make demo work with pca.

.ci/Jenkinsfile-hardware

@@ -809,9 +809,6 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'

.clang-format

@@ -1,13 +0,0 @@
-# Google C++ style as base
-Language: Cpp
-BasedOnStyle: Google
-
-# Indentation using tabs
-UseTab: ForContinuationAndIndentation
-TabWidth: 8
-IndentWidth: 8
-ContinuationIndentWidth: 8
-ConstructorInitializerIndentWidth: 8
-AccessModifierOffset: -8
-
-ColumnLimit: 120 # Allow more collumns

.vscode/settings.json

@@ -126,6 +126,8 @@
         },
         "search.showLineNumbers": true,
         "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
         "terminal.integrated.scrollback": 5000,
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
         "workbench.editor.highlightModifiedTabs": true,

Makefile

@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
 .PHONY: coverity_scan
@@ -375,10 +375,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
-format_clang:
-	$(call colorecho,'Formatting with clang-format')
-	@"$(SRC_DIR)"/Tools/astyle/files_to_check_code_style.sh | xargs clang-format -i -style=file
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance

ROMFS/cannode/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 add_subdirectory(init.d)
+add_subdirectory(mixers)

ROMFS/cannode/init.d/CMakeLists.txt

@@ -33,4 +33,5 @@
 
 px4_add_romfs_files(
 	rcS
+	rc.output_defaults
 )

ROMFS/cannode/init.d/rc.output_defaults

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
+
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass_ucan

ROMFS/cannode/init.d/rcS

@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+#rgbled start -X -q
+#rgbled_ncp5623c start -X -q
 
 #
 # board sensors: rc.sensors
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare -s SENS_EN_PX4FLOW 1
-then
-	px4flow start -X &
-fi
+#if param compare SENS_EN_PX4FLOW 1
+#then
+#	px4flow start -X &
+#fi
 
-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
-uavcannode start
+#uavcannode start
 unset R

ROMFS/cannode/mixers/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,4 +31,6 @@
 #
 ############################################################################
 
-add_subdirectory(sagetech_mxs)
+px4_add_romfs_files(
+	IO_pass_ucan.main.mix
+)

ROMFS/cannode/mixers/IO_pass_ucan.main.mix

@@ -0,0 +1,12 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter

@@ -1,101 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-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 PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10040_quadx

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_airplane

@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1
 
 param set-default MPC_ALT_MODE 2
 
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -9,6 +9,7 @@
 
 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0
 
 # LPE: Flow-only mode
 param set-default LPE_FUSION 242

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

@@ -35,12 +35,8 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
-	10019_omnicopter
 	10020_if750a
 	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock

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

@@ -30,12 +30,3 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
 
 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-
-# To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
-	udp_sihsim_port_local=$((19450+px4_instance))
-	udp_sihsim_port_remote=$((19410+px4_instance))
-	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
-	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
-	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
-fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -154,8 +154,6 @@ param set-default SDLOG_DIRS_MAX 7
 
 param set-default TRIG_INTERFACE 3
 
-param set-default SYS_FAILURE_EN 1
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -204,11 +202,8 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params
 
 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
   . px4-rc.simulator
 fi

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.output_defaults
 )

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default COM_SPOOLUP_TIME 1.5
+param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8

ROMFS/px4fmu_common/init.d/airframes/22222_generic_output

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Generic Output
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.output_defaults
+
+
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass
+
+set PWM_OUT 12

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

@@ -104,6 +104,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1
 

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3
 
 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0
 
@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0
 
 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"

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

@@ -147,7 +147,7 @@ px4_add_romfs_files(
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
+	22222_generic_output
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle

ROMFS/px4fmu_common/init.d/rc.output_defaults

@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12

Tools/HIL/run_nsh_cmd.py

@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):
 
 
     timeout_start = time.monotonic()
-    timeout = 600 # 10 minutes
+    timeout = 240 # 4 minutes
 
     return_code = 0
 

Tools/astyle/files_to_check_code_style.sh

@@ -8,24 +8,23 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -not -path "msg/templates/urtps/*" \
-    -not -path "platforms/nuttx/NuttX/*" \
-    -not -path "platforms/qurt/dspal/*" \
-    -not -path "src/drivers/gps/devices/*" \
-    -not -path "src/drivers/uavcan/libuavcan/*" \
-    -not -path "src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis/*" \
-    -not -path "src/drivers/cyphal/libcanard/*" \
-    -not -path "src/lib/crypto/monocypher/*" \
-    -not -path "src/lib/events/libevents/*" \
-    -not -path "src/lib/parameters/uthash/*" \
-    -not -path "src/modules/ekf2/EKF/*" \
-    -not -path "src/modules/gyro_fft/CMSIS_5/*" \
-    -not -path "src/modules/mavlink/mavlink/*" \
-    -not -path "src/modules/micrortps_bridge/micro-CDR/*" \
-    -not -path "src/modules/micrortps_bridge/microRTPS_client/*" \
-    -not -path "test/mavsdk_tests/catch2/*" \
-    -not -path "src/lib/crypto/monocypher/*" \
-    -not -path "src/lib/crypto/libtomcrypt/*" \
-    -not -path "src/lib/crypto/libtommath/*" \
-    -not -path "src/modules/microdds_client/Micro-XRCE-DDS-Client/*" \
+    -path msg/templates/urtps -prune -o \
+    -path platforms/nuttx/NuttX -prune -o \
+    -path platforms/qurt/dspal -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
+    -path src/drivers/cyphal/libcanard -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
+    -path src/lib/events/libevents -prune -o \
+    -path src/lib/parameters/uthash -prune -o \
+    -path src/modules/ekf2/EKF -prune -o \
+    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
+    -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
+    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
+    -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
+    -path src/lib/crypto/libtomcrypt -prune -o \
+    -path src/lib/crypto/libtommath -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/flash_nxp/flash_ucan.jlink

@@ -0,0 +1,7 @@
+if SWD
+speed 1000
+r
+loadbin /Users/landon/git/px4/build/nxp_ucans32k146_nxp_demo/deploy/34.bin,0x6000
+r
+g
+q

Tools/flash_nxp/flash_ucan.sh

@@ -0,0 +1,3 @@
+#!/bin/zsh
+
+JLinkExe -device S32K146 -CommandFile /Users/landon/git/px4/Tools/flash_nxp/flash_ucan.jlink

Tools/jmavsim_run.sh

@@ -5,13 +5,12 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"
 
-port=4560
+tcp_port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -19,14 +18,11 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
-		u)
-			protocol="udp"
-			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			port=$OPTARG
+			tcp_port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -57,11 +53,7 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 done
 
 if [ "$device" == "" ]; then
-	if [ "$protocol" == "tcp" ]; then
-		device="-tcp $ip:$port"
-	else
-		device="-udp $port"
-	fi
+	device="-tcp $ip:$tcp_port"
 else
 	device="-serial $device $baudrate"
 fi

Tools/kconfig/board_cmake_to_kconfig.py

@@ -0,0 +1,72 @@
+#!/bin/python3
+
+import parse_cmake.parsing as cmp
+import glob
+import pprint
+import re
+import os
+
+__location__ = os.path.realpath(
+    os.path.join(os.getcwd(), os.path.dirname(__file__)))
+
+serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
+io_regex = r"IO (.*)"
+romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"
+
+
+
+def stripComments(code):
+    code = str(code)
+    return re.sub(r'(?m) *#.*\n?', '', code)
+
+lut = {}
+with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
+    for line in lookup:
+        if ',' in line:
+            key, value = line.strip().split(',')
+            lut[key] = value
+
+#for name in glob.glob('boards/*/*/*.cmake'):
+px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
+
+for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
+    print(name)
+    with open(name, 'r') as f:
+        romfs_set = False
+        w = open(name.replace(".cmake",".px4board"), "w")
+        for line in f:
+            clean_line = stripComments(line.strip())
+            value = lut.get(clean_line)
+            if value is not None:
+                print(value, file=w)
+                print(value)
+            else:
+                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
+                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
+                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
+
+    if(romfs_set == False):
+        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
+
+
+    w.close()

Tools/kconfig/cmake_kconfig_lut.txt

@@ -0,0 +1,204 @@
+PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
+PLATFORM posix,CONFIG_PLATFORM_POSIX=y
+CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
+NO_HELP,CONFIG_BOARD_NO_HELP=y
+EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
+BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
+UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
+UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
+UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
+TESTING,CONFIG_BOARD_TESTING=y
+ETHERNET,CONFIG_BOARD_ETHERNET=y
+adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
+adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
+barometer,CONFIG_COMMON_BAROMETERS=y
+barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
+barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
+barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
+barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
+barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
+barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
+barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
+barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
+batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
+bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
+camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
+camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
+differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+dshot,CONFIG_DRIVERS_DSHOT=y
+gps,CONFIG_DRIVERS_GPS=y
+heater,CONFIG_DRIVERS_HEATER=y
+imu,CONFIG_COMMON_IMU=y
+imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
+imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
+imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
+imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
+imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
+imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
+imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
+imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
+imu/st,CONFIG_DRIVERS_IMU_ST=y
+irlock,CONFIG_DRIVERS_IRLOCK=y
+lights,CONFIG_COMMON_LIGHT=y
+lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
+lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+magnetometer,CONFIG_COMMON_MAGNETOMETER=y
+magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
+magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
+optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
+optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+osd,CONFIG_DRIVERS_OSD=y
+pca9685,CONFIG_DRIVERS_PCA9685=y
+pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
+pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
+pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
+pwm_out,CONFIG_DRIVERS_PWM_OUT=y
+px4io,CONFIG_DRIVERS_PX4IO=y
+rc_input,CONFIG_DRIVERS_RC_INPUT=y
+roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
+rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
+rpm,CONFIG_DRIVERS_RPM=y
+safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
+smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
+telemetry,CONFIG_DRIVERS_TELEMETRY=y
+test_ppm,CONFIG_DRIVERS_TEST_PPM=y
+tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
+uavcan,CONFIG_DRIVERS_UAVCAN=y
+uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
+velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
+attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+battery_status,CONFIG_MODULES_BATTERY_STATUS=y
+camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
+commander,CONFIG_MODULES_COMMANDER=y
+control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
+dataman,CONFIG_MODULES_DATAMAN=y
+ekf2,CONFIG_MODULES_EKF2=y
+esc_battery,CONFIG_MODULES_ESC_BATTERY=y
+events,CONFIG_MODULES_EVENTS=y
+flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
+fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
+gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
+gyro_fft,CONFIG_MODULES_GYRO_FFT=y
+land_detector,CONFIG_MODULES_LAND_DETECTOR=y
+landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+load_mon,CONFIG_MODULES_LOAD_MON=y
+local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+logger,CONFIG_MODULES_LOGGER=y
+mavlink,CONFIG_MODULES_MAVLINK=y
+mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
+mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
+mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
+navigator,CONFIG_MODULES_NAVIGATOR=y
+px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
+rc_update,CONFIG_MODULES_RC_UPDATE=y
+replay,CONFIG_MODULES_REPLAY=y
+rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
+sensors,CONFIG_MODULES_SENSORS=y
+sih,CONFIG_MODULES_SIH=y
+simulator,CONFIG_MODULES_SIMULATOR=y
+temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
+uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
+gimbal,CONFIG_MODULES_GIMBAL=y
+vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
+bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
+dmesg,CONFIG_SYSTEMCMDS_DMESG=y
+dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
+dyn,CONFIG_SYSTEMCMDS_DYN=y
+failure,CONFIG_SYSTEMCMDS_FAILURE=y
+gpio,CONFIG_SYSTEMCMDS_GPIO=y
+hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
+led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
+mft,CONFIG_SYSTEMCMDS_MFT=y
+microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
+mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+mtd,CONFIG_SYSTEMCMDS_MTD=y
+netman,CONFIG_SYSTEMCMDS_NETMAN=y
+nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
+param,CONFIG_SYSTEMCMDS_PARAM=y
+perf,CONFIG_SYSTEMCMDS_PERF=y
+pwm,CONFIG_SYSTEMCMDS_PWM=y
+reboot,CONFIG_SYSTEMCMDS_REBOOT=y
+reflect,CONFIG_SYSTEMCMDS_REFLECT=y
+sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
+serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
+system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+tests,CONFIG_SYSTEMCMDS_TESTS=y
+top,CONFIG_SYSTEMCMDS_TOP=y
+topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+uorb,CONFIG_SYSTEMCMDS_UORB=y
+usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+ver,CONFIG_SYSTEMCMDS_VER=y
+work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
+fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
+fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
+fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
+fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+hello,CONFIG_EXAMPLES_HELLO=y
+hwtest,CONFIG_EXAMPLES_HWTEST=y
+matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
+px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+work_item,CONFIG_EXAMPLES_WORK_ITEM=y
+add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y

