mavlink: return unsupported frame result when that's the case

Signed-off-by: Julian Oes <julian@oes.ch>

.ci/Jenkinsfile-compile

@@ -46,6 +46,8 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
+                     "ark_pi6x_bootloader",
+                     "ark_pi6x_default"
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

.devcontainer/devcontainer.json

@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_pi6x,
           ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,

.vscode/cmake-variants.yaml

@@ -181,6 +181,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
+    ark_pi6x_bootloader:
+      short: ark_pi6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_bootloader
+    ark_pi6x_default:
+      short: ark_pi6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/extensions.json

@@ -4,6 +4,7 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",

CMakeLists.txt

@@ -485,7 +485,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Jenkinsfile

@@ -171,10 +171,8 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/') // vuepress
               sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
               sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe') // vuepress
               sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
               sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd PX4-user_guide; git push origin main || true')

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -182,10 +182,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2
 
-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -256,6 +252,23 @@ manual_control start
 sensors start
 commander start
 
+#
+# state estimator selection
+if param compare -s EKF2_EN 1
+then
+	ekf2 start &
+fi
+
+if param compare -s LPE_EN 1
+then
+	local_position_estimator start
+fi
+
+if param compare -s ATT_EN 1
+then
+	attitude_estimator_q start
+fi
+
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -330,7 +343,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
-if param compare SYS_MC_EST_GROUP 2
+if param compare -s EKF2_EN 1
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Droneblocks DEXI 5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Baldwin <db@droneblocks.io>
+# @maintainer Alex klimaj <alex@arkelectron.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
+# @board bitcraze_crazyflie exclude
+# @board diatone_mamba-f405-mk2 exclude
+# @board ark_fmu-v6x exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_CAPACITY 4000
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_LOAD_DROP 0.5
+param set-default BAT_AVRG_CURRENT 13
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.0762
+param set-default CA_ROTOR0_PY 0.09525
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.0762
+param set-default CA_ROTOR1_PY -0.09525
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.0762
+param set-default CA_ROTOR2_PY -0.09525
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.0762
+param set-default CA_ROTOR3_PY 0.09525
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default EKF2_MIN_RNG 0.01
+param set-default EKF2_OF_POS_X 0.043
+param set-default EKF2_OF_POS_Y 0.011
+param set-default EKF2_OF_QMIN_GND 1
+param set-default EKF2_RNG_POS_X 0.043
+param set-default EKF2_RNG_POS_Y 0.0
+
+param set-default IMU_GYRO_DNF_EN 2
+
+param set-default MC_PITCHRATE_D 0.0013
+param set-default MC_PITCHRATE_I 0.185
+param set-default MC_PITCHRATE_P 0.105
+param set-default MC_PITCH_P 7.5
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLLRATE_I 0.165
+param set-default MC_ROLLRATE_P 0.095
+param set-default MC_ROLL_P 7.5
+param set-default MC_YAWRATE_I 0.35
+param set-default MC_YAWRATE_P 0.13
+
+param set-default MPC_THR_HOVER 0.22
+param set-default MPC_THR_MAX 0.5
+param set-default MPC_THR_MIN 0.025
+param set-default MPC_VEL_MANUAL 5.0
+param set-default MPC_XY_VEL_MAX 8.0
+
+param set-default RTL_RETURN_ALT 15
+
+param set-default SENS_FLOW_MINHGT 0.0
+
+param set-default SER_TEL2_BAUD 3000000
+
+param set-default UXRCE_DDS_CFG 102

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,7 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_MC_EST_GROUP 2
+
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0

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

@@ -69,6 +69,7 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
+		4601_droneblocks_dexi_5
 		4901_crazyflie21
 
 		# [5000, 5999] Quadrotor +

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -4,39 +4,3 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-#
-# Start the attitude and position estimator.
-#
-
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -13,4 +13,6 @@ param set-default MAV_TYPE 8
 #
 # Default parameters for balloon UAVs.
 #
-param set-default SYS_MC_EST_GROUP 1
+param set-default LPE_EN 1
+param set-default ATT_EN 1
+param set-default EKF2_EN 0

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -1,9 +1,6 @@
 #!/bin/sh
 # Standard apps for a differential drive rover.
 
-# Start the attitude and position estimator.
-ekf2 start &
-
 # Start rover differential drive controller.
 differential_drive start
 

ROMFS/px4fmu_common/init.d/rc.uuv_apps

@@ -5,16 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-ekf2 start &
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -76,5 +76,4 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -5,16 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator group selection                       #
-###############################################################################
-
-ekf2 start &
-
-###############################################################################
-#                        End Estimator group selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -391,6 +391,23 @@ else
 		pwm_out start
 	fi
 
+	#
+	# state estimator selection
+	if param compare -s EKF2_EN 1
+	then
+		ekf2 start &
+	fi
+
+	if param compare -s LPE_EN 1
+	then
+		local_position_estimator start
+	fi
+
+	if param compare -s ATT_EN 1
+	then
+		attitude_estimator_q start
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.

