CFGR_MCO1PRE(2)); */
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if !defined(BOOTLOADER)
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	if (nx_mount("/dev/mtdblock0", "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+		led_on(LED_RED);
+	}
+
+#endif /* !defined(BOOTLOADER) */
+
+	return OK;
+}

boards/auterion/fmu-v6s/src/led.c

@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive High to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If High it is on */
+	if (g_ledmap[led] != 0) {
+		return stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/auterion/fmu-v6s/src/mtd.cpp

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+
+static const px4_mft_device_t spi4 = {             // FM25V02A on FMUM native: 128K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi4,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/mnt/microsd",
+			.nblocks = (131072 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+		}
+	},
+};
+
+static const px4_mtd_entry_t fmum_eeprom = {
+	.device = &i2c4,
+	.npart = 5,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 224
+		},
+		{
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
+			.nblocks = 8
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 8
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 2,
+	.entries = {
+		&fmum_fram,
+		&fmum_eeprom
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 2,
+	.mfts = {
+		&mtd_mft,
+		&mft_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/auterion/fmu-v6s/src/spi.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin12}, SPI::DRDY{GPIO::PortD, GPIO::Pin14}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin10}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin4})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/auterion/fmu-v6s/src/timer_config.cpp

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM1_CH1  T FMU_CH1
+ * TIM1_CH2  T FMU_CH2
+ * TIM1_CH3  T FMU_CH3
+ * TIM1_CH4  T FMU_CH4
+ *
+ * TIM3_CH1  T FMU_CH5
+ * TIM3_CH2  T FMU_CH6
+ * TIM3_CH3  T FMU_CH7
+ * TIM3_CH4  T FMU_CH8
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/auterion/fmu-v6s/zenoh.px4board

@@ -0,0 +1,4 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_MODULES_ZENOH=y

boards/av/x-v1/default.px4board

@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/beaglebone/blue/default.px4board

@@ -30,7 +30,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/bitcraze/crazyflie/src/init.c

@@ -100,7 +100,7 @@ __END_DECLS
  *
  * Description:
  *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
  *   and mapped but before any devices have been initialized.
  *
  ************************************************************************************/

boards/bitcraze/crazyflie21/src/init.c

@@ -100,7 +100,7 @@ __END_DECLS
  *
  * Description:
  *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
  *   and mapped but before any devices have been initialized.
  *
  ************************************************************************************/

boards/bluerobotics/navigator/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,12 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE drivers__lis2mdl
-	MAIN lis2mdl
-	SRCS
-		lis2mdl_i2c.cpp
-		lis2mdl_spi.cpp
-		lis2mdl_main.cpp
-		lis2mdl.cpp
-	)
+
+add_subdirectory(neopixel)

boards/bluerobotics/navigator/cmake/upload.cmake

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if(DEFINED ENV{AUTOPILOT_HOST})
+	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
+else()
+	set(AUTOPILOT_HOST "raspberrypi")
+endif()
+
+if(DEFINED ENV{AUTOPILOT_USER})
+	set(AUTOPILOT_USER $ENV{AUTOPILOT_USER})
+else()
+	set(AUTOPILOT_USER "pi")
+endif()
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/navigator/*.config ${PX4_BINARY_DIR}/etc # source
+			"${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4" # destination
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)

boards/bluerobotics/navigator/default.px4board

@@ -0,0 +1,79 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_RC=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+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_MAVLINK=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y