Tools/px4moduledoc/srcparser.py

@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/sitl_run.sh

@@ -74,9 +74,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
-	elif [ "$program" == "sihsim" ]; then
-		echo "empty model, setting quadx as default for sihsim"
-		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -217,12 +214,6 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
-elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
-	export SIM_MODE="sihsim"
-	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
-		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
-		exit 1
-	fi
 fi
 
 pushd "$rootfs" >/dev/null

boards/airmind/mindpx-v2/nuttx-config/include/board.h

@@ -40,11 +40,11 @@
 /************************************************************************************
  * Included Files
  ************************************************************************************/
-#include <nuttx/config.h>
-
 #include "board_dma_map.h"
+
+#include <nuttx/config.h>
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include <stm32.h>
@@ -83,11 +83,11 @@
  * LSE - not installed
  */
 
-#define STM32_BOARD_XTAL 8000000ul
+#define STM32_BOARD_XTAL        8000000ul
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+#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.
@@ -103,68 +103,68 @@
  *         = 48,000,000
  */
 
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
 
-#define STM32_SYSCLK_FREQUENCY 168000000ul
+#define STM32_SYSCLK_FREQUENCY  168000000ul
 
 /* AHB clock (HCLK) is SYSCLK (168MHz) */
 
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
 
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 4)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
 
 /* Timers driven from APB1 will be twice PCLK1 */
 
-#define STM32_APB1_TIM2_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN (2 * STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
 
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB2 will be twice PCLK2 */
 
-#define STM32_APB2_TIM1_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (2 * STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
  * otherwise frequency is 2xAPBx.
  * Note: TIM1,8-11 are on APB2, others on APB1
  */
 
-#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
-#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
-#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
-#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
-#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
-#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
-#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
-#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
-#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
-#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
-#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
-#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
-#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
-#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
 
 /* SDIO dividers.  Note that slower clocking is required when DMA is disabled
  * in order to avoid RX overrun/TX underrun errors due to delayed responses
@@ -174,16 +174,16 @@
  * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
  */
 
-#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
+#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
 
 /* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
  * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
  */
 
 #ifdef CONFIG_STM32_SDIO_DMA
-#define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
 #else
-#define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
 #endif
 
 /* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
@@ -191,9 +191,9 @@
  */
 
 #ifdef CONFIG_STM32_SDIO_DMA
-#define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
 #else
-#define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
 #endif
 
 /* Alternate function pin selections ************************************************/
@@ -201,27 +201,27 @@
 /*
  * UARTs.
  */
-#define GPIO_USART1_RX GPIO_USART1_RX_2 /* RC_INPUT */
-#define GPIO_USART1_TX GPIO_USART1_TX_2
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
 
-#define GPIO_USART2_RX GPIO_USART2_RX_2
-#define GPIO_USART2_TX GPIO_USART2_TX_2
-#define GPIO_USART2_RTS GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS GPIO_USART2_CTS_2
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
 
-#define GPIO_USART3_RX GPIO_USART3_RX_3
-#define GPIO_USART3_TX GPIO_USART3_TX_3
-#define GPIO_USART3_CTS 0  // unused
-#define GPIO_USART3_RTS 0  // unused
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
 
-#define GPIO_UART4_RX GPIO_UART4_RX_1
-#define GPIO_UART4_TX GPIO_UART4_TX_1
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX GPIO_USART6_RX_2
-#define GPIO_USART6_TX GPIO_USART6_TX_2
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
 
-#define GPIO_UART7_RX GPIO_UART7_RX_1
-#define GPIO_UART7_TX GPIO_UART7_TX_1
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
 
 /* UART8 has no alternate pin config */
 
@@ -230,8 +230,8 @@
  *
  * CAN1 is routed to the onboard transceiver.
  */
-#define GPIO_CAN1_RX GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX GPIO_CAN1_TX_3
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
 
 /*
  * I2C
@@ -240,31 +240,32 @@
  * reset the bus to clear stuck slaves.  They match the pin configuration,
  * but are normally-high GPIOs.
  */
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
-#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
 
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
-#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
 
 /*
  * SPI
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
-#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)
-#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_2 | GPIO_SPEED_50MHz)
-#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1 | GPIO_SPEED_50MHz)
-#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2 | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1 | GPIO_SPEED_50MHz)
-#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1 | GPIO_SPEED_50MHz)
-#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
 
-#endif /* __ARCH_BOARD_BOARD_H */
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/airmind/mindpx-v2/nuttx-config/include/board_dma_map.h

@@ -33,61 +33,55 @@
 
 #pragma once
 
+
 /*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5
-| Stream 6         | Stream 7         |
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
 |------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1
-| -                | SPI3_TX_2        | | Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  - |
-TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        | | Channel 2  | TIM4_CH1         | - |
-I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         | |
-Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1 |
-TIM2_CH2         | TIM2_UP_2        | |            |                  |   TIM2_CH3       |                  | | | |
-TIM2_CH4_1     |   TIM2_CH4_2     | | Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1
-| UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         | | Channel 5  | UART8_TX         | UART7_TX
-| TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         | | |
-|                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  | | |
-Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | - |
-TIM5_UP_2        | -                | |            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |
-TIM5_TRIG_2    |                  |                  |                  |                  | | Channel 7  | - | TIM6_UP
-| I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          | | |
-|                  |                  |                  |                  |                  |                  | | |
-Usage      |                  |                  |                  |                  |                  | | | |
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
 
 
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5
-| Stream 6         | Stream 7         |
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
 |------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1
-| TIM1_CH1_1       | -                | |            |                  |                  |   TIM8_CH2_1     | | | |
-TIM1_CH2_1     |                  | |            |                  |                  |   TIM8_CH3_1     | | | |
-TIM1_CH3_1     |                  | | Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2 |
-SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           | | Channel 2  | ADC3_1           | ADC3_2 | -
-| SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          | | Channel 3  |
-SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | - |
-QUADSPI          | | Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | - |
-USART1_RX_2      | SDIO             | USART1_TX        | | Channel 5  | -                | USART6_RX_1      |
-USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      | |
-Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP |
-TIM1_CH3_2       | -                | |            |                  |                  |                  | |
-TIM1_TRIG_2    |                  |                  |                  | |            |                  | | | |
-TIM1_COM       |                  |                  |                  | | Channel 7  | -                | TIM8_UP |
-TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         | | | |
-|                  |                  |                  |                  |                  |   TIM8_TRIG      | | |
-|                  |                  |                  |                  |                  |                  |
-TIM8_COM       | |            |                  |                  |                  |                  | | | | | |
-Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        | | SDIO | |
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
  */
 
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 
+
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI4_RX DMAMAP_SPI4_RX_1     // DMA2, Stream 0, Channel 4    (SPI sensors RX)
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1  // DMA2, Stream 1, Channel 4
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1  // DMA2, Stream 2, Channel 4
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
+#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
 //      AVAILABLE                             // DMA2, Stream 3
-#define DMACHAN_SPI4_TX DMAMAP_SPI4_TX_2  // DMA2, Stream 4, Channel 5    (SPI sensors TX)
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
 //      AVAILABLE                             // DMA2, Stream 5, Channel 6
-#define DMAMAP_SDIO DMAMAP_SDIO_2  // DMA2, Stream 6, Channel 4
+#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -173,7 +174,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y

boards/airmind/mindpx-v2/src/board_config.h

@@ -43,8 +43,8 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
 
 /****************************************************************************************************
@@ -52,77 +52,75 @@
  ****************************************************************************************************/
 /* Configuration ************************************************************************************/
 
+
 /* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
-#define GPIO_LED1 (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN8)
-#define BOARD_OVERLOAD_LED LED_RED
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define BOARD_OVERLOAD_LED     LED_RED
 
 /*
  * ADC channels
  *
- * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc
- * driver
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
  */
 #define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
 
 // ADC defines to be used in sensors.cpp to read from a particular channel
-#define ADC_5V_RAIL_SENSE 4
-#define ADC_BATTERY_CURRENT_CHANNEL 10
-#define ADC_BATTERY_VOLTAGE_CHANNEL 12
-#define ADC_RC_RSSI_CHANNEL 11
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_BATTERY_CURRENT_CHANNEL	10
+#define ADC_BATTERY_VOLTAGE_CHANNEL	12
+#define ADC_RC_RSSI_CHANNEL		11
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 
 /* Power supply control and monitoring GPIOs */
-// #define GPIO_VDD_5V_PERIPH_EN
-// (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) #define GPIO_VDD_BRICK_VALID
-// (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_SERVO_VALID
-// (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) #define GPIO_VDD_3V3_SENSORS_EN
-// (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) #define GPIO_VDD_5V_HIPOWER_OC
-// (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) #define GPIO_VDD_5V_PERIPH_OC
-// (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
 
 /* Tone alarm output */
-#define TONE_ALARM_TIMER 14  /* timer 14 */
-#define TONE_ALARM_CHANNEL 1 /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN7)
-#define GPIO_TONE_ALARM (GPIO_ALT | GPIO_AF9 | GPIO_SPEED_2MHz | GPIO_PUSHPULL | GPIO_PORTA | GPIO_PIN7)
+#define TONE_ALARM_TIMER	14	/* timer 14 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 
 /* AUX PWMs
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS 8
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
 
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing
  */
-#define GPIO_OTGFS_VBUS (GPIO_INPUT | GPIO_FLOAT | GPIO_SPEED_100MHz | GPIO_OPENDRAIN | GPIO_PORTA | GPIO_PIN9)
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+
 
 /* High-resolution timer */
-#define HRT_TIMER 8         /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
 
-#define HRT_PPM_CHANNEL 1
-#define GPIO_PPM_IN GPIO_TIM8_CH1IN_1
+#define HRT_PPM_CHANNEL		1
+#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
-#define PWMIN_TIMER 4
-#define PWMIN_TIMER_CHANNEL 1
-#define GPIO_PWM_IN GPIO_TIM1_CH1IN_2
+#define PWMIN_TIMER		4
+#define PWMIN_TIMER_CHANNEL	1
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
 
-#define RC_SERIAL_PORT "/dev/ttyS0"
+#define RC_SERIAL_PORT		"/dev/ttyS0"
 
 // #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_SBUS_INV (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10)
-#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
 
-#define GPIO_FRSKY_INV (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN12)
-#define INVERT_FRSKY(_invert_true) px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
+#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
 
 /* Power switch controls */
-#define SPEKTRUM_POWER(_on_true) \
-	do {                     \
-	} while (0)
+#define SPEKTRUM_POWER(_on_true)      do { } while (0)
 
 /*
  * MindPXv2 has one RC_IN
@@ -133,21 +131,22 @@
  * The FMU can drive GPIO PPM_IN as an output
  */
 
-#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTC | GPIO_PIN6)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
  * provides the true logic GPIO BOARD_ADC_xxxx macros.
  */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_BRICK_VALID (1)
-#define BOARD_ADC_SERVO_VALID (1)
-#define BOARD_ADC_PERIPH_5V_OC (0)
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
 #define BOARD_ADC_HIPOWER_5V_OC (0)
 
+
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
@@ -183,8 +182,10 @@ extern void stm32_spiinitialize(void);
 
 extern void stm32_usbinitialize(void);
 
+
 #define board_peripheral_reset(ms)
 
+
 #include <px4_platform_common/board_common.h>
 
 #endif /* __ASSEMBLY__ */

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

@@ -41,17 +41,20 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <errno.h>
-#include <nuttx/can/can.h>
 #include <px4_platform_common/px4_config.h>
 
-#include "arm_arch.h"
-#include "board_config.h"
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
 #include "chip.h"
+#include "arm_arch.h"
+
 #include "stm32.h"
 #include "stm32_can.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
@@ -61,14 +64,14 @@
 /* Configuration ********************************************************************/
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#undef 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
+#  define CAN_PORT 1
 #else
-#define CAN_PORT 2
+#  define CAN_PORT 2
 #endif
 
 /************************************************************************************
@@ -88,7 +91,8 @@ int can_devinit(void);
  *
  ************************************************************************************/
 
-int can_devinit(void) {
+int can_devinit(void)
+{
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;

boards/airmind/mindpx-v2/src/i2c.cpp

@@ -37,3 +37,4 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusInternal(1),
 	initI2CBusExternal(2),
 };
+

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

@@ -45,32 +45,37 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_pwm_output.h>
-#include <errno.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/board.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/mm/gran.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/sdio.h>
-#include <nuttx/spi/spi.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform/board_dma_alloc.h>
-#include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
+
 #include <stdbool.h>
 #include <stdio.h>
-#include <stm32.h>
-#include <stm32_uart.h>
 #include <string.h>
+#include <debug.h>
+#include <errno.h>
 #include <syslog.h>
 
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
 #include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -100,7 +105,8 @@ __END_DECLS
  *          0 if just resetting
  *
  ************************************************************************************/
-__EXPORT void board_on_reset(int status) {
+__EXPORT void board_on_reset(int status)
+{
 	/* configure the GPIO pins to outputs and keep them low */
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
@@ -129,7 +135,9 @@ __EXPORT void board_on_reset(int status) {
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void
+stm32_boardinitialize(void)
+{
 	// Reset all PWM to Low outputs.
 
 	board_on_reset(-1);
@@ -140,13 +148,13 @@ __EXPORT void stm32_boardinitialize(void) {
 
 	/* configure ADC pins */
 
-	stm32_configgpio(GPIO_ADC1_IN4);  /* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN10); /* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN12); /* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
-	stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
 