Tools/migrate_c_params.py

@@ -0,0 +1,450 @@
+#!/usr/bin/python3
+
+"""
+Migrate c parameter definitions to yaml module definitions.
+
+This script is used to transition legacy c parameter definitions to
+yaml module definitions. It parses each specified legacy c file
+and produces a corresponding yaml definition in the same directory.
+For modules with multiple parameter c files and/or existing module.yaml files,
+the resulting list of yaml files must be merged separately, either manually
+or with a tool like yq4:
+
+    yq eval-all '. as $item ireduce ({}; . *+ $item)' *.yaml
+
+The legacy files and temporary yaml files can then be manually deleted
+and the CMakeLists.txt updated after proofreading.
+"""
+
+import argparse
+import ast
+import sys
+import re
+import math
+import logging
+import os
+from dataclasses import dataclass, field
+from typing import Any
+
+import yaml
+
+global default_var
+default_var = {}
+
+@dataclass
+class Parameter:
+    """
+    Single parameter
+    """
+
+    name: str
+    type: str
+    fields: dict[str, str] = field(init=False, default_factory=dict)
+    default: str = ""
+    category: str = ""
+    enum: dict[str, str] = field(init=False, default_factory=dict)
+    bitmask: dict[int, str] = field(init=False, default_factory=dict)
+    volatile: bool = False
+    boolean: bool = False
+
+    def __lt__(self, other):
+        return self.name < other.name
+
+@dataclass
+class ParameterGroup:
+    """
+    Single parameter group
+    """
+
+    name: str
+    parameters: list[Parameter] = field(init=False, default_factory=list)
+    no_code_generation: bool = False
+
+
+class SourceParser:
+    """
+    Parses provided data and stores all found parameters internally.
+    """
+
+    re_split_lines = re.compile(r'[\r\n]+')
+    re_comment_start = re.compile(r'^\/\*\*')
+    re_comment_content = re.compile(r'^\*\s*(.*)')
+    re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
+    re_comment_end = re.compile(r'(.*?)\s*\*\/')
+    re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
+    re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;')
+    re_px4_param_default_definition = re.compile(r'#define\s*PARAM_([A-Z_][A-Z0-9_]*)\s*([^ ,\)]+)\s*')
+    re_cut_type_specifier = re.compile(r'[a-z]+$')
+    re_is_a_number = re.compile(r'^-?[0-9\.]')
+    re_remove_dots = re.compile(r'\.+$')
+    re_remove_carriage_return = re.compile('\n+')
+
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal",
+                      "increment", "reboot_required", "value", "boolean",
+                      "bit", "category", "volatile"])
+
+    # Order of parameter groups
+    priority = {
+        # All other groups = 0 (sort alphabetically)
+        "Miscellaneous": -10
+    }
+
+    def __init__(self):
+        self.param_groups = {}
+
+    def parse(self, contents):
+        """
+        Incrementally parse program contents and append all found parameters
+        to the list.
+        """
+        # This code is essentially a comment-parsing grammar. "state"
+        # represents parser state. It contains human-readable state
+        # names.
+        state = None
+        for line in self.re_split_lines.split(contents):
+            line = line.strip()
+            # Ignore empty lines
+            if line == "":
+                continue
+            if self.re_comment_start.match(line):
+                state = "wait-short"
+                short_desc = None
+                long_desc = None
+                tags = {}
+                def_values = {}
+                def_bitmask = {}
+            elif state is not None and state != "comment-processed":
+                m = self.re_comment_end.search(line)
+                if m:
+                    line = m.group(1)
+                    last_comment_line = True
+                else:
+                    last_comment_line = False
+                m = self.re_comment_content.match(line)
+                if m:
+                    comment_content = m.group(1)
+                    if comment_content == "":
+                        # When short comment ends with empty comment line,
+                        # start waiting for the next part - long comment.
+                        if state == "wait-short-end":
+                            state = "wait-long"
+                    else:
+                        m = self.re_comment_tag.match(comment_content)
+                        if m:
+                            tag, desc = m.group(1, 2)
+                            if (tag == "value"):
+                                # Take the meta info string and split
+                                # the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_values[metainfo[0]] = metainfo[1]
+                            elif (tag == "bit"):
+                                # Take the meta info string and split
+                                # the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_bitmask[metainfo[0]] = metainfo[1]
+                            else:
+                                tags[tag] = desc
+                            current_tag = tag
+                            state = "wait-tag-end"
+                        elif state == "wait-short":
+                            # Store first line of the short description
+                            short_desc = comment_content
+                            state = "wait-short-end"
+                        elif state == "wait-short-end":
+                            # Append comment line to the short description
+                            short_desc += "\n" + comment_content
+                        elif state == "wait-long":
+                            # Store first line of the long description
+                            long_desc = comment_content
+                            state = "wait-long-end"
+                        elif state == "wait-long-end":
+                            # Append comment line to the long description
+                            long_desc += "\n" + comment_content
+                        elif state == "wait-tag-end":
+                            # Append comment line to the tag text
+                            tags[current_tag] += "\n" + comment_content
+                        else:
+                            raise AssertionError(
+                                    "Invalid parser state: %s" % state)
+                elif not last_comment_line:
+                    # Invalid comment line (inside comment, but not
+                    # startin with "*" or "*/". Reset parsed content.
+                    state = None
+                if last_comment_line:
+                    state = "comment-processed"
+            else:
+                tp = None
+                name = None
+                defval = ""
+                # Non-empty line outside the comment
+                m = self.re_px4_param_default_definition.match(line)
+                # Default value handling
+                if m:
+                    name_m, defval_m = m.group(1, 2)
+                    default_var[name_m] = defval_m
+                m = self.re_parameter_definition.match(line)
+                if m:
+                    tp, name, defval = m.group(1, 2, 3)
+                else:
+                    m = self.re_px4_parameter_definition.match(line)
+                    if m:
+                        tp, name = m.group(1, 2)
+                        if (name+'_DEFAULT') in default_var:
+                            defval = default_var[name+'_DEFAULT']
+                if tp is not None:
+                    # Remove trailing type specifier from numbers: 0.1f => 0.1
+                    if defval != "" and self.re_is_a_number.match(defval):
+                        defval = self.re_cut_type_specifier.sub('', defval)
+                    param = Parameter(name=name, type=tp, default=defval)
+                    param.fields["short_desc"] = name
+                    # If comment was found before the parameter declaration,
+                    # inject its data into the newly created parameter.
+                    group = "Miscellaneous"
+                    if state == "comment-processed":
+                        if short_desc is not None:
+                            if '\n' in short_desc:
+                                raise Exception('short description must be a single line (parameter: {:})'.format(name))
+                            if len(short_desc) > 150:
+                                raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
+                            param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
+                        if long_desc is not None:
+                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
+                            param.fields["long_desc"] = long_desc
+                        for tag in tags:
+                            if tag == "group":
+                                group = tags[tag]
+                            elif tag == "volatile":
+                                param.volatile = True
+                            elif tag == "category":