 	/* configure power supply control/sense pins */
 
@@ -167,6 +175,7 @@ __EXPORT void stm32_boardinitialize(void) {
 
 	stm32_configgpio(GPIO_I2C1_SCL);
 	stm32_configgpio(GPIO_I2C1_SDA);
+
 }
 
 /****************************************************************************
@@ -199,7 +208,8 @@ static struct spi_dev_s *spi2;
 static struct spi_dev_s *spi4;
 static struct sdio_dev_s *sdio;
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	px4_platform_init();
 
 	/* configure the DMA allocator */
@@ -253,12 +263,14 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
 	SPI_SETBITS(spi1, 8);
 
+
 	spi2 = px4_spibus_initialize(2);
 
 	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi2, 10000000);
 	SPI_SETBITS(spi2, 8);
 
+
 #ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 

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

@@ -37,12 +37,14 @@
  * PX4FMU LED backend.
  */
 
-#include <arch/board/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.h"
 #include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
 
 /*
  * Ideally we'd be able to get these from arm_internal.h,
@@ -58,27 +60,31 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-__EXPORT void led_init() {
+__EXPORT void led_init()
+{
 	/* Configure LED1 GPIO for output */
 
 	stm32_configgpio(GPIO_LED1);
 }
 
-__EXPORT void led_on(int led) {
+__EXPORT void led_on(int led)
+{
 	if (led == 1) {
 		/* Pull down to switch on */
 		stm32_gpiowrite(GPIO_LED1, false);
 	}
 }
 
-__EXPORT void led_off(int led) {
+__EXPORT void led_off(int led)
+{
 	if (led == 1) {
 		/* Pull up to switch off */
 		stm32_gpiowrite(GPIO_LED1, true);
 	}
 }
 
-__EXPORT void led_toggle(int led) {
+__EXPORT void led_toggle(int led)
+{
 	if (led == 1) {
 		if (stm32_gpioread(GPIO_LED1)) {
 			stm32_gpiowrite(GPIO_LED1, false);

boards/airmind/mindpx-v2/src/spi.cpp

@@ -31,30 +31,24 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
-#include <px4_arch/spi_hw_description.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1,
-		   {
-			   initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
-		   }),
-	initSPIBusExternal(SPI::Bus::SPI2,
-			   {
-				   initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
-			   }),
-	initSPIBus(SPI::Bus::SPI4,
-		   {
-			   initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2},
-					 SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-			   initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
-			   initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
-			   initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3},
-					 SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
-			   initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3},
-					 SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
-		   }),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

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

@@ -41,16 +41,18 @@
  * Included Files
  ************************************************************************************/
 
-#include <arm_arch.h>
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
 #include <debug.h>
+
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-#include <px4_platform_common/px4_config.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include <stm32.h>
-#include <sys/types.h>
 
+#include <arm_arch.h>
+#include <stm32.h>
 #include "board_config.h"
 
 /************************************************************************************
@@ -73,7 +75,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_usbinitialize(void) {
+__EXPORT void stm32_usbinitialize(void)
+{
 	/* The OTG FS has an internal soft pull-up */
 
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
@@ -98,4 +101,8 @@ __EXPORT void stm32_usbinitialize(void) {
  *
  ************************************************************************************/
 
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); }
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
+

boards/ark/can-flow/default.px4board

@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -11,16 +10,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

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

@@ -3,8 +3,6 @@
 # board sensors init
 #------------------------------------------------------------------------------
 
-param set-default IMU_GYRO_RATEMAX 1000
-
 # Internal SPI
 paw3902 -s start -Y 180
 

boards/ark/can-flow/nuttx-config/include/board.h

@@ -40,7 +40,7 @@
 
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include <stm32.h>
@@ -50,19 +50,19 @@
  * HSE - 8  MHz Crystal
  * LSE - not installed
  */
-#define STM32_BOARD_USEHSE 1
-#define STM32_BOARD_XTAL 8000000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
 
 /* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
 
 #define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
 #define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
@@ -74,63 +74,63 @@
 #define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
 #define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
 
-#define STM32_SYSCLK_FREQUENCY 96000000ul
+#define STM32_SYSCLK_FREQUENCY  96000000ul
 
 /* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#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_TIM12_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN (2 * STM32_PCLK1_FREQUENCY)
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
 
 /* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
 
 /* Alternate function pin selections ************************************************/
 
 /* UARTs */
-#define GPIO_USART2_RX GPIO_USART2_RX_1
-#define GPIO_USART2_TX GPIO_USART2_TX_1
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
 
 /* CAN */
-#define GPIO_CAN1_RX GPIO_CAN1_RX_2
-#define GPIO_CAN1_TX GPIO_CAN1_TX_2
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_2
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_2
 
 /* SPI */
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
-#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1   /* PB10 */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
 
 #endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-flow/nuttx-config/include/board_dma_map.h

@@ -35,10 +35,10 @@
 
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX  // DMA1, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX  // DMA1, Stream 4, Channel 0
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2  // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2  // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -105,7 +105,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y

boards/ark/can-flow/src/board_config.h

@@ -39,45 +39,40 @@
 
 #pragma once
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
 
 /* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0 /* PA9  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN9)
+#define GPIO_CAN1_SILENT_S0   /* PA9  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN9)
 
 /* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PB13 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN13)
-#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
 
 /* Boot config */
-#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15 | GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED /* PB3  */ \
-	(GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN3)
-#define GPIO_nLED_BLUE /* PA8  */ \
-	(GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
+#define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
 
 #define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
-#define BROADCOM_AFBR_S50_S2PI_CS /* PB12 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN12)
-#define BROADCOM_AFBR_S50_S2PI_IRQ /* PB4  */ (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTB | GPIO_PIN4 | GPIO_EXTI)
-#define BROADCOM_AFBR_S50_S2PI_CLK /* PB10 */ GPIO_SPI2_SCK_1
-#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */ GPIO_SPI2_MOSI_1
-#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */ GPIO_SPI2_MISO_1
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
 
-#define BOARD_HAS_CONTROL_STATUS_LEDS 1
-#define BOARD_OVERLOAD_LED LED_RED
-#define BOARD_ARMED_STATE_LED LED_BLUE
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */
-#define HRT_TIMER 3         /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
 
 __BEGIN_DECLS
 

boards/ark/can-flow/src/boot.c

@@ -38,15 +38,16 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <nuttx/board.h>
 #include <px4_config.h>
 #include <stdint.h>
-#include <string.h>
-
-#include "board.h"
 #include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
 
 __BEGIN_DECLS
 extern void led_init(void);
@@ -64,7 +65,8 @@ __END_DECLS
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -78,6 +80,7 @@ __EXPORT void stm32_boardinitialize(void) {
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
+
 }
 
 /************************************************************************************
@@ -89,7 +92,10 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ************************************************************************************/
 
-void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); }
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
 
 /****************************************************************************
  * Name: board_get_product_name
@@ -108,7 +114,8 @@ void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1
  *
  ****************************************************************************/
 
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
 	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
@@ -129,13 +136,14 @@ uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
  *
  ****************************************************************************/
 
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
 	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
 
 	hw_version->major = HW_VERSION_MAJOR;
 	hw_version->minor = HW_VERSION_MINOR;
 
-	return board_get_mfguid(*(mfguid_t *)hw_version->unique_id);
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
 }
 
 /****************************************************************************
@@ -152,7 +160,8 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
  *   None
  *
  ****************************************************************************/
-void board_indicate(uiindication_t indication) {
+void board_indicate(uiindication_t indication)
+{
 	if (indication == off) {
 		bootloader_led_off(GPIO_nLED_RED);
 		bootloader_led_off(GPIO_nLED_BLUE);
@@ -161,8 +170,8 @@ void board_indicate(uiindication_t indication) {
 		bootloader_led_on(GPIO_nLED_RED);
 		bootloader_led_on(GPIO_nLED_BLUE);
 
-	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response) ||
-		   (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
+	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
+		   || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
 		bootloader_led_on(GPIO_nLED_RED);
 		bootloader_led_off(GPIO_nLED_BLUE);
 

boards/ark/can-flow/src/boot_config.h

@@ -50,12 +50,13 @@
  * todo:make this be pulled in from a targed's build
  * files in nuttx*/
 
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_flash.h>
-
 #include "board_config.h"
 #include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -63,11 +64,11 @@
 
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
-// todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS 5000
-#define OPT_NODE_STATUS_RATE_MS 800
-#define OPT_NODE_INFO_RATE_MS 50
-#define OPT_BL_NUMBER_TIMERS 7
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
 
 /*
  *  This Option set is set to 1 ensure a provider of firmware has an
@@ -90,33 +91,34 @@
  *   no            0                       1       Not Active
  *
  */
-#define OPT_WAIT_FOR_GETNODEINFO 0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
-#define OPT_ENABLE_WD 1
+#define OPT_ENABLE_WD           1
 
-#define OPT_RESTART_TIMEOUT_MS 20000
+#define OPT_RESTART_TIMEOUT_MS          20000
 
 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K (1024 * 64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
 
 /* Reserved for the application out of the total
  * system flash minus the BOOTLOADER_SIZE_IN_K
  */
-#define OPT_APPLICATION_RESERVER_IN_K 0
+#define OPT_APPLICATION_RESERVER_IN_K    0
 
-#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE - (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K))
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
 
-#define FLASH_BASE STM32_FLASH_BASE
-#define FLASH_SIZE STM32_FLASH_SIZE
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
 
 #define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE - OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint64_t)))
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
 
 /* If this board uses big flash that have large sectors */
 

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

@@ -41,17 +41,20 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <errno.h>
-#include <nuttx/can/can.h>
 #include <px4_platform_common/px4_config.h>
 
-#include "arm_arch.h"
-#include "board_config.h"
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
 #include "chip.h"
+#include "arm_arch.h"
+
 #include "stm32.h"
 #include "stm32_can.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
@@ -61,14 +64,14 @@
 /* Configuration ********************************************************************/
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#undef 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
+#  define CAN_PORT 1
 #else
-#define CAN_PORT 2
+#  define CAN_PORT 2
 #endif
 
 /************************************************************************************
@@ -89,7 +92,8 @@ int can_devinit(void);
  *
  ************************************************************************************/
 
-int can_devinit(void) {
+int can_devinit(void)
+{
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;

boards/ark/can-flow/src/init.c

@@ -41,28 +41,34 @@
  * subsystems and perform board-specific initialization.
  */
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_watchdog.h>
-#include <errno.h>
-#include <nuttx/board.h>
-#include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
+
 #include <stdbool.h>
 #include <stdio.h>
-#include <stm32.h>
-#include <stm32_uart.h>
 #include <string.h>
+#include <debug.h>
+#include <errno.h>
 #include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
 #include <systemlib/px4_macros.h>
 
-#include "board_config.h"
+#include <px4_platform_common/init.h>
 
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 __BEGIN_DECLS
@@ -81,7 +87,8 @@ __END_DECLS
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	watchdog_init();
 
 	// Configure CAN interface
@@ -120,7 +127,8 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ****************************************************************************/
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	px4_platform_init();
 
 	// Configure LEDs.
@@ -140,7 +148,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 	}
 
-#endif  // FLASH_BASED_PARAMS
+#endif // FLASH_BASED_PARAMS
 
 	/* initial LED state */
 	drv_led_start();

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

@@ -37,12 +37,14 @@
  * board LED backend.
  */
 
-#include <arch/board/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.h"
 #include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
 
 /*
  * Ideally we'd be able to get these from up_internal.h,
@@ -60,38 +62,54 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-#define xlat(p) (p)
+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,
 	GPIO_nLED_RED,
 };
 
-__EXPORT void led_init(void) {
+__EXPORT void led_init(void)
+{
 	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
 	}
 }
 
-__EXPORT void bootloader_led_on(int led) {
+__EXPORT void bootloader_led_on(int led)
+{
 	/* Pull Down to switch on */
 	stm32_gpiowrite(led, false);
 }
 
-__EXPORT void bootloader_led_off(int led) {
+__EXPORT void bootloader_led_off(int led)
+{
 	/* Pull Up to switch on */
 	stm32_gpiowrite(led, true);
 }
 
-static void phy_set_led(int led, bool state) {
+static void phy_set_led(int led, bool state)
+{
 	/* Pull Down to switch on */
 	stm32_gpiowrite(g_ledmap[led], !state);
 }
 
-static bool phy_get_led(int led) { return !stm32_gpioread(g_ledmap[led]); }
+static bool phy_get_led(int led)
+{
+	return !stm32_gpioread(g_ledmap[led]);
+}
 
-__EXPORT void led_on(int led) { phy_set_led(xlat(led), true); }
+__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_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))); }
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}

boards/ark/can-flow/src/spi.cpp

@@ -31,27 +31,20 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
-#include <px4_arch/spi_hw_description.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1,
-		   {
-			   initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15},
-					 SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-			   initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
-			   initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
-			   initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
-		   }),
-	initSPIBus(SPI::Bus::SPI2,
-		   {
-			   initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-		   }),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
+		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/can-gps/default.px4board

@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=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/ark/can-gps/init/rc.board_defaults

@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1
 
 safety_button start
 tone_alarm start

boards/ark/can-gps/nuttx-config/include/board.h

@@ -40,7 +40,7 @@
 
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include <stm32.h>
@@ -50,19 +50,19 @@
  * HSE - 8  MHz Crystal
  * LSE - not installed
  */
-#define STM32_BOARD_USEHSE 1
-#define STM32_BOARD_XTAL 8000000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
 