+                                param.category = tags[tag]
+                            elif tag == "boolean":
+                                param.boolean = True
+                            elif tag not in self.valid_tags:
+                                sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
+                                return False
+                            else:
+                                param.fields[tag] = tags[tag]
+                        for def_value in def_values:
+                            param.enum[def_value] = def_values[def_value]
+                        for def_bit in def_bitmask:
+                            param.bitmask[def_bit] = def_bitmask[def_bit]
+                    # Store the parameter
+                    if group not in self.param_groups:
+                        self.param_groups[group] = ParameterGroup(group)
+                    self.param_groups[group].parameters.append(param)
+                state = None
+        return True
+
+    def validate(self):
+        """
+        Validates the parameter meta data.
+        """
+        seenParamNames = []
+
+        for group in self.parameter_groups:
+            for param in sorted(group.parameters):
+                name  = param.name
+                if len(name) > 16:
+                    sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name))
+                    return False
+                board = param.fields.get("board", "")
+                # Check for duplicates
+                name_plus_board = name + "+" + board
+                for seenParamName in seenParamNames:
+                    if seenParamName == name_plus_board:
+                        sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
+                        return False
+                seenParamNames.append(name_plus_board)
+                # Validate values
+                default = param.default
+                min = param.fields.get("min", "")
+                max = param.fields.get("max", "")
+                units = param.fields.get("unit", "")
+                if default != "" and not self.is_number(default):
+                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
+                    return False
+                if min != "":
+                    if not self.is_number(default):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
+                        return False
+                    if default != "" and float(default) < float(min):
+                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
+                        return False
+                if max != "":
+                    if not self.is_number(max):
+                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
+                        return False
+                    if default != "" and float(default) > float(max):
+                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
+                        return False
+                for code in sorted(param.enum, key=float):
+                    if not self.is_number(code):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, code))
+                        return False
+                    if param.enum.get(code, "") == "":
+                        sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
+                        return False
+                for index in sorted(param.bitmask.keys(), key=float):
+                    if not self.is_number(index):
+                        sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
+                        return False
+                    if not int(min) <= math.pow(2, int(index)) <= int(max):
+                        sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
+                        return False
+                    if param.bitmask.get(index, "") == "":
+                        sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
+                        return False
+        return True
+
+    def is_number(self, num):
+        try:
+            float(num)
+            return True
+        except ValueError:
+            return False
+
+    @property
+    def parameter_groups(self) -> list[ParameterGroup]:
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        groups = self.param_groups.values()
+        groups = sorted(groups, key=lambda x: x.name)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.name, 0),
+                        reverse=True)
+
+        return groups
+
+
+def parse(filename: str) -> list[ParameterGroup]:
+    with open(filename) as f:
+        cdata = f.read()
+
+    parser = SourceParser()
+    if not parser.parse(cdata):
+        logging.error(f"Error parsing c parameter file {filename}")
+        sys.exit(1)
+    if not parser.validate():
+        logging.error(f"Error while validating c parameter file {filename}")
+        sys.exit(1)
+
+    return parser.parameter_groups
+
+
+def cast(val: str) -> Any:
+    if val == "true":
+        return True
+    elif val == "false":
+        return False
+    try:
+        return ast.literal_eval(val)
+    except ValueError:
+        return val
+
+
+def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
+    data = dict()
+
+    module_name = os.path.dirname(os.path.realpath(filename)).split(os.sep)[-1]
+
+    data["module_name"] = module_name
+    data["parameters"] = list()
+
+    for group in groups:
+        g = dict()
+        g["group"] = group.name
+        g["definitions"] = dict()
+
+        for parameter in group.parameters:
+            p = dict()
+
+            p["description"] = dict()
+            p["description"]["short"] = parameter.fields["short_desc"]
+            del parameter.fields["short_desc"]
+            if "long_desc" in parameter.fields:
+                p["description"]["long"] = parameter.fields["long_desc"]
+                del parameter.fields["long_desc"]
+
+            if parameter.category != "":
+                p["category"] = parameter.category.title()
+            # the enum check has to happen first
+            # since some parameters are both boolean and enum at the same time
+            # (even with more than 0 and 1 as options for some reason) so let's assume
+            # they are enums not booleans
+            if len(parameter.enum) > 0:
+                p["type"] = "enum"
+                p["values"] = dict()
+                for key, val in parameter.enum.items():
+                    try:
+                        p["values"][int(key)] = val
+                    except ValueError:
+                        p["values"][float(key)] = val
+                        p["type"] = "float"
+            elif parameter.boolean:
+                p["type"] = "boolean"
+            elif len(parameter.bitmask) > 0:
+                p["type"] = "bitmask"
+                p["bit"] = dict()
+                for key, val in parameter.bitmask.items():
+                    p["bit"][int(key)] = val.strip()
+            elif parameter.type == "FLOAT":
+                p["type"] = "float"
+            else:
+                p["type"] = "int32"
+            p["default"] = cast(parameter.default)
+
+            if parameter.volatile:
+                p["volatile"] = bool(parameter.volatile)
+
+            for key, val in parameter.fields.items():
+                try:
+                    p[key] = cast(val)
+                except SyntaxError:
+                    p[key] = val
+
+            g["definitions"][parameter.name] = p
+        data["parameters"].append(g)
+
+    return yaml.dump(data, sort_keys=False)
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Migrate legacy c parameter definitions to yaml")
+    parser.add_argument('input_file', nargs='+', help='input file(s)')
+    parser.add_argument('--update-cmake', action=argparse.BooleanOptionalAction)
+    args = parser.parse_args()
+
+    input_files = args.input_file
+    update_cmake = args.update_cmake
+
+    logging.basicConfig(level=logging.INFO)
+
+    for filename in input_files:
+        logging.info(f"Migrating c parameter file {filename}")
+
+        parameter_groups = parse(filename)
+        output = generate_yaml(filename, parameter_groups)
+
+        dirname, fname = os.path.split(os.path.realpath(filename))
+        fname = fname.split(".")[0]
+        with open(os.path.join(dirname, f"module_{fname}.yaml"), "w") as f:
+            f.write(output)
+        if update_cmake:
+            with open(os.path.join(dirname, "CMakeLists.txt"), "r+") as f:
+                content = f.read()
+                if "MODULE_CONFIG" not in content:
+                    try:
+                        index = content.index("DEPENDS")
+                    except ValueError:
+                        index = content.index("px4_add_module")
+                        index += content[index:].index(")")
+                    content = content[:index] + "MODULE_CONFIG\n\t\tmodule.yaml\n\t" + content[index:]
+                    f.seek(0)
+                    f.write(content)
+                    f.truncate()
+
+
+if __name__ == "__main__":
+    main()