 /* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
 
 #define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
 #define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
@@ -74,79 +74,79 @@
 #define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
 #define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
 
-#define STM32_SYSCLK_FREQUENCY 96000000ul
+#define STM32_SYSCLK_FREQUENCY  96000000ul
 
 /* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#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_TIM12_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN (2 * STM32_PCLK1_FREQUENCY)
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
 
 /* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
 
 /* Alternate function pin selections ************************************************/
 
 /* UARTs */
-#define GPIO_USART1_RX GPIO_USART1_RX_2
-#define GPIO_USART1_TX GPIO_USART1_TX_3
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
 
-#define GPIO_USART2_RX GPIO_USART2_RX_1
-#define GPIO_USART2_TX GPIO_USART2_TX_1
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
 
 /* CAN */
-#define GPIO_CAN1_RX GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX GPIO_CAN1_TX_1
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
 
 /* I2C */
 
 #define GPIO_MCU_I2C1_SCL
 #define GPIO_MCU_I2C1_SDA
 
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
 
-#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
 
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_4
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
 
-#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
 
 /* SPI */
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
 #endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-gps/nuttx-config/include/board_dma_map.h

@@ -36,7 +36,8 @@
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 
+
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2  // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1  // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y

boards/ark/can-gps/src/board_config.h

@@ -39,78 +39,77 @@
 
 #pragma once
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
 
 /* BUTTON */
-#define GPIO_BTN_SAFETY /* PB15 */ (GPIO_INPUT | GPIO_PULLDOWN | GPIO_PORTB | GPIO_PIN15)
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
 
 /* Safety LED */
-#define GPIO_LED_SAFETY /* PA1  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
 
 /* Tone alarm output. */
-#define TONE_ALARM_TIMER 2   /* timer 2 */
-#define TONE_ALARM_CHANNEL 1 /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE /* PA0  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN0)
-#define GPIO_TONE_ALARM /* PA0  */ (GPIO_ALT | GPIO_AF1 | GPIO_SPEED_2MHz | GPIO_PUSHPULL | GPIO_PORTA | GPIO_PIN0)
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
 
 /* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0 /* PB12 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN12)
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
 
 /* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PB13 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN13)
-#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
 
 /* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC /* PB8  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
 
 /* Boot config */
-#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15 | GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
 
 /* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1 /* PA8  */ (GPIO_TIM1_CH1_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2 /* PA9  */ (GPIO_TIM1_CH2_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
 
-#define GPIO_I2C1_SCL_RESET /* PB6  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET /* PB7  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
 
-#define GPIO_I2C2_SCL_RESET /* PB10 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET /* PB9  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
 
-#define GPIO_USART1_RX_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN3)
-#define GPIO_USART1_TX_GPIO (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN15)
+#define GPIO_USART1_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
 
-#define GPIO_USART2_RX_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN2)
+#define GPIO_USART2_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
 
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */
-#define HRT_TIMER 3         /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
 
-#define PX4_GPIO_INIT_LIST                                                                                       \
-	{                                                                                                        \
-		GPIO_BTN_SAFETY, GPIO_LED_SAFETY, GPIO_I2C1_SCL_RESET, GPIO_I2C1_SDA_RESET, GPIO_I2C2_SCL_RESET, \
-			GPIO_I2C2_SDA_RESET, GPIO_42688P_FSYNC, GPIO_BOOT_CONFIG, GPIO_CAN1_TX, GPIO_CAN1_RX,    \
-			GPIO_CAN1_SILENT_S0, GPIO_CAN1_TERMINATION,                                              \
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
 	}
 
 __BEGIN_DECLS
 
-#define BOARD_HAS_N_S_RGB_LED 1
-#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
 
 #ifndef __ASSEMBLY__
 

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

@@ -38,15 +38,16 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <nuttx/board.h>
 #include <px4_config.h>
 #include <stdint.h>
-#include <string.h>
-
-#include "board.h"
 #include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
 #include "led.h"
 
 /************************************************************************************
@@ -59,7 +60,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -71,6 +73,7 @@ __EXPORT void stm32_boardinitialize(void) {
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
+
 }
 
 /************************************************************************************
@@ -82,7 +85,10 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ************************************************************************************/
 
-void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); }
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
 
 /****************************************************************************
  * Name: board_get_product_name
@@ -101,7 +107,8 @@ void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1
  *
  ****************************************************************************/
 
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
 	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
@@ -122,13 +129,14 @@ uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
  *
  ****************************************************************************/
 
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
 	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
 
 	hw_version->major = HW_VERSION_MAJOR;
 	hw_version->minor = HW_VERSION_MINOR;
 
-	return board_get_mfguid(*(mfguid_t *)hw_version->unique_id);
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
 }
 
 /****************************************************************************
@@ -145,8 +153,7 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
  *   None
  *
  ****************************************************************************/
-#define led(n, code, r, g, b, h) \
-	{ .red = (r), .green = (g), .blue = (b), .hz = (h) }
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
 
 typedef begin_packed_struct struct led_t {
 	uint8_t red;
@@ -155,23 +162,27 @@ typedef begin_packed_struct struct led_t {
 	uint8_t hz;
 } end_packed_struct led_t;
 
-static const led_t i2l[] = {
+static const  led_t i2l[] = {
 
-	led(0, off, 0, 0, 0, 0),
-	led(1, reset, 128, 128, 128, 30),
-	led(2, autobaud_start, 0, 128, 0, 1),
-	led(3, autobaud_end, 0, 128, 0, 2),
-	led(4, allocation_start, 0, 0, 64, 2),
-	led(5, allocation_end, 0, 128, 64, 3),
-	led(6, fw_update_start, 32, 128, 64, 3),
-	led(7, fw_update_erase_fail, 32, 128, 32, 3),
-	led(8, fw_update_invalid_response, 64, 0, 0, 1),
-	led(9, fw_update_timeout, 64, 0, 0, 2),
-	led(a, fw_update_invalid_crc, 64, 0, 0, 4),
-	led(b, jump_to_app, 0, 128, 0, 10),
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
 
 };
 
-void board_indicate(uiindication_t indication) {
-	rgb_led(i2l[indication].red, i2l[indication].green, i2l[indication].blue, i2l[indication].hz);
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
 }

boards/ark/can-gps/src/boot_config.h

@@ -50,12 +50,13 @@
  * todo:make this be pulled in from a targed's build
  * files in nuttx*/
 
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_flash.h>
-
 #include "board_config.h"
 #include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -63,11 +64,11 @@
 
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
-// todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS 5000
-#define OPT_NODE_STATUS_RATE_MS 800
-#define OPT_NODE_INFO_RATE_MS 50
-#define OPT_BL_NUMBER_TIMERS 7
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
 
 /*
  *  This Option set is set to 1 ensure a provider of firmware has an
@@ -90,33 +91,34 @@
  *   no            0                       1       Not Active
  *
  */
-#define OPT_WAIT_FOR_GETNODEINFO 0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
-#define OPT_ENABLE_WD 1
+#define OPT_ENABLE_WD           1
 
-#define OPT_RESTART_TIMEOUT_MS 20000
+#define OPT_RESTART_TIMEOUT_MS          20000
 
 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K (1024 * 64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
 
 /* Reserved for the application out of the total
  * system flash minus the BOOTLOADER_SIZE_IN_K
  */
-#define OPT_APPLICATION_RESERVER_IN_K 0
+#define OPT_APPLICATION_RESERVER_IN_K    0
 
-#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE - (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K))
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
 
-#define FLASH_BASE STM32_FLASH_BASE
-#define FLASH_SIZE STM32_FLASH_SIZE
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
 
 #define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE - OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint64_t)))
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
 
 /* If this board uses big flash that have large sectors */
 

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

@@ -41,17 +41,20 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <errno.h>
-#include <nuttx/can/can.h>
 #include <px4_platform_common/px4_config.h>
 
-#include "arm_arch.h"
-#include "board_config.h"
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
 #include "chip.h"
+#include "arm_arch.h"
+
 #include "stm32.h"
 #include "stm32_can.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
@@ -61,14 +64,14 @@
 /* Configuration ********************************************************************/
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#undef 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
+#  define CAN_PORT 1
 #else
-#define CAN_PORT 2
+#  define CAN_PORT 2
 #endif
 
 /************************************************************************************
@@ -89,7 +92,8 @@ int can_devinit(void);
  *
  ************************************************************************************/
 
-int can_devinit(void) {
+int can_devinit(void)
+{
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;

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

@@ -41,30 +41,36 @@
  * subsystems and perform board-specific initialization.
  */
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_watchdog.h>
-#include <errno.h>
-#include <nuttx/board.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
+
 #include <stdbool.h>
 #include <stdio.h>
-#include <stm32.h>
-#include <stm32_uart.h>
 #include <string.h>
+#include <debug.h>
+#include <errno.h>
 #include <syslog.h>
-#include <systemlib/px4_macros.h>
 
+#include <nuttx/board.h>
+
+#include <stm32.h>
 #include "board_config.h"
 #include "led.h"
+#include <stm32_uart.h>
 
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /************************************************************************************
@@ -77,7 +83,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	watchdog_init();
 
 	/* configure pins */
@@ -128,7 +135,8 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ****************************************************************************/
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	px4_platform_init();
 
 #if defined(FLASH_BASED_PARAMS)
@@ -145,7 +153,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 	}
 
-#endif  // FLASH_BASED_PARAMS
+#endif // FLASH_BASED_PARAMS
 
 	/* Configure the HW based on the manifest */
 

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

@@ -37,26 +37,30 @@
  * LED backend.
  */
 
-#include "led.h"
-
-#include <arch/board/board.h>
-#include <nuttx/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.h"
 #include "chip.h"
 #include "stm32_gpio.h"
+#include "board_config.h"
 
-#define TMR_BASE STM32_TIM1_BASE
-#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o) (TMR_BASE + (o))
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
 
-void rgb_led(int r, int g, int b, int freqs) {
 	long fosc = TMR_FREQUENCY;
 	long prescale = 2048;
 	long p1s = fosc / prescale;
-	long p0p5s = p1s / 2;
+	long p0p5s  = p1s / 2;
 	uint16_t val;
 	static bool once = 0;
 
@@ -80,14 +84,14 @@ void rgb_led(int r, int g, int b, int freqs) {
 
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
 
+
 		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-				 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE,
-			 TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE,
-			 TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | ATIM_CCER_CC2E | ATIM_CCER_CC2P | ATIM_CCER_CC1E |
-				 ATIM_CCER_CC1P,
-			 TMR_REG(STM32_GTIM_CCER_OFFSET));
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
 
 		stm32_configgpio(GPIO_TIM1_CH1);
 		stm32_configgpio(GPIO_TIM1_CH2);
@@ -97,10 +101,10 @@ void rgb_led(int r, int g, int b, int freqs) {
 		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
 	}
 
-	long p = freqs == 0 ? p1s : p1s / freqs;
+	long p  = freqs == 0 ? p1s : p1s / freqs;
 	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
 
-	p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
 
 	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
 	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
@@ -116,4 +120,5 @@ void rgb_led(int r, int g, int b, int freqs) {
 	}
 
 	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
 }

boards/ark/can-gps/src/spi.cpp

@@ -31,16 +31,14 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
-#include <px4_arch/spi_hw_description.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1,
-		   {
-			   initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
-		   }),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/can-rtk-gps/default.px4board

@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=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/ark/can-rtk-gps/init/rc.board_defaults

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

boards/ark/can-rtk-gps/nuttx-config/include/board.h

@@ -40,7 +40,7 @@
 
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include <stm32.h>
@@ -50,19 +50,19 @@
  * HSE - 8  MHz Crystal
  * LSE - not installed
  */
-#define STM32_BOARD_USEHSE 1
-#define STM32_BOARD_XTAL 8000000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
 
 /* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
 
 #define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
 #define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
@@ -74,79 +74,79 @@
 #define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
 #define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
 
-#define STM32_SYSCLK_FREQUENCY 96000000ul
+#define STM32_SYSCLK_FREQUENCY  96000000ul
 
 /* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#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_TIM12_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN (2 * STM32_PCLK1_FREQUENCY)
+#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_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
 
 /* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
 
 /* Alternate function pin selections ************************************************/
 
 /* UARTs */
-#define GPIO_USART1_RX GPIO_USART1_RX_2
-#define GPIO_USART1_TX GPIO_USART1_TX_3
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
 
-#define GPIO_USART2_RX GPIO_USART2_RX_1
-#define GPIO_USART2_TX GPIO_USART2_TX_1
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
 
 /* CAN */
-#define GPIO_CAN1_RX GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX GPIO_CAN1_TX_1
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
 
 /* I2C */
 
 #define GPIO_MCU_I2C1_SCL
 #define GPIO_MCU_I2C1_SDA
 
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
 
-#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
 
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_4
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
 
-#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
 
 /* SPI */
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
 #endif /* __ARCH_BOARD_BOARD_H */

boards/ark/can-rtk-gps/nuttx-config/include/board_dma_map.h

@@ -36,10 +36,11 @@
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 
+
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1      // DMA2, Stream 0, Channel 3
-#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1      // DMA2, Stream 3, Channel 3
-#define DMACHAN_USART1_RX DMAMAP_USART1_RX_1  // DMA2, Stream 2, Channel 4
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3
+#define DMACHAN_USART1_RX  DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1
 //#define DMACHAN_USART1_TX  DMAMAP_USART1_TX   // DMA2, Stream 7, Channel 4