Tools/module_config/output_groups_from_timer_config.py

@@ -34,24 +34,23 @@ def extract_timer(line):
     if search:
         return search.group(1), 'generic'
 
-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
     if search:
-        return search.group(1), 'imxrt'
+        return (search.group(1) + '_' +  search.group(2)), 'imxrt'
 
     return None, 'unknown'
 
-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line, timer_names):
     # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
     search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
     if search:
         return search.group(1)
 
-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
     if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))
 
     return None
 
@@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
     open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
     timers_str = timer_config[open_idx:close_idx]
     timers = []
+    timer_names = []
     for line in timers_str.splitlines():
         line = line.strip()
         if len(line) == 0 or line.startswith('//'):
@@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):
 
         if timer_type == 'imxrt':
             if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
+            timer_names.append(timer)
+            timers.append(str(len(timers)))
+            dshot_support = {str(i): False for i in range(16)}
             for i in range(8): # First 8 channels support dshot
                 dshot_support[str(i)] = True
-            break
-
-        if timer:
+        elif timer:
             if verbose: print('found timer def: {:}'.format(timer))
             dshot_support[timer] = 'DMA' in line
             timers.append(timer)
@@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
             continue
 
         if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line, timer_names)
 
         if timer:
             if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))

Tools/msg/generate_msg_docs.py

@@ -81,15 +81,15 @@ if __name__ == "__main__":
         with open(output_file, 'w') as content_file:
             content_file.write(markdown_output)
 
-        readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
+        index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
         if summary_description:
-            readme_markdown_file_link+=" — %s" % summary_description
-        filelist_in_markdown+=readme_markdown_file_link+"\n"
+            index_markdown_file_link+=" — %s" % summary_description
+        filelist_in_markdown+=index_markdown_file_link+"\n"
 
-    # Write out the README.md file
-    readme_text="""# uORB Message Reference
+    # Write out the index.md file
+    index_text="""# uORB Message Reference
 
-:::note
+::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::
 
@@ -98,6 +98,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 %s
     """ % (filelist_in_markdown)
-    readme_file = os.path.join(output_dir, 'README.md')
-    with open(readme_file, 'w') as content_file:
-            content_file.write(readme_text)
+    index_file = os.path.join(output_dir, 'index.md')
+    with open(index_file, 'w') as content_file:
+            content_file.write(index_text)

Tools/px4airframes/markdownout.py

@@ -7,7 +7,7 @@ class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
         result = """# Airframes Reference
 
-:::note
+::: info
 **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
 :::
 

Tools/px4moduledoc/markdownout.py

@@ -19,7 +19,7 @@ The following pages document the PX4 modules, drivers and commands.
 They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.
 
-:::note
+::: info
 **This is auto-generated from the source code** and contains the most recent modules documentation.
 :::
 

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

@@ -6,6 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
+param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 

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

@@ -47,7 +47,7 @@
 #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_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
 
 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */

boards/ark/pi6x/bootloader.px4board

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

boards/ark/pi6x/default.px4board

@@ -0,0 +1,71 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/pi6x/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 58,
+    "magic": "ARKPi6XFWv1",
+    "description": "Firmware for the ARKPi6X board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKPi6X",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/pi6x/init/rc.board_defaults

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# transision from params file to flash-based params (2022-08)
+if [ -f $PARAM_FILE ]
+then
+	param load $PARAM_FILE
+	param save
+	# create a backup
+	mv $PARAM_FILE ${PARAM_FILE}.bak
+	reboot
+fi
+
+param set-default SENS_EN_INA226 1
+
+# TODO: Set params to start UXRCE DDS on Telem2
+
+# TODO: Start Mavlink on USB by default
+
+# TODO: Tune the following parameters
+param set-default SENS_EN_THERMAL 1
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0
+
+if ver hwtypecmp ARKPI6X000
+then
+	# TODO: Add the correct sensor ID
+	param set-default SENS_TEMP_ID 2490378
+fi
+
+param set-default EKF2_BARO_DELAY 39
+param set-default EKF2_BARO_NOISE 0.9
+param set-default EKF2_HGT_REF 0
+param set-default EKF2_MAG_DELAY 60
+param set-default EKF2_MAG_NOISE 0.06
+param set-default EKF2_MULTI_IMU 2
+param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_DELAY 28
+param set-default EKF2_OF_N_MIN 0.05
+param set-default EKF2_RNG_A_HMAX 25
+param set-default EKF2_RNG_DELAY 105
+param set-default EKF2_RNG_NOISE 0.03
+param set-default EKF2_RNG_QLTY_T 0.1
+param set-default EKF2_RNG_SFE 0.03
+
+param set-default SENS_FLOW_RATE 150

boards/ark/pi6x/init/rc.board_sensors

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# ARKPI6X specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -I -b 3 -t 1 -k start
+fi
+
+if ver hwtypecmp ARKPI6X000
+then
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 1 -s -b 2 -C 32051 start
+fi
+
+# Internal magnetometer on I2C
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi
+
+# Internal Baro on I2C
+bmp388 -I -b 4 start
+
+# Internal optical flow
+paw3902 -s -b 3 start -Y 90
+
+# Internal distance sensor
+afbrs50 start

boards/ark/pi6x/nuttx-config/Kconfig

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

boards/ark/pi6x/nuttx-config/bootloader/defconfig

@@ -0,0 +1,95 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3185
+CONFIG_CDCACM_VENDORSTR="ARK"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_UART7=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART7_RXBUFSIZE=512
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=512
+CONFIG_UART7_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/ark/pi6x/nuttx-config/include/board.h

@@ -0,0 +1,512 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v6x/include/board.h
+ *
+ *   Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6X  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#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     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
+// GPIO_UART5_RTS  No remap                 /* PC8  */
+#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is Not Used
+ * SPI5 is Not Used
+ * SPI6 is EXTERNAL1
+ *
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_3               /* PG9  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               /* PB5  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11 */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_3               /* PB2  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */
+
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2               /* PA6  */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#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_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PG11
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H  */

boards/ark/pi6x/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
+
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
+//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+
+// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */

boards/ark/pi6x/nuttx-config/nsh/defconfig

@@ -0,0 +1,274 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3185
+CONFIG_CDCACM_VENDORSTR="ARK"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC2_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_IFLOWCONTROL=y
+CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXDMA=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_IFLOWCONTROL=y
+CONFIG_UART7_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y

boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/pi6x/nuttx-config/scripts/script.ld

@@ -0,0 +1,229 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/pi6x/src/CMakeLists.txt

@@ -0,0 +1,77 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		sdio.c
+		spi.cpp
+		spix_sync.c
+		spix_sync.h
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()