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y

boards/ark/can-rtk-gps/src/board_config.h

@@ -39,83 +39,80 @@
 
 #pragma once
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
 
 /* BUTTON */
-#define GPIO_BTN_SAFETY /* PB15 */ (GPIO_INPUT | GPIO_PULLDOWN | GPIO_PORTB | GPIO_PIN15)
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
 
 /* Safety LED */
-#define GPIO_LED_SAFETY /* PA1  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
 
 /* Tone alarm output. */
-#define TONE_ALARM_TIMER 2   /* timer 2 */
-#define TONE_ALARM_CHANNEL 1 /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE /* PA0  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN0)
-#define GPIO_TONE_ALARM /* PA0  */ (GPIO_ALT | GPIO_AF1 | GPIO_SPEED_2MHz | GPIO_PUSHPULL | GPIO_PORTA | GPIO_PIN0)
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
 
 /* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0 /* PB12 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN12)
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
 
 /* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PB13 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN13)
-#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
 
 /* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC /* PB8  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
 
 /* Boot config */
-#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15 | GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
 
 /* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1 /* PA8  */ (GPIO_TIM1_CH1_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2 /* PA9  */ (GPIO_TIM1_CH2_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
 
-#define GPIO_I2C1_SCL_RESET /* PB6  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET /* PB7  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
 
-#define GPIO_I2C2_SCL_RESET /* PB10 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET /* PB9  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
 
-#define GPIO_I2C2_SCL_RESET /* PB10 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET /* PB9  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
 
-#define GPIO_USART1_RX_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN3)
-#define GPIO_USART1_TX_GPIO (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN15)
+#define GPIO_USART1_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
 
-#define GPIO_USART2_RX_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN2)
+#define GPIO_USART2_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
 
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */
-#define HRT_TIMER 3         /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
 
-#define PX4_GPIO_INIT_LIST                                                                                       \
-	{                                                                                                        \
-		GPIO_BTN_SAFETY, GPIO_LED_SAFETY, GPIO_I2C1_SCL_RESET, GPIO_I2C1_SDA_RESET, GPIO_I2C2_SCL_RESET, \
-			GPIO_I2C2_SDA_RESET, GPIO_42688P_FSYNC, GPIO_BOOT_CONFIG, GPIO_CAN1_TX, GPIO_CAN1_RX,    \
-			GPIO_CAN1_SILENT_S0, GPIO_CAN1_TERMINATION,                                              \
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
 	}
 
 __BEGIN_DECLS
 
-#define BOARD_HAS_N_S_RGB_LED 1
-#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
 
 #ifndef __ASSEMBLY__
 

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

@@ -38,15 +38,16 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <nuttx/board.h>
 #include <px4_config.h>
 #include <stdint.h>
-#include <string.h>
-
-#include "board.h"
 #include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
 #include "led.h"
 
 /************************************************************************************
@@ -59,7 +60,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -71,6 +73,7 @@ __EXPORT void stm32_boardinitialize(void) {
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
+
 }
 
 /************************************************************************************
@@ -82,7 +85,10 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ************************************************************************************/
 
-void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); }
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
 
 /****************************************************************************
  * Name: board_get_product_name
@@ -101,7 +107,8 @@ void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1
  *
  ****************************************************************************/
 
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
 	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
@@ -122,13 +129,14 @@ uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
  *
  ****************************************************************************/
 
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
 	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
 
 	hw_version->major = HW_VERSION_MAJOR;
 	hw_version->minor = HW_VERSION_MINOR;
 
-	return board_get_mfguid(*(mfguid_t *)hw_version->unique_id);
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
 }
 
 /****************************************************************************
@@ -145,8 +153,7 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
  *   None
  *
  ****************************************************************************/
-#define led(n, code, r, g, b, h) \
-	{ .red = (r), .green = (g), .blue = (b), .hz = (h) }
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
 
 typedef begin_packed_struct struct led_t {
 	uint8_t red;
@@ -155,23 +162,27 @@ typedef begin_packed_struct struct led_t {
 	uint8_t hz;
 } end_packed_struct led_t;
 
-static const led_t i2l[] = {
+static const  led_t i2l[] = {
 
-	led(0, off, 0, 0, 0, 0),
-	led(1, reset, 128, 128, 128, 30),
-	led(2, autobaud_start, 0, 128, 0, 1),
-	led(3, autobaud_end, 0, 128, 0, 2),
-	led(4, allocation_start, 0, 0, 64, 2),
-	led(5, allocation_end, 0, 128, 64, 3),
-	led(6, fw_update_start, 32, 128, 64, 3),
-	led(7, fw_update_erase_fail, 32, 128, 32, 3),
-	led(8, fw_update_invalid_response, 64, 0, 0, 1),
-	led(9, fw_update_timeout, 64, 0, 0, 2),
-	led(a, fw_update_invalid_crc, 64, 0, 0, 4),
-	led(b, jump_to_app, 0, 128, 0, 10),
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
 
 };
 
-void board_indicate(uiindication_t indication) {
-	rgb_led(i2l[indication].red, i2l[indication].green, i2l[indication].blue, i2l[indication].hz);
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
 }

boards/ark/can-rtk-gps/src/boot_config.h

@@ -50,12 +50,13 @@
  * todo:make this be pulled in from a targed's build
  * files in nuttx*/
 
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_flash.h>
-
 #include "board_config.h"
 #include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -63,11 +64,11 @@
 
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
-// todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS 5000
-#define OPT_NODE_STATUS_RATE_MS 800
-#define OPT_NODE_INFO_RATE_MS 50
-#define OPT_BL_NUMBER_TIMERS 7
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
 
 /*
  *  This Option set is set to 1 ensure a provider of firmware has an
@@ -90,33 +91,34 @@
  *   no            0                       1       Not Active
  *
  */
-#define OPT_WAIT_FOR_GETNODEINFO 0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
-#define OPT_ENABLE_WD 1
+#define OPT_ENABLE_WD           1
 
-#define OPT_RESTART_TIMEOUT_MS 20000
+#define OPT_RESTART_TIMEOUT_MS          20000
 
 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K (1024 * 64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
 
 /* Reserved for the application out of the total
  * system flash minus the BOOTLOADER_SIZE_IN_K
  */
-#define OPT_APPLICATION_RESERVER_IN_K 0
+#define OPT_APPLICATION_RESERVER_IN_K    0
 
-#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE - (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K))
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
 
-#define FLASH_BASE STM32_FLASH_BASE
-#define FLASH_SIZE STM32_FLASH_SIZE
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
 
 #define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE - OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint64_t)))
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
 
 /* If this board uses big flash that have large sectors */
 

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

@@ -41,17 +41,20 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <errno.h>
-#include <nuttx/can/can.h>
 #include <px4_platform_common/px4_config.h>
 
-#include "arm_arch.h"
-#include "board_config.h"
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
 #include "chip.h"
+#include "arm_arch.h"
+
 #include "stm32.h"
 #include "stm32_can.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
@@ -61,14 +64,14 @@
 /* Configuration ********************************************************************/
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#undef 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
+#  define CAN_PORT 1
 #else
-#define CAN_PORT 2
+#  define CAN_PORT 2
 #endif
 
 /************************************************************************************
@@ -89,7 +92,8 @@ int can_devinit(void);
  *
  ************************************************************************************/
 
-int can_devinit(void) {
+int can_devinit(void)
+{
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;

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

@@ -41,30 +41,36 @@
  * subsystems and perform board-specific initialization.
  */
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_watchdog.h>
-#include <errno.h>
-#include <nuttx/board.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
+
 #include <stdbool.h>
 #include <stdio.h>
-#include <stm32.h>
-#include <stm32_uart.h>
 #include <string.h>
+#include <debug.h>
+#include <errno.h>
 #include <syslog.h>
-#include <systemlib/px4_macros.h>
 
+#include <nuttx/board.h>
+
+#include <stm32.h>
 #include "board_config.h"
 #include "led.h"
+#include <stm32_uart.h>
 
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /************************************************************************************
@@ -77,7 +83,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	watchdog_init();
 
 	/* configure pins */
@@ -128,7 +135,8 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ****************************************************************************/
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	px4_platform_init();
 
 #if defined(SERIAL_HAVE_RXDMA)
@@ -151,7 +159,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 	}
 
-#endif  // FLASH_BASED_PARAMS
+#endif // FLASH_BASED_PARAMS
 
 	/* Configure the HW based on the manifest */
 

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

@@ -37,26 +37,30 @@
  * LED backend.
  */
 
-#include "led.h"
-
-#include <arch/board/board.h>
-#include <nuttx/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.h"
 #include "chip.h"
 #include "stm32_gpio.h"
+#include "board_config.h"
 
-#define TMR_BASE STM32_TIM1_BASE
-#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o) (TMR_BASE + (o))
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
 
-void rgb_led(int r, int g, int b, int freqs) {
 	long fosc = TMR_FREQUENCY;
 	long prescale = 2048;
 	long p1s = fosc / prescale;
-	long p0p5s = p1s / 2;
+	long p0p5s  = p1s / 2;
 	uint16_t val;
 	static bool once = 0;
 
@@ -80,14 +84,14 @@ void rgb_led(int r, int g, int b, int freqs) {
 
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
 
+
 		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-				 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE,
-			 TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE,
-			 TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | ATIM_CCER_CC2E | ATIM_CCER_CC2P | ATIM_CCER_CC1E |
-				 ATIM_CCER_CC1P,
-			 TMR_REG(STM32_GTIM_CCER_OFFSET));
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
 
 		stm32_configgpio(GPIO_TIM1_CH1);
 		stm32_configgpio(GPIO_TIM1_CH2);
@@ -97,10 +101,10 @@ void rgb_led(int r, int g, int b, int freqs) {
 		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
 	}
 
-	long p = freqs == 0 ? p1s : p1s / freqs;
+	long p  = freqs == 0 ? p1s : p1s / freqs;
 	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
 
-	p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
 
 	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
 	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
@@ -116,4 +120,5 @@ void rgb_led(int r, int g, int b, int freqs) {
 	}
 
 	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
 }

boards/ark/can-rtk-gps/src/spi.cpp

@@ -31,16 +31,14 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
-#include <px4_arch/spi_hw_description.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1,
-		   {
-			   initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
-		   }),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/cannode/nuttx-config/include/board.h

@@ -40,7 +40,7 @@
 
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include <stm32.h>
@@ -50,19 +50,19 @@
  * HSE - 8  MHz Crystal
  * LSE - not installed
  */
-#define STM32_BOARD_USEHSE 1
-#define STM32_BOARD_XTAL 8000000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
 
 /* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
 
 #define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
 #define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
@@ -74,76 +74,76 @@
 #define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
 #define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
 
-#define STM32_SYSCLK_FREQUENCY 96000000ul
+#define STM32_SYSCLK_FREQUENCY  96000000ul
 
 /* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#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_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)
 
 /* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
 
 /* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
 
 /* Alternate function pin selections ************************************************/
 
 /* UARTs */
-#define GPIO_USART1_RX GPIO_USART1_RX_2
-#define GPIO_USART1_TX GPIO_USART1_TX_3
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
 
-#define GPIO_USART2_RX GPIO_USART2_RX_1
-#define GPIO_USART2_TX GPIO_USART2_TX_1
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
 
 /* CAN */
-#define GPIO_CAN1_RX GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX GPIO_CAN1_TX_1
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
 
 /* SPI */
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
-#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2   /* PB13 */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
 
 /* I2C */
 #define GPIO_MCU_I2C1_SCL
 #define GPIO_MCU_I2C1_SDA
 
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2
 
-#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
 
 #endif /* __ARCH_BOARD_BOARD_H */

boards/ark/cannode/nuttx-config/include/board_dma_map.h

@@ -35,10 +35,10 @@
 
 // DMA1 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX  // DMA1, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX  // DMA1, Stream 4, Channel 0
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2  // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2  // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3

boards/ark/cannode/nuttx-config/nsh/defconfig

@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y

boards/ark/cannode/src/board_config.h

@@ -39,80 +39,69 @@
 
 #pragma once
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
 
 /* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0 /* PC14  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN14)
+#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
 
 /* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PC15 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN15)
-#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
+#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
 
 /* Boot config */
-#define GPIO_BOOT_CONFIG /* PH1 */ (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTH | GPIO_PIN1 | GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
 
 /* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC /* PB8  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
 
 /* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1 /* PA8  */ (GPIO_TIM1_CH1_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2 /* PA9  */ (GPIO_TIM1_CH2_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1 | GPIO_OPENDRAIN | GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH1         /* PA8  */  (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */  (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
 
 /* PWM Outputs */
-#define DIRECT_PWM_OUTPUT_CHANNELS 6  // Actually 8
+#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
 
-#define GPIO_TIM2_CH1_RESET /* PA0  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN0)
-#define GPIO_TIM2_CH2_RESET /* PA1  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN1)
-#define GPIO_TIM2_CH3_RESET /* PB10 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_TIM3_CH1_RESET /* PB4  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN4)
-#define GPIO_TIM3_CH2_RESET /* PB5  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN5)
-#define GPIO_TIM3_CH3_RESET /* PB0  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN0)
-#define GPIO_TIM3_CH4_RESET /* PB1  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN1)
-#define GPIO_TIM4_CH4_RESET /* PB7  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
 
-#define GPIO_I2C1_SCL_RESET /* PB6  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET /* PB9  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
 
-#define GPIO_USART1_RX_GPIO /* PB3  */ (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN3)
-#define GPIO_USART1_TX_GPIO /* PA15  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN15)
+#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
 
-#define GPIO_USART2_RX_GPIO /* PA3  */ (GPIO_INPUT | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO /* PA2  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_PULLUP | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN2)
+#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
 
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */
-#define HRT_TIMER 8         /* use timer 8 for the HRT */
-#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
+#define HRT_TIMER                    8  /* use timer 8 for the HRT */
+#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
 
-#define PX4_GPIO_INIT_LIST                                                                                 \
-	{                                                                                                  \
-		GPIO_CAN1_SILENT_S0, GPIO_CAN1_TERMINATION, GPIO_42688P_FSYNC, GPIO_CAN1_TX, GPIO_CAN1_RX, \
-			GPIO_I2C1_SCL_RESET, GPIO_I2C1_SDA_RESET,                                          \
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+		GPIO_42688P_FSYNC,                \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
 	}
 
 __BEGIN_DECLS
 
-#define BOARD_HAS_N_S_RGB_LED 1
-#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
 
 #ifndef __ASSEMBLY__
 

boards/ark/cannode/src/boot.c

@@ -38,15 +38,16 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <nuttx/board.h>
 #include <px4_config.h>
 #include <stdint.h>
-#include <string.h>
-
-#include "board.h"
 #include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
 #include "led.h"
 
 /************************************************************************************
@@ -59,7 +60,8 @@
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -71,6 +73,7 @@ __EXPORT void stm32_boardinitialize(void) {
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
+
 }
 
 /************************************************************************************
@@ -82,7 +85,10 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ************************************************************************************/
 
-void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); }
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
 
 /****************************************************************************
  * Name: board_get_product_name
@@ -101,7 +107,8 @@ void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1
  *
  ****************************************************************************/
 
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
 	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
 	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
@@ -122,13 +129,14 @@ uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) {
  *
  ****************************************************************************/
 
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
 	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
 
 	hw_version->major = HW_VERSION_MAJOR;
 	hw_version->minor = HW_VERSION_MINOR;
 
-	return board_get_mfguid(*(mfguid_t *)hw_version->unique_id);
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
 }
 
 /****************************************************************************
@@ -145,8 +153,7 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) {
  *   None
  *
  ****************************************************************************/
-#define led(n, code, r, g, b, h) \
-	{ .red = (r), .green = (g), .blue = (b), .hz = (h) }
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
 
 typedef begin_packed_struct struct led_t {
 	uint8_t red;
@@ -155,23 +162,27 @@ typedef begin_packed_struct struct led_t {
 	uint8_t hz;
 } end_packed_struct led_t;
 
-static const led_t i2l[] = {
+static const  led_t i2l[] = {
 
-	led(0, off, 0, 0, 0, 0),
-	led(1, reset, 128, 128, 128, 30),
-	led(2, autobaud_start, 0, 128, 0, 1),
-	led(3, autobaud_end, 0, 128, 0, 2),
-	led(4, allocation_start, 0, 0, 64, 2),
-	led(5, allocation_end, 0, 128, 64, 3),
-	led(6, fw_update_start, 32, 128, 64, 3),
-	led(7, fw_update_erase_fail, 32, 128, 32, 3),
-	led(8, fw_update_invalid_response, 64, 0, 0, 1),
-	led(9, fw_update_timeout, 64, 0, 0, 2),
-	led(a, fw_update_invalid_crc, 64, 0, 0, 4),
-	led(b, jump_to_app, 0, 128, 0, 10),
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
 
 };
 
-void board_indicate(uiindication_t indication) {
-	rgb_led(i2l[indication].red, i2l[indication].green, i2l[indication].blue, i2l[indication].hz);
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
 }

boards/ark/cannode/src/boot_config.h

@@ -50,12 +50,13 @@
  * todo:make this be pulled in from a targed's build
  * files in nuttx*/
 
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_flash.h>
-
 #include "board_config.h"
 #include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -63,11 +64,11 @@
 
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
-// todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS 5000
-#define OPT_NODE_STATUS_RATE_MS 800
-#define OPT_NODE_INFO_RATE_MS 50
-#define OPT_BL_NUMBER_TIMERS 7
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
 
 /*
  *  This Option set is set to 1 ensure a provider of firmware has an
@@ -90,33 +91,34 @@
  *   no            0                       1       Not Active
  *
  */
-#define OPT_WAIT_FOR_GETNODEINFO 0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
 #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
-#define OPT_ENABLE_WD 1
+#define OPT_ENABLE_WD           1
 
-#define OPT_RESTART_TIMEOUT_MS 20000
+#define OPT_RESTART_TIMEOUT_MS          20000
 
 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K (1024 * 64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
 
 /* Reserved for the application out of the total
  * system flash minus the BOOTLOADER_SIZE_IN_K
  */
-#define OPT_APPLICATION_RESERVER_IN_K 0
+#define OPT_APPLICATION_RESERVER_IN_K    0
 
-#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE - (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K))
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
 
-#define FLASH_BASE STM32_FLASH_BASE
-#define FLASH_SIZE STM32_FLASH_SIZE
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
 
 #define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE - OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS + APPLICATION_SIZE) - sizeof(uint64_t)))
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
 
 /* If this board uses big flash that have large sectors */
 

boards/ark/cannode/src/can.c

@@ -41,17 +41,20 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <errno.h>
-#include <nuttx/can/can.h>
 #include <px4_platform_common/px4_config.h>
 
-#include "arm_arch.h"
-#include "board_config.h"
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
 #include "chip.h"
+#include "arm_arch.h"
+
 #include "stm32.h"
 #include "stm32_can.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
@@ -61,14 +64,14 @@
 /* Configuration ********************************************************************/
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#undef 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
+#  define CAN_PORT 1
 #else
-#define CAN_PORT 2
+#  define CAN_PORT 2
 #endif
 
 /************************************************************************************
@@ -89,7 +92,8 @@ int can_devinit(void);
  *
  ************************************************************************************/
 
-int can_devinit(void) {
+int can_devinit(void)
+{
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;

boards/ark/cannode/src/init.c

@@ -41,32 +41,39 @@
  * subsystems and perform board-specific initialization.
  */
 
-#include <arch/board/board.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_watchdog.h>
-#include <errno.h>
-#include <nuttx/board.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
+
 #include <stdbool.h>
 #include <stdio.h>
-#include <stm32.h>
-#include <stm32_uart.h>
 #include <string.h>
+#include <debug.h>
+#include <errno.h>
 #include <syslog.h>
-#include <systemlib/px4_macros.h>
 
+#include <nuttx/board.h>
+
+#include <stm32.h>
 #include "board_config.h"
 #include "led.h"
+#include <stm32_uart.h>
 
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /************************************************************************************
@@ -80,7 +87,8 @@
  *          0 if just resetting
  *
  ************************************************************************************/
-__EXPORT void board_on_reset(int status) {
+__EXPORT void board_on_reset(int status)
+{
 	// Configure the GPIO pins to outputs and keep them low.
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
@@ -106,7 +114,8 @@ __EXPORT void board_on_reset(int status) {
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	// Reset all PWM to Low outputs.
 	board_on_reset(-1);
 
@@ -145,7 +154,8 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ****************************************************************************/
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	px4_platform_init();
 
 #if defined(SERIAL_HAVE_RXDMA)
@@ -168,7 +178,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 	}
 
-#endif  // FLASH_BASED_PARAMS
+#endif // FLASH_BASED_PARAMS
 
 	/* Configure the HW based on the manifest */
 

boards/ark/cannode/src/led.c

@@ -37,26 +37,30 @@
  * LED backend.
  */
 
-#include "led.h"
-
-#include <arch/board/board.h>
-#include <nuttx/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.h"
 #include "chip.h"
 #include "stm32_gpio.h"
+#include "board_config.h"
 
-#define TMR_BASE STM32_TIM1_BASE
-#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o) (TMR_BASE + (o))
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
 
-void rgb_led(int r, int g, int b, int freqs) {
 	long fosc = TMR_FREQUENCY;
 	long prescale = 2048;
 	long p1s = fosc / prescale;
-	long p0p5s = p1s / 2;
+	long p0p5s  = p1s / 2;
 	uint16_t val;
 	static bool once = 0;
 
@@ -80,14 +84,14 @@ void rgb_led(int r, int g, int b, int freqs) {
 
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
 
+
 		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-				 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE,
-			 TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE,
-			 TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | ATIM_CCER_CC2E | ATIM_CCER_CC2P | ATIM_CCER_CC1E |
-				 ATIM_CCER_CC1P,
-			 TMR_REG(STM32_GTIM_CCER_OFFSET));
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
 
 		stm32_configgpio(GPIO_TIM1_CH1);
 		stm32_configgpio(GPIO_TIM1_CH2);
@@ -97,10 +101,10 @@ void rgb_led(int r, int g, int b, int freqs) {
 		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
 	}
 
-	long p = freqs == 0 ? p1s : p1s / freqs;
+	long p  = freqs == 0 ? p1s : p1s / freqs;
 	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
 
-	p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
 
 	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
 	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
@@ -116,4 +120,5 @@ void rgb_led(int r, int g, int b, int freqs) {
 	}
 
 	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
 }

boards/ark/cannode/src/spi.cpp

@@ -31,21 +31,18 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
-#include <px4_arch/spi_hw_description.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1,
-		   {
-			   initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4},
-					 SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
-		   }),
-	initSPIBusExternal(SPI::Bus::SPI2,
-			   {
-				   initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}),
-				   initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}),
-			   }),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/cannode/src/timer_config.cpp

@@ -34,8 +34,9 @@
 #include <px4_arch/io_timer_hw_description.h>
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer2), initIOTimer(Timer::Timer3),
-	// initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer3),
+	//initIOTimer(Timer::Timer4),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -45,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
 	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::PortB, GPIO::Pin1}),
-	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+	//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/atl/mantis-edu/nuttx-config/include/board.h

@@ -38,12 +38,12 @@
 /************************************************************************************
  * Included Files
  ************************************************************************************/
-#include <nuttx/config.h>
-
 #include "board_dma_map.h"
 
+#include <nuttx/config.h>
+
 #ifndef __ASSEMBLY__
-#include <stdint.h>
+# include <stdint.h>
 #endif
 
 #include "stm32_rcc.h"
@@ -64,12 +64,12 @@
  *   HSE: 16 MHz crystal for HSE
  */
 
-#define STM32_BOARD_XTAL 16000000ul
+#define STM32_BOARD_XTAL        16000000ul
 
-#define STM32_HSI_FREQUENCY 16000000ul
-#define STM32_LSI_FREQUENCY 32000
-#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY 0
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
 
 /* Main PLL Configuration.
  *
@@ -103,57 +103,59 @@
  * SYSCLK  = 432 MHz / 2 = 216 MHz
  * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
  */
-#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(216)
-#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(9)
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(216)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
 
-#define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 8) * 216)
-#define STM32_SYSCLK_FREQUENCY (STM32_VCO_FREQUENCY / 2)
-#define STM32_OTGFS_FREQUENCY (STM32_VCO_FREQUENCY / 9)
+#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 8) * 216)
+#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
+#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
 
 /* Configure factors for  PLLSAI clock */
 #define CONFIG_STM32F7_PLLSAI 1
-#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(192)
-#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(8)
-#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(4)
-#define STM32_RCC_PLLSAICFGR_PLLSAIR RCC_PLLSAICFGR_PLLSAIR(2)
+#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
+#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
+#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
 
 /* Configure Dedicated Clock Configuration Register */
-#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ RCC_DCKCFGR1_PLLI2SDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ RCC_DCKCFGR1_PLLSAIDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVR RCC_DCKCFGR1_PLLSAIDIVR(0)
-#define STM32_RCC_DCKCFGR1_SAI1SRC RCC_DCKCFGR1_SAI1SEL(0)
-#define STM32_RCC_DCKCFGR1_SAI2SRC RCC_DCKCFGR1_SAI2SEL(0)
-#define STM32_RCC_DCKCFGR1_TIMPRESRC 0
-#define STM32_RCC_DCKCFGR1_DFSDM1SRC 0
-#define STM32_RCC_DCKCFGR1_ADFSDM1SRC 0
+#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
+#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
+#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
+#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
+#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
+#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
+
 
 /* Configure factors for  PLLI2S clock */
 #define CONFIG_STM32F7_PLLI2S 1
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
 