boards/ark/pi6x/src/board_config.h

@@ -0,0 +1,402 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * ARK Pi6X internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_NBAT_V              1d // 2 Digital Voltage
+#define BOARD_HAS_NBAT_I              1d // 2 Digital Current
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+/* Trace Clock and D0-D3 are available on the trace connector
+ *
+ * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
+ * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
+ * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
+ * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
+ * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
+
+ */
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
+
+#if !defined(TRACE_PINS)
+#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
+
+#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#  define BOARD_OVERLOAD_LED     LED_RED
+#  define BOARD_ARMED_STATE_LED  LED_BLUE
+
+#else
+
+#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
+#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
+#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
+//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
+
+#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
+#  undef  BOARD_OVERLOAD_LED
+#  undef  BOARD_ARMED_STATE_LED
+
+#  define GPIO_nLED_RED    GPIO_TRACED0
+#  define GPIO_nLED_GREEN  GPIO_TRACED1
+#  define GPIO_nLED_BLUE   GPIO_TRACED2
+#  define GPIO_nARMED      GPIO_TRACED3
+#  define GPIO_nARMED_INIT GPIO_TRACED3
+#endif
+
+/* I2C busses */
+
+/* Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_SE050         0x48
+
+/*
+ * 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
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER.
+ * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
+ * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
+ * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
+ * PA0SO of 0.
+ *
+ *  0 Analog switch closed (pads are connected through the analog switch)
+ *
+ * So ADC3_INP0 is GPIO_ADC123_INP12
+ *    ADC3_INP1 is GPIO_ADC12_INP13
+ */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PA0  */  GPIO_ADC1_INP16,   \
+	/* PA4  */  GPIO_ADC12_INP18,  \
+	/* PB0  */  GPIO_ADC12_INP9,   \
+	/* PB1  */  GPIO_ADC12_INP5,   \
+	/* PC2  */  GPIO_ADC123_INP12, \
+	/* PC3  */  GPIO_ADC12_INP13,  \
+	/* PF12 */  GPIO_ADC1_INP6,    \
+	/* PH3  */  GPIO_ADC3_INP14,   \
+	/* PH4  */  GPIO_ADC3_INP15
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
+#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
+#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
+#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
+
+#define ADC_CHANNELS \
+	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL))
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+#define BOARD_HAS_HW_SPLIT_VERSIONING
+
+#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
+#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
+#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
+#define HW_INFO_INIT_PREFIX    "ARKPI6X"
+
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
+//                 Base/FMUM
+#define ARKPI6X_0   HW_FMUM_ID(0x0) // ARKPI6X,     Sensor Set  Rev 0
+#define ARKPI6X_1   HW_FMUM_ID(0x1) // ARKPI6X,     Sensor Set  Rev 1
+
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+/* HEATER
+ * PWM in future
+ */
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
+/* PE6 is nARMED
+ *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
+ *  While armed it shall be configured at a GPIO OUT set LOW
+ */
+#if !defined(TRACE_PINS)
+#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
+#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#endif
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
+#define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
+
+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 6
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PD11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN11|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB3  */  GPIO_SPI6_SCK_3
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PG14 */  GPIO_SPI6_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PA6  */  GPIO_SPI6_MISO_2
+
+/* Power supply control and monitoring GPIOs */
+
+#define BOARD_NUMBER_BRICKS             0
+#define BOARD_NUMBER_DIGITAL_BRICKS     1
+
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* Spare GPIO */
+
+#define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
+
+/* NFC GPIO */
+
+#define GPIO_NFC_GPIO                   /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
+
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        14  /* Timer 14 */
+#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
+
+#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#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/ttyS4"
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+/* ARKPI6X never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#if defined(TRACE_PINS)
+#define GPIO_TRACE                          \
+	GPIO_TRACECLK1,                           \
+	GPIO_TRACED0,                             \
+	GPIO_TRACED1,                             \
+	GPIO_TRACED2,                             \
+	GPIO_TRACED3
+#else
+#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#endif
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_TRACE,                       \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_VER_REV_DRIVE,            \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_VDD_5V_HIPOWER_nEN,          \
+		GPIO_VDD_5V_HIPOWER_nOC,          \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_PD15,                        \
+		GPIO_NFC_GPIO,                    \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CAP,     	          \
+		GPIO_SPIX_SYNC                    \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_SPIX_SYNC_FREQ 32000
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/ark/pi6x/src/bootloader_main.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,39 +31,55 @@
  *
  ****************************************************************************/
 
-#pragma once
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
 
-#include <px4_log.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <termios.h>
+#include "board_config.h"
+#include "bl.h"
 
-#ifdef __PX4_QURT
-#include <drivers/device/qurt/uart.h>
-#define FAR
-#endif
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform/gpio.h>
+#include <px4_platform_common/init.h>
 
-class VoxlEscSerial
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
 {
-public:
-	VoxlEscSerial();
-	virtual ~VoxlEscSerial();
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
 
-	int		uart_open(const char *dev, speed_t speed);
-	int		uart_set_baud(speed_t speed);
-	int		uart_close();
-	int		uart_write(FAR void *buf, size_t len);
-	int		uart_read(FAR void *buf, size_t len);
-	bool		is_open() { return _uart_fd >= 0; };
-	int		uart_get_baud() {return _speed; }
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
 
-private:
-	int			_uart_fd = -1;
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
 
-#if ! defined(__PX4_QURT)
-	struct termios		_orig_cfg;
-	struct termios		_cfg;
-#endif
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
 
-	int   _speed = -1;
-};
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/ark/pi6x/src/can.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	uint16_t enabled_interfaces = 0x3;
+
+	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
+		enabled_interfaces &= ~(1 << 1);
+	}
+
+	return enabled_interfaces;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */

boards/ark/pi6x/src/hw_config.h

@@ -0,0 +1,129 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS5,921600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     58
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */

boards/ark/pi6x/src/i2c.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,18 +31,10 @@
  *
  ****************************************************************************/
 
-/*
- * This header defines the events::EventType type.
- */
-
-#pragma once
-
-#include <uORB/topics/event.h>
-
-namespace events
-{
-using EventType = event_s;
-} // namespace events
-
-
+#include <px4_arch/i2c_hw_description.h>
 
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(3),
+	initI2CBusInternal(4),
+};

boards/ark/pi6x/src/init.c

@@ -0,0 +1,293 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * ARKFMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+#include "spix_sync.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_HIPOWER_EN(false);
+	board_control_spi_sensors_power(false, 0xffff);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_HIPOWER_EN(true);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	VDD_5V_HIPOWER_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	// Ensure Power is off for > 10 mS
+	usleep(15 * 1000);
+	VDD_3V3_SD_CARD_EN(true);
+	usleep(500 * 1000);
+
+#ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#endif /* CONFIG_MMCSD */
+
+	/* Configure the SPIX_SYNC output */
+	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
+	spix_sync_servo_set(0, 150);
+
+	return OK;
+}

boards/ark/pi6x/src/led.c

@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * ARKFMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/ark/pi6x/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,28 +31,25 @@
  *
  ****************************************************************************/
 
-/**
- * Multi-EKF IMUs
- *
- * Maximum number of IMUs to use for Multi-EKF. Set 0 to disable.
- * Requires SENS_IMU_MODE 0.
- *
- * @group EKF2
- * @reboot_required true
- * @min 0
- * @max 4
- */
-PARAM_DEFINE_INT32(EKF2_MULTI_IMU, 0);
+#include <nuttx/config.h>
+#include <board_config.h>
 