 /* Configure Dedicated Clock Configuration Register 2 */
-#define STM32_RCC_DCKCFGR2_USART1SRC RCC_DCKCFGR2_USART1SEL_APB
-#define STM32_RCC_DCKCFGR2_USART2SRC RCC_DCKCFGR2_USART2SEL_APB
-#define STM32_RCC_DCKCFGR2_UART4SRC RCC_DCKCFGR2_UART4SEL_APB
-#define STM32_RCC_DCKCFGR2_UART5SRC RCC_DCKCFGR2_UART5SEL_APB
-#define STM32_RCC_DCKCFGR2_USART6SRC RCC_DCKCFGR2_USART6SEL_APB
-#define STM32_RCC_DCKCFGR2_UART7SRC RCC_DCKCFGR2_UART7SEL_APB
-#define STM32_RCC_DCKCFGR2_UART8SRC RCC_DCKCFGR2_UART8SEL_APB
-#define STM32_RCC_DCKCFGR2_I2C1SRC RCC_DCKCFGR2_I2C1SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C2SRC RCC_DCKCFGR2_I2C2SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C3SRC RCC_DCKCFGR2_I2C3SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C4SRC RCC_DCKCFGR2_I2C4SEL_HSI
-#define STM32_RCC_DCKCFGR2_LPTIM1SRC RCC_DCKCFGR2_LPTIM1SEL_APB
-#define STM32_RCC_DCKCFGR2_CECSRC RCC_DCKCFGR2_CECSEL_HSI
-#define STM32_RCC_DCKCFGR2_CK48MSRC RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_SDMMCSRC RCC_DCKCFGR2_SDMMCSEL_48MHZ
-#define STM32_RCC_DCKCFGR2_SDMMC2SRC RCC_DCKCFGR2_SDMMC2SEL_48MHZ
-#define STM32_RCC_DCKCFGR2_DSISRC RCC_DCKCFGR2_DSISEL_PHY
+#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
+#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
+#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
+#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
+#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
+#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
+#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
+#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
+#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
+#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
+#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
+#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
+#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
+
 
 /* Several prescalers allow the configuration of the two AHB buses, the
  * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
@@ -163,35 +165,35 @@
  */
 
 /* AHB clock (HCLK) is SYSCLK (216 MHz) */
-#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
 
 /* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
-#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY / 4)
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
 
 /* Timers driven from APB1 will be twice PCLK1 */
-#define STM32_APB1_TIM2_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN (2 * STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN (2 * STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
-#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
 
 /* Timers driven from APB2 will be twice PCLK2 */
-#define STM32_APB2_TIM1_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN (2 * STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN (2 * STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
 
 /* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
  * in order to avoid RX overrun/TX underrun errors due to delayed responses
@@ -207,27 +209,27 @@
 
 #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
 
-#define STM32_SDMMC_INIT_CLKDIV (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
 /* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
  * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
  */
 
 #ifdef CONFIG_STM32F7_SDMMC_DMA
-#define STM32_SDMMC_MMCXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
-#define STM32_SDMMC_MMCXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 
 /* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
  * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
  */
-// TODO #warning "Check Freq for 24mHz"
+//TODO #warning "Check Freq for 24mHz"
 
 #ifdef CONFIG_STM32F7_SDMMC_DMA
-#define STM32_SDMMC_SDXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
-#define STM32_SDMMC_SDXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 
 /* FLASH wait states
@@ -246,14 +248,14 @@
 
 /* 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_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
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
 
 /* Thus if the Green LED is statically on, NuttX has successfully booted and
  * is, apparently, running normally.  If the Red LED is flashing at
@@ -263,32 +265,32 @@
 
 /* Alternate function pin selections ************************************************/
 
-#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7  */
-#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PB7  */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PB6  */
 
-#define GPIO_USART2_RX GPIO_USART2_RX_2   /* PD6  */
-#define GPIO_USART2_TX GPIO_USART2_TX_2   /* PD5  */
-#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4  */
-#define GPIO_USART2_CTS GPIO_USART2_CTS_2 /* PD3  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3  */
 
-#define GPIO_USART3_RX GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX GPIO_USART3_TX_3   /* PD8  */
-#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
-#define GPIO_USART3_CTS GPIO_USART3_CTS_2 /* PD11 */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2  /* PD12 */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_2  /* PD11 */
 
-#define GPIO_UART4_RX GPIO_UART4_RX_4 /* PD0  */
-#define GPIO_UART4_TX GPIO_UART4_TX_4 /* PD1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_4    /* PD0  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_4    /* PD1  */
 
-#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PB12 */
-#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PB13 */
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PB12 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PB13 */
 
-#define GPIO_USART6_RX GPIO_USART6_RX_2   /* PG9  */
-#define GPIO_USART6_TX GPIO_USART6_TX_2   /* PG14 */
-#define GPIO_USART6_RTS GPIO_USART6_RTS_2 /* PG8  */
-#define GPIO_USART6_CTS GPIO_USART6_CTS_2 /* PG15 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_2   /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2   /* PG14 */
+#define GPIO_USART6_RTS  GPIO_USART6_RTS_2  /* PG8  */
+#define GPIO_USART6_CTS  GPIO_USART6_CTS_2  /* PG15 */
 
-#define GPIO_UART7_RX GPIO_UART7_RX_2 /* PF6  */
-#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_2    /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8  */
 
 /* USART8: has no remap
  *
@@ -296,21 +298,23 @@
  *      GPIO_UART8_TX                          PE1[CN11-61]
  */
 
-/* SPI */
-#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
-#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
-#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3   /* PG11 */
 
-#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE13 */
-#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE6 */
-#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1   /* PE2 */
+/* SPI */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE6 */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE2 */
+
 
 /* I2C */
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1  */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0  */
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1  */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0  */
 
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
 
 /* SDMMC1
  *
@@ -325,4 +329,4 @@
  *      GPIO_SDMMC1_NCD                     PG0
  */
 
-#endif /*__NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H  */
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H  */

boards/atl/mantis-edu/nuttx-config/include/board_dma_map.h

@@ -34,58 +34,47 @@
 #pragma once
 
 /*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5
-| Stream 6         | Stream 7         |
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
 |------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1
-| SPDIFRX_CS       | SPI3_TX_2        | | Channel 1  | I2C1_RX          | I2C3_RX          | TIM7_UP_1        | - |
-TIM7_UP_2        |  I2C1_RX_1       | I2C1_TX          | I2C1_TX_1        | | Channel 2  | TIM4_CH1         | - |
-I2C4_RX          | TIM4_CH2         | -                | I2C4_TX          | TIM4_UP          | TIM4_CH3         | |
-Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | -                | I2C3_TX          | TIM2_CH1 |
-TIM2_CH2         | TIM2_UP_2        | |            |                  |   TIM2_CH3       |                  | | | |
-TIM2_CH4_1     |   TIM2_CH4_2     | | Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1
-| UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         | | Channel 5  | UART8_TX         | UART7_TX
-| TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         | | |
-|                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  | | |
-Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | - |
-TIM5_UP_2        | -                | |            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |
-TIM5_TRIG_2    |                  |                  |                  |                  | | Channel 7  | - | TIM6_UP
-| I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          | |
-Channel 8  | I2C3_TX_1        | I2C4_RX_1        | -                | -                | I2C2_TX_1        | - |
-I2C4_TX_1        | -                | | Channel 9  | -                | SPI2_RX          | -                | - | - | -
-| SPI2_TX          | -                | |            |                  |                  |                  | | | | |
-| | Usage      | UART8_TX         | USART3_RX        | UART4_RX         | USART3_TX_1      |                  |
-USART2_RX        | UART8_RX         |                  |
+| Channel 0  | SPI3_RX_1        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | SPDIFRX_CS       | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | I2C3_RX          | TIM7_UP_1        | -                | TIM7_UP_2        |  I2C1_RX_1       | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_TX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | -                | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+| Channel 8  | I2C3_TX_1        | I2C4_RX_1        | -                | -                | I2C2_TX_1        | -                | I2C4_TX_1        | -                |
+| Channel 9  | -                | SPI2_RX          | -                | -                | -                | -                | SPI2_TX          | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | UART8_TX         | USART3_RX        | UART4_RX         | USART3_TX_1      |                  | USART2_RX        | UART8_RX         |                  |
 
 
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5
-| Stream 6         | Stream 7         |
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
 |------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_2         | ADC1_2           | SAI1_B_1
-| TIM1_CH1_1       | SAI1_B_2         | |            |                  |                  |   TIM8_CH2_1     | | | |
-TIM1_CH2_1     |                  | |            |                  |                  |   TIM8_CH3_1     | | | |
-TIM1_CH3_1     |                  | | Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2 |
-SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           | | Channel 2  | ADC3_1           | ADC3_2 | -
-| SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          | | Channel 3  |
-SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | SAI2_A           | SPI1_TX_2        | SAI2_B
-| QUADSPI          | | Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | - |
-USART1_RX_2      | SDMMC1_2         | USART1_TX        | | Channel 5  | -                | USART6_RX_1      |
-USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      | |
-Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP |
-TIM1_CH3_2       | -                | |            |                  |                  |                  | |
-TIM1_TRIG_2    |                  |                  |                  | |            |                  | | | |
-TIM1_COM       |                  |                  |                  | | Channel 7  | -                | TIM8_UP |
-TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         | | | |
-|                  |                  |                  |                  |                  |   TIM8_TRIG      | | |
-|                  |                  |                  |                  |                  |                  |
-TIM8_COM       | | Channel 8  | DFSDM1_FLT0_1    | DFSDM1_FLT1_1    | DFSDM1_FLT2_1    | DFSDM1_FLT3_1    |
-DFSDM1_FLT0_2    | DFSDM1_FLT1_2    | DFSDM1_FLT2_2    | DFSDM1_FLT3_2    | | Channel 9  | JPEG_IN_1        | JPEG_OUT
-| SPI4_TX_3        | JPEG_IN_2        | JPEG_OUT_2       | SPI5_RX_3        | -                | -                | |
-Channel 10 | SAI1_B_3         | SAI2_B_1         | SAI2_A_1         | -                | -                | - | SAI1_A_3
-| -                | | Channel 11 | SDMMC2_1         | -                | QUADSPI_1        | -                | - |
-SDMMC2_2         | -                | -                | |            |                  |                  | | | | | |
-| | Usage      | SPI1_RX_1        |                  | USART6_RX_2      | SPI1_TX_1        |                  | TIM1_UP
-| SDMMC1_2         |                  |
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_2         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | SAI1_B_2         |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | SAI2_A           | SPI1_TX_2        | SAI2_B           | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | -                | USART1_RX_2      | SDMMC1_2         | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+| Channel 8  | DFSDM1_FLT0_1    | DFSDM1_FLT1_1    | DFSDM1_FLT2_1    | DFSDM1_FLT3_1    | DFSDM1_FLT0_2    | DFSDM1_FLT1_2    | DFSDM1_FLT2_2    | DFSDM1_FLT3_2    |
+| Channel 9  | JPEG_IN_1        | JPEG_OUT         | SPI4_TX_3        | JPEG_IN_2        | JPEG_OUT_2       | SPI5_RX_3        | -                | -                |
+| Channel 10 | SAI1_B_3         | SAI2_B_1         | SAI2_A_1         | -                | -                | -                | SAI1_A_3         | -                |
+| Channel 11 | SDMMC2_1         | -                | QUADSPI_1        | -                | -                | SDMMC2_2         | -                | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI1_RX_1        |                  | USART6_RX_2      | SPI1_TX_1        |                  | TIM1_UP          | SDMMC1_2         |                  |
  */
 
 // DMA1 Channel/Stream Selections
@@ -93,17 +82,18 @@ SDMMC2_2         | -                | -                | |            |
 //      DMAMAP_UART8_TX                       // DMA1, Stream 0, Channel 5    (PX4IO TX)
 //      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4    (TELEM2 RX)
 //      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4    (TELEM4 RX)
-#define DMAMAP_USART3_TX DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
+#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
 //      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4    (TELEM1 RX)
 //      DMAMAP_UART8_RX                       // DMA1, Stream 6, Channel 5    (PX4IO RX)
 
+
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMAMAP_SPI1_RX DMAMAP_SPI1_RX_1  // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
 //      AVAILABLE                             // DMA2, Stream 1
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
-#define DMAMAP_SPI1_TX DMAMAP_SPI1_TX_1      // DMA2, Stream 3, Channel 3    (SPI sensors TX)
+#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
 //      AVAILABLE                             // DMA2, Stream 4
 //      DMAMAP_TIM1_UP                        // DMA2, Stream 5, Channel 6    (DSHOT)
-#define DMAMAP_SDMMC1 DMAMAP_SDMMC1_2  // DMA2, Stream 6, Channel 4
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
 //      AVAILABLE                             // DMA2, Stream 7

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y

boards/atl/mantis-edu/src/board_config.h

@@ -43,22 +43,20 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/compiler.h>
 #include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
 #include <stdint.h>
+
 #include <stm32_gpio.h>
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED /* PB1 */ \
-	(GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN1)
-#define GPIO_nLED_GREEN /* PC6 */ \
-	(GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTC | GPIO_PIN6)
-#define GPIO_nLED_BLUE /* PC7 */ \
-	(GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTC | GPIO_PIN7)
+#define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
 
-#define BOARD_HAS_CONTROL_STATUS_LEDS 1
-#define BOARD_OVERLOAD_LED LED_RED
-#define BOARD_ARMED_STATE_LED LED_BLUE
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
 #define RAM_BASED_MISSIONS
@@ -77,102 +75,104 @@
  */
 
 /* ADC defines to be used in sensors.cpp to read from a particular channel */
-#define ADC1_CH(n) (n)
-#define ADC1_GPIO(n) GPIO_ADC1_IN##n
+#define ADC1_CH(n)                  (n)
+#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
 