-/**
- * Multi-EKF Magnetometers.
- *
- * Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable.
- * Requires SENS_MAG_MODE 0.
- *
- * @group EKF2
- * @reboot_required true
- * @min 0
- * @max 4
- */
-PARAM_DEFINE_INT32(EKF2_MULTI_MAG, 0);
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mft_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/ark/pi6x/src/sdio.c

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */

boards/ark/pi6x/src/spi.cpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
+	initSPIFmumID(ARKPI6X_0, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		// initSPIBus(SPI::Bus::SPI5, {
+		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		// }),
+		initSPIBus(SPI::Bus::SPI6, {
+			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		}),
+	}),
+	initSPIFmumID(ARKPI6X_1, { // Placeholder
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		// initSPIBus(SPI::Bus::SPI5, {
+		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		// }),
+		initSPIBus(SPI::Bus::SPI6, {
+			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/ark/pi6x/src/spix_sync.c

@@ -0,0 +1,309 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name Airmind nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* @file spix_sync.c
+*
+*
+*/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <board_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+
+#include "spix_sync.h"
+
+#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
+
+#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
+#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
+#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
+#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
+#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
+#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
+#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
+#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
+#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
+#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
+#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
+#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
+#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
+#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
+#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
+#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
+#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
+#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
+
+#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
+
+unsigned
+spix_sync_timer_get_period(unsigned timer)
+{
+	return (rARR(timer));
+}
+
+static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
+{
+	if (spix_sync_timers[timer].base) {
+
+		irqstate_t flags = px4_enter_critical_section();
+
+		/* enable the timer clock before we try to talk to it */
+
+		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
+
+		/* disable and configure the timer */
+		rCR1(timer) = 0;
+		rCR2(timer) = 0;
+		rSMCR(timer) = 0;
+		rDIER(timer) = 0;
+		rCCER(timer) = 0;
+		rCCMR1(timer) = 0;
+		rCCMR2(timer) = 0;
+		rCCR1(timer) = 0;
+		rCCR2(timer) = 0;
+		rCCR3(timer) = 0;
+		rCCR4(timer) = 0;
+		rCCER(timer) = 0;
+		rDCR(timer) = 0;
+
+		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
+
+			/* master output enable = on */
+
+			rBDTR(timer) = ATIM_BDTR_MOE;
+		}
+
+		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
+		 * then configure the timer to free-run at 1MHz.
+		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
+		 */
+
+		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
+
+		/* configure the timer to update at the desired rate */
+
+		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
+
+		/* generate an update event; reloads the counter and all registers */
+		rEGR(timer) = GTIM_EGR_UG;
+
+		px4_leave_critical_section(flags);
+	}
+
+}
+
+void spix_sync_channel_init(unsigned channel)
+{
+	/* Only initialize used channels */
+
+	if (spix_sync_channels[channel].timer_channel) {
+
+		unsigned timer = spix_sync_channels[channel].timer_index;
+
+		/* configure the GPIO first */
+		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
+
+		uint16_t polarity = spix_sync_channels[channel].masks;
+
+		/* configure the channel */
+		switch (spix_sync_channels[channel].timer_channel) {
+		case 1:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
+			break;
+
+		case 2:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
+			break;
+
+		case 3:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
+			break;
+
+		case 4:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
+			break;
+		}
+	}
+}
+
+int
+spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	if (channel >= arraySize(spix_sync_channels)) {
+		return -1;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].gpio_out == 0)) {
+		return -1;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+
+	unsigned value = (unsigned)cvalue * period / 255;
+
+	/* configure the channel */
+	if (value > 0) {
+		value--;
+	}
+
+
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		rCCR1(timer) = value;
+		break;
+
+	case 2:
+		rCCR2(timer) = value;
+		break;
+
+	case 3:
+		rCCR3(timer) = value;
+		break;
+
+	case 4:
+		rCCR4(timer) = value;
+		break;
+
+	default:
+		return -1;
+	}
+
+	return 0;
+}
+
+unsigned spix_sync_servo_get(unsigned channel)
+{
+	if (channel >= 3) {
+		return 0;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+	uint16_t value = 0;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].timer_channel == 0)) {
+		return 0;
+	}
+
+	/* configure the channel */
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		value = rCCR1(timer);
+		break;
+
+	case 2:
+		value = rCCR2(timer);
+		break;
+
+	case 3:
+		value = rCCR3(timer);
+		break;
+
+	case 4:
+		value = rCCR4(timer);
+		break;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+	return ((value + 1) * 255 / period);
+}
+
+int spix_sync_servo_init(unsigned rate)
+{
+	/* do basic timer initialisation first */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		spix_sync_timer_init_timer(i, rate);
+	}
+
+	/* now init channels */
+	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
+		spix_sync_channel_init(i);
+	}
+
+	spix_sync_servo_arm(true);
+	return OK;
+}
+
+void
+spix_sync_servo_deinit(void)
+{
+	/* disable the timers */
+	spix_sync_servo_arm(false);
+}
+void
+spix_sync_servo_arm(bool armed)
+{
+	/* iterate timers and arm/disarm appropriately */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		if (spix_sync_timers[i].base != 0) {
+			if (armed) {
+				/* force an update to preload all registers */
+				rEGR(i) = GTIM_EGR_UG;
+
+				/* arm requires the timer be enabled */
+				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
+
+			} else {
+				rCR1(i) = 0;
+			}
+		}
+	}
+}

boards/ark/pi6x/src/spix_sync.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,13 +31,12 @@
  *
  ****************************************************************************/
 
-/**
- * Magnetic declination
- *
- * @group EKF2
- * @volatile
- * @category system
- * @unit deg
- * @decimal 1
- */
-PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
+__BEGIN_DECLS
+void spix_sync_channel_init(unsigned channel);
+int spix_sync_servo_set(unsigned channel, uint8_t  value);
+unsigned spix_sync_servo_get(unsigned channel);
+int spix_sync_servo_init(unsigned rate);
+void spix_sync_servo_deinit(void);
+void spix_sync_servo_arm(bool armed);
+unsigned spix_sync_timer_get_period(unsigned timer);
+__END_DECLS

boards/ark/pi6x/src/timer_config.cpp

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM5_CH4  T FMU_CH1
+ * TIM5_CH3  T FMU_CH2
+ * TIM5_CH2  T FMU_CH3
+ * TIM5_CH1  T FMU_CH4
+ *
+ * TIM4_CH2  T FMU_CH5
+ * TIM4_CH3  T FMU_CH6
+ *
+ * TIM12_CH1 T FMU_CH7
+ * TIM12_CH2 T FMU_CH8
+ *
+ * TIM1_CH3  T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
+ * TIM1_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
+ *
+ * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
+ *
+ * TIM14_CH1 T BUZZER_1              - Driven by other driver
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer12),
+	//initIOTimer(Timer::Timer1),
+	//initIOTimer(Timer::Timer2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+
+constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+};
+
+constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+};

boards/ark/pi6x/src/usb.c

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include "arm_internal.h"
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the ARKFMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -9,9 +9,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/flywoo/gn-f405/init/rc.board_defaults

@@ -12,14 +12,9 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# EKF2 can be enabled when baro is avaialble and EKF2_MAG_TYPE is set to 5
-param set-default SYS_MC_EST_GROUP 2
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6
 
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0
 
 # GPS is on Uart6

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -46,8 +46,8 @@ add_library(drivers_board
 # Add custom drivers for SLPI
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp

@@ -125,7 +125,7 @@ void elrs_led_task()
 
 			orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
 
-			_cmd = (ControllerInput)setpoint_req.aux1;
+			_cmd = (ControllerInput)setpoint_req.buttons;
 
 			// skip duplicate cmds
 			if (_cmd == _prev_cmd) {

boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp

@@ -110,16 +110,18 @@ void task_main(int argc, char *argv[])
 		}
 	}
 
-	int uart_fd = dsm_init(device_path);
+	int uart_fd = qurt_uart_open(device_path, 115200);
 
 	if (uart_fd < 0) {
-		PX4_ERR("dsm init failed");
+		PX4_ERR("uart open failed");
 		return;
 
 	} else if (verbose) {
-		PX4_INFO("Spektrum RC: dsm_init succeeded");
+		PX4_INFO("Spektrum RC: uart open succeeded");
 	}
 
+	dsm_proto_init();
+
 	orb_advert_t rc_pub = nullptr;
 
 	// Use a buffer size of the double of the minimum, just to be safe.

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -128,6 +128,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -44,3 +44,6 @@ add_library(drivers_board
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
+
+# Add custom modules
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__voxl_save_cal_params
+	MAIN voxl_save_cal_params
+	COMPILE_FLAGS
+	SRCS
+		VoxlSaveCalParams.cpp
+		VoxlSaveCalParams.hpp
+	DEPENDS
+		px4_work_queue
+	)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "VoxlSaveCalParams.hpp"
+
+#include <algorithm>
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <iostream>
+
+using namespace std;
+
+static bool debug = false;
+
+VoxlSaveCalParams::VoxlSaveCalParams() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+bool
+VoxlSaveCalParams::init()
+{
+	if (!_parameter_primary_set_value_request_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void
+VoxlSaveCalParams::save_calibration_parameter_to_file(const char *name, param_type_t type,
+		param_value_u value)
+{
+	// If the parameter being set is a calibration parameter then save it out to
+	// a separate calibration file so that they can be preserved and reloaded
+	// after system updates
+	string cal_file_name = param_get_default_file();
+	string cal_file_append;
+	string param_name(name);
+	string cal_strings[] = {"CAL_GYRO", "CAL_MAG", "CAL_BARO", "CAL_ACC"};
+
+	for (auto i : cal_strings) {
+		// Check to see if the parameter is one of the desired calibration parameters
+		if (param_name.substr(0, i.size()) == i) {
+			// We want the filename to be the standard parameters file name with
+			// the calibration type appended to it.
+			cal_file_append = i.substr(3, i.size());
+			// Make sure it is lowercase
+			transform(cal_file_append.begin(), cal_file_append.end(), cal_file_append.begin(), ::tolower);
+			// And add a cal file extension
+			cal_file_append += ".cal";
+			break;
+		}
+	}
+
+	// Check for level horizon calibration parameters
+	if (cal_file_append.empty() &&
+	    (param_name == "SENS_BOARD_X_OFF" || param_name == "SENS_BOARD_Y_OFF")) {
+		cal_file_append = "_level.cal";
+	}
+
+	// Check for RC calibration parameters
+	if (cal_file_append.empty() && name[0] == 'R' && name[1] == 'C' && isdigit(name[2])) {
+		cal_file_append = "_rc.cal";
+	}
+
+	if (! cal_file_append.empty()) {
+		cal_file_name += cal_file_append;
+
+		stringstream param_data_stream;
+
+		switch (type) {
+		case PARAM_TYPE_INT32:
+			param_data_stream << value.i;
+			param_data_stream << "\t" << 6;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_data_stream << value.f;
+			param_data_stream << "\t" << 9;
+			break;
+
+		default:
+			PX4_ERR("Calibration parameter must be either int or float");
+			break;
+		}
+
+		string param_data;
+		param_data += "1\t1\t";
+		param_data += param_name;
+		param_data += "\t";
+		param_data += param_data_stream.str();
+
+		if (debug) { PX4_INFO("Writing %s to file %s", param_data.c_str(), cal_file_name.c_str()); }
+
+		// open a file in write (append) mode.
+		ofstream cal_file;
+		cal_file.open(cal_file_name, ios_base::app);
+
+		if (cal_file) {
+			cal_file << param_data << endl;
+			cal_file.close();
+
+		} else {
+			PX4_ERR("Couldn't open %s for writing calibration value", cal_file_name.c_str());
+		}
+	}
+}
+
+void
+VoxlSaveCalParams::Run()
+{
+	if (should_exit()) {
+		_parameter_primary_set_value_request_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	parameter_set_value_request_s req;
+
+	if (_parameter_primary_set_value_request_sub.copy(&req)) {
+		// PX4_INFO("Got set value request in autosave module");
+
+		// debug_counters.set_value_received++;
+
+		param_t param = req.parameter_index;
+		param_value_u value;
+		value.i = 0;
+		value.f = 0.0f;
+
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+			param_set_no_remote_update(param, (const void *) &req.int_value, true);
+			value.i = req.int_value;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_set_no_remote_update(param, (const void *) &req.float_value, true);
+			value.f = req.float_value;
+			break;
+
+		default:
+			PX4_ERR("Parameter must be either int or float");
+			break;
+		}
+
+		save_calibration_parameter_to_file(param_name(param), param_type(param), value);
+	}
+}
+
+int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
+{
+	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VoxlSaveCalParams::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VoxlSaveCalParams::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements autosaving of calibration parameters on VOXL2 platform.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
+{
+	return VoxlSaveCalParams::main(argc, argv);
+}

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/parameter_set_value_request.h>
+
+using namespace time_literals;
+
+class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	VoxlSaveCalParams();
+	~VoxlSaveCalParams() = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	void save_calibration_parameter_to_file(const char *name, param_type_t type, param_value_u value);
+
+	uORB::SubscriptionCallbackWorkItem _parameter_primary_set_value_request_sub{this, ORB_ID(parameter_primary_set_value_request)};
+};