 /* Define GPIO pins used as ADC N.B. Channel numbers must match below */
 
-#define PX4_ADC_GPIO                                                                                       \
-	/* PA0 */ ADC1_GPIO(0), /* PC0 */ ADC1_GPIO(10), /* PC1 */ ADC1_GPIO(11), /* PC2 */ ADC1_GPIO(12), \
-		/* PC3 */ ADC1_GPIO(13), /* PC4 */ ADC1_GPIO(14)
+#define PX4_ADC_GPIO  \
+	/* PA0 */  ADC1_GPIO(0),  \
+	/* PC0 */  ADC1_GPIO(10), \
+	/* PC1 */  ADC1_GPIO(11), \
+	/* PC2 */  ADC1_GPIO(12), \
+	/* PC3 */  ADC1_GPIO(13), \
+	/* PC4 */  ADC1_GPIO(14)
 
 /* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
+#define ADC_BATTERY_VOLTAGE_CHANNEL         /* PA0 */  ADC1_CH(0)
 #define ADC_BATTERY_CURRENT_CHANNEL 0
-#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
-#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
-#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
-#define ADC1_SPARE_1_CHANNEL /* PC4 */ ADC1_CH(14)  // POWER_AD
+#define ADC_SCALED_V5_CHANNEL               /* PC0 */  ADC1_CH(10)
+#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* PC1 */  ADC1_CH(11)
+#define ADC_HW_VER_SENSE_CHANNEL            /* PC2 */  ADC1_CH(12)
+#define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
+#define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14) // POWER_AD
 
-#define ADC_CHANNELS                                                                   \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | (1 << ADC_SCALED_V5_CHANNEL) |           \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | (1 << ADC_HW_VER_SENSE_CHANNEL) | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL) | (1 << ADC1_SPARE_1_CHANNEL))
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)        | \
+	 (1 << ADC_SCALED_V5_CHANNEL)              | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
+	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
+	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
+	 (1 << ADC1_SPARE_1_CHANNEL))
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
 #define BOARD_HAS_HW_VERSIONING
 
-#define GPIO_HW_REV_DRIVE /* PH14  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN14)
-#define GPIO_HW_REV_SENSE /* PC3   */ ADC1_GPIO(13)
-#define GPIO_HW_VER_DRIVE /* PG0   */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTG | GPIO_PIN0)
-#define GPIO_HW_VER_SENSE /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT \
-	{ 'V', '5', 'x', 'x', 0 }
-#define HW_INFO_INIT_VER 2
-#define HW_INFO_INIT_REV 3
+#define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
+#define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
+#define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
+#define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
+#define HW_INFO_INIT         {'V','5','x', 'x',0}
+#define HW_INFO_INIT_VER     2
+#define HW_INFO_INIT_REV     3
 
-#define BOARD_TAP_ESC_MODE 2  // select closed-loop control mode for the esc
+#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT
 
 // LED mapping
 #define BOARD_FRONT_LED_MASK (1 << 0) | (1 << 3)
-#define BOARD_REAR_LED_MASK (1 << 1) | (1 << 2)
+#define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT /* PA7  T14CH1 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTA | GPIO_PIN7)
+#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 
-#define BOARD_HAS_LED_PWM 1
+#define BOARD_HAS_LED_PWM              1
 #define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
 
 #define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
 
-#define BOARD_ADC_BRICK_VALID 1
-#define BOARD_NUMBER_BRICKS 1
+#define BOARD_ADC_BRICK_VALID           1
+#define BOARD_NUMBER_BRICKS             1
 
-#define GPIO_VDD_3V3_SD_CARD_EN /* PG7  */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTG | GPIO_PIN7)
-#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 
 /* USB OTG FS */
-#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT | GPIO_PULLDOWN | GPIO_SPEED_100MHz | GPIO_PORTA | GPIO_PIN9)
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
-#define HRT_TIMER 8         /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
 
 /* RC Serial port */
-#define RC_SERIAL_PORT "/dev/ttyS5"
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 
 /* power on/off */
 #define MS_PWR_BUTTON_DOWN 750
-#define KEY_AD_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI | GPIO_PORTC | GPIO_PIN4)
-#define POWER_ON_GPIO (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTC | GPIO_PIN5)
-#define POWER_OFF_GPIO (GPIO_INPUT | GPIO_PULLDOWN | GPIO_PORTC | GPIO_PIN5)
-#define POWER_CHECK_GPIO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTF | GPIO_PIN0)
+#define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
+#define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
+#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
+#define POWER_CHECK_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN0)
 
-#define SDIO_SLOTNO 0 /* Only one slot */
-#define SDIO_MINOR 0
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
  * provides the true logic GPIO BOARD_ADC_xxxx macros.
  */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
+#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
 
 /* FMUv5 never powers odd the Servo rail */
-#define BOARD_ADC_SERVO_VALID (1)
+#define BOARD_ADC_SERVO_VALID     (1)
 
-#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID (0)
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (0)
 
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -181,15 +181,16 @@
 #define BOARD_HAS_ON_RESET 1
 #define BOARD_HAS_POWER_CONTROL 1
 
-#define GPIO_CAM_PWR_ON_H /* PB0 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN0)
-#define GPIO_CAM_PWR_ON_L /* PB0 */ \
-	(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTB | GPIO_PIN0)
+#define GPIO_CAM_PWR_ON_H      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_CAM_PWR_ON_L      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
 
-#define PX4_GPIO_INIT_LIST                                                                                       \
-	{                                                                                                        \
-		PX4_ADC_GPIO, GPIO_HW_REV_DRIVE, GPIO_HW_VER_DRIVE, GPIO_HEATER_OUTPUT, GPIO_VDD_3V3_SD_CARD_EN, \
-			GPIO_OTGFS_VBUS                                                                          \
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_REV_DRIVE,                \
+		GPIO_HW_VER_DRIVE,                \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_OTGFS_VBUS                   \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/atl/mantis-edu/src/init.c

@@ -45,42 +45,43 @@
  * Included Files
  ****************************************************************************/
 
-#include <arch/board/board.h>
-#include <chip.h>
-#include <debug.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_hrt.h>
-#include <errno.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/board.h>
-#include <nuttx/config.h>
-#include <nuttx/mm/gran.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/sdio.h>
-#include <nuttx/spi/spi.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform_common/init.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <stm32_uart.h>
-#include <string.h>
-#include <systemlib/px4_macros.h>
-
-#include "arm_internal.h"
 #include "board_config.h"
 
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.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 <px4_arch/io_timer.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
 #endif
 
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
-#define _GPIO_PULL_DOWN_INPUT(def) \
-	(((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | GPIO_PULLDOWN | GPIO_SPEED_2MHz))
+#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
 
 /* Configuration ************************************************************/
 
@@ -108,7 +109,8 @@ __END_DECLS
  *   Not used
  *
  ************************************************************************************/
-static void cam_pwr_on_pulse(void) {
+static void cam_pwr_on_pulse(void)
+{
 	static bool pwr_on_flag = false;
 
 	if (pwr_on_flag == false) {
@@ -128,7 +130,9 @@ static void cam_pwr_on_pulse(void) {
  * Description:
  *
  ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms) {}
+__EXPORT void board_peripheral_reset(int ms)
+{
+}
 
 /************************************************************************************
  * Name: board_on_reset
@@ -141,7 +145,9 @@ __EXPORT void board_peripheral_reset(int ms) {}
  *          0 if just resetting
  *
  ************************************************************************************/
-__EXPORT void board_on_reset(int status) {}
+__EXPORT void board_on_reset(int status)
+{
+}
 
 /************************************************************************************
  * Name: stm32_boardinitialize
@@ -153,7 +159,8 @@ __EXPORT void board_on_reset(int status) {}
  *
  ************************************************************************************/
 
-__EXPORT void stm32_boardinitialize(void) {
+__EXPORT void stm32_boardinitialize(void)
+{
 	/* Hold power state */
 	board_pwr_init(0);
 
@@ -188,7 +195,8 @@ __EXPORT void stm32_boardinitialize(void) {
  *
  ****************************************************************************/
 
-__EXPORT int board_app_initialize(uintptr_t arg) {
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
 	/* Power on Interfaces */
 	VDD_3V3_SD_CARD_EN(true);
 
@@ -222,7 +230,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) {
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
-	led_on(LED_GREEN);  // Indicate Power.
+	led_on(LED_GREEN); // Indicate Power.
 	led_off(LED_BLUE);
 
 	if (board_hardfault_init(2, true) != 0) {

boards/atl/mantis-edu/src/led.c

@@ -37,14 +37,16 @@
  * PX4FMU LED backend.
  */
 
-#include <arch/board/board.h>
-#include <nuttx/board.h>
 #include <px4_platform_common/px4_config.h>
+
 #include <stdbool.h>
 
-#include "board_config.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,
@@ -62,29 +64,41 @@ __END_DECLS
 
 #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
-	GPIO_nLED_GREEN,  // Indexed by LED_GREEN
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
 };
 
-__EXPORT void led_init(void) {
+__EXPORT void led_init(void)
+{
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
 	}
 }
 
-static void phy_set_led(int led, bool state) {
+static void phy_set_led(int led, bool state)
+{
 	/* Drive Low to switch on */
 	stm32_gpiowrite(g_ledmap[led], !state);
 }
 
-static bool phy_get_led(int led) {
+static bool phy_get_led(int led)
+{
 	/* If Low it is on */
 	return !stm32_gpioread(g_ledmap[led]);
 }
 
-__EXPORT void led_on(int led) { phy_set_led(xlat(led), true); }
+__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_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))); }
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}

boards/atl/mantis-edu/src/pwr.cpp

@@ -42,31 +42,36 @@
  * Included Files
  ************************************************************************************/
 
-#include <arch/board/board.h>
-#include <arm_arch.h>
-#include <debug.h>
-#include <nuttx/arch.h>
 #include <px4_platform_common/px4_config.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include <stm32_pwr.h>
-#include <time.h>
-#include <uORB/uORB.h>
 
+#include <stdint.h>
+#include <stdbool.h>
+#include <time.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <nuttx/arch.h>
+
+#include <uORB/uORB.h>
 #include <uORB/Publication.hpp>
 
+#include <arm_arch.h>
 #include "board_config.h"
+#include <stm32_pwr.h>
 
 extern void led_on(int led);
 extern void led_off(int led);
 
 static struct timespec time_down;
 
-static int default_power_button_state_notification(board_power_button_state_notification_e request) {
-	//	syslog(0,"%d\n", request);
+
+static int default_power_button_state_notification(board_power_button_state_notification_e request)
+{
+//	syslog(0,"%d\n", request);
 	return PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW;
 }
 
+
 static power_button_state_notification_t power_state_notification = default_power_button_state_notification;
 
 /****************************************************************************
@@ -77,9 +82,13 @@ static power_button_state_notification_t power_state_notification = default_powe
  *
  ****************************************************************************/
 
-static bool board_pwr_button_down(void) { return 0 == stm32_gpioread(KEY_AD_GPIO); }
+static bool board_pwr_button_down(void)
+{
+	return 0 == stm32_gpioread(KEY_AD_GPIO);
+}
 
-int board_register_power_state_notification_cb(power_button_state_notification_t cb) {
+int board_register_power_state_notification_cb(power_button_state_notification_t cb)
+{
 	power_state_notification = cb;
 
 	if (board_pwr_button_down() && (time_down.tv_nsec != 0 || time_down.tv_sec != 0)) {
@@ -90,7 +99,8 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
 	return OK;
 }
 
-int board_power_off(int status) {
+int board_power_off(int status)
+{
 	led_on(BOARD_LED_BLUE);
 
 	// disable the interrups
@@ -98,14 +108,15 @@ int board_power_off(int status) {
 
 	stm32_configgpio(POWER_OFF_GPIO);
 
-	while (1)
-		;
+	while (1);
 
 	return 0;
 }
 
-static int board_button_irq(int irq, FAR void *context, FAR void *args) {
+static int board_button_irq(int irq, FAR void *context, FAR void *args)
+{
 	if (board_pwr_button_down()) {
+
 		led_on(BOARD_LED_RED);
 		clock_gettime(CLOCK_REALTIME, &time_down);
 		power_state_notification(PWR_BUTTON_DOWN);
@@ -123,10 +134,10 @@ static int board_button_irq(int irq, FAR void *context, FAR void *args) {
 		uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
 
 		if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
+
 			led_on(BOARD_LED_BLUE);
 
-			if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) ==
-			    PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
+			if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
 				up_mdelay(200);
 				board_power_off(0);
 			}
@@ -134,6 +145,7 @@ static int board_button_irq(int irq, FAR void *context, FAR void *args) {
 		} else {
 			power_state_notification(PWR_BUTTON_IDEL);
 		}
+
 	}
 
 	return OK;
@@ -150,7 +162,8 @@ static int board_button_irq(int irq, FAR void *context, FAR void *args) {
  *
  ************************************************************************************/
 
-void board_pwr_init(int stage) {
+void board_pwr_init(int stage)
+{
 	if (stage == 0) {
 		stm32_configgpio(POWER_ON_GPIO);
 		stm32_configgpio(KEY_AD_GPIO);