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -43,13 +43,6 @@ else
     param load
 fi
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted.
-logger start -e -t -b 200
-
 /bin/sleep 1
 
 # Start all of the processing modules on DSP
@@ -97,6 +90,9 @@ mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
+# Start logging and use timestamps for log files when possible.
+logger start -t -b 256
+
 /bin/sleep 1
 
 mavlink boot_complete

boards/modalai/voxl2/target/voxl-px4-start

@@ -62,13 +62,6 @@ param select /data/px4/param/parameters
 # Load in all of the parameters that have been saved in the file
 param load
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted.
-logger start -t
-
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
@@ -211,10 +204,12 @@ dataman start
 navigator start
 
 # This bridge allows raw data packets to be sent over UART to the ESC
-voxl2_io_bridge start
+# voxl2_io_bridge start
 
-# Start microdds_client for ros2 offboard messages from agent over localhost
-microdds_client start -t udp -h 127.0.0.1 -p 8888
+# Start uxrce_dds_client for ros2 offboard messages from agent over localhost
+uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
+
+voxl_save_cal_params start
 
 # On M0052 there is only one IMU. So, PX4 needs to
 # publish IMU samples externally for VIO to use.
@@ -235,6 +230,14 @@ mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
+# Start logging and use timestamps for log files when possible.
+# Add the "-e" option to start logging immediately. Default is
+# to log only when armed. Caution must be used with the "-e" option
+# because if power is removed without stopping the logger gracefully then
+# the log file may be corrupted. Rather than using "-e" option it's better
+# to use the SDLOG_MODE to do that.
+logger start -t -b 256
+
 mavlink boot_complete
 
 # Optional MSP OSD driver for DJI goggles

boards/omnibus/f4sd/init/rc.board_defaults

@@ -12,9 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/px4/fmu-v5/debug.px4board

@@ -37,7 +37,6 @@ CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y

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

@@ -185,7 +185,6 @@ CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y

boards/sky-drones/smartap-airlink/default.px4board

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y

boards/spracing/h7extreme/init/rc.board_defaults

@@ -12,9 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

msg/IridiumsbdStatus.msg

@@ -1,5 +1,5 @@
 uint64 timestamp				# time since system start (microseconds)
-uint64 last_heartbeat				# timestamp of the last successful sbd session
+uint64 last_at_ok_timestamp			# timestamp of the last "OK" received after the "AT" command
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer

msg/LogMessage.msg

@@ -1,4 +1,4 @@
-# A logging message, output with PX4_{WARN,ERR,INFO}
+# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
 
 uint64 timestamp		# time since system start (microseconds)
 

msg/ManualControlSetpoint.msg

@@ -37,6 +37,8 @@ float32 aux6
 
 bool sticks_moving
 
+uint16 buttons		# From uint16 buttons field of Mavlink manual_control message
+
 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x
 # DEPRECATED: float32 y

msg/VehicleAttitude.msg

@@ -1,4 +1,5 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
+# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
 
 uint64 timestamp                # time since system start (microseconds)
 

msg/VehicleCommand.msg

@@ -165,7 +165,10 @@ int8 ARMING_ACTION_ARM = 1
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1
 
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 frame # The coordinate system of the Command
+uint8 FRAME_UNKNOWN = 0 # Not specified
+uint8 FRAME_GLOBAL = 1 # Global WGS84 coordinate frame + altitude relative to mean sea level
+uint8 FRAME_GLOBAL_RELATIVE_ALTITUDE = 2 # Global WGS84 coordinate frame + altitude relative to the home position
 
 float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
 float32 param2			# Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -184,4 +187,6 @@ bool from_external
 
 uint16 COMPONENT_MODE_EXECUTOR_START = 1000
 
+uint8 ORB_QUEUE_LENGTH = 8
+
 # TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor

msg/VehicleCommandAck.msg

@@ -5,13 +5,16 @@
 uint64 timestamp		# time since system start (microseconds)
 
 # Result cases. This follows the MAVLink MAV_RESULT enum definition
-uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0			# Command ACCEPTED and EXECUTED |
-uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
-uint8 VEHICLE_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
-uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
-uint8 VEHICLE_CMD_RESULT_FAILED = 4			# Command executed, but failed |
-uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5		# Command being executed |
-uint8 VEHICLE_CMD_RESULT_CANCELLED = 6			# Command Canceled
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command is valid (is supported and has valid parameters), and was executed
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command is valid, but cannot be executed at this time
+uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command is invalid (is supported but has invalid parameters)
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command is not supported (unknown)
+uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command is valid, but execution has failed
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command is valid and is being executed
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command has been cancelled (as a result of receiving a COMMAND_CANCEL message)
+uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
+uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
+uint8 VEHICLE_CMD_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME = 9 # Command is invalid because a frame is required and the specified frame is not supported
 
 # Arming denied specific cases
 uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0

platforms/common/include/px4_platform_common/Serial.hpp

@@ -55,6 +55,7 @@ public:
 	virtual ~Serial();
 
 	// Open sets up the port and gets it configured based on desired configuration
+	// The port is always opened in NON BLOCKING mode.
 	bool open();
 	bool isOpen() const;
 

platforms/common/include/px4_platform_common/cli.h

@@ -50,3 +50,15 @@
  * @return 0 on success, -errno otherwise
  */
 int px4_get_parameter_value(const char *option, int &value);
+
+/**
+ * Parse a CLI argument to a float. There are 2 valid formats:
+ * - 'p:<param_name>'
+ *   in this case the parameter is loaded from an integer parameter
+ * - <float>
+ *   a floating-point value, so just a string to float conversion is done
+ * @param option CLI argument
+ * @param value returned value
+ * @return 0 on success, -errno otherwise
+ */
+int px4_get_parameter_value(const char *option, float &value);

platforms/common/include/px4_platform_common/events.h

@@ -45,7 +45,7 @@
 #endif
 
 #include <events/events_generated.h>
-#include <libevents_definitions.h>
+#include <uORB/topics/event.h>
 
 #include <stdint.h>
 
@@ -93,7 +93,7 @@ constexpr unsigned sizeofArguments(const T &t, const Args &... args)
 /**
  * publish/send an event
  */
-void send(EventType &event);
+void send(event_s &event);
 
 /**
  * Generate event ID from an event name
@@ -109,7 +109,7 @@ constexpr uint32_t ID(const char (&name)[N])
 template<typename... Args>
 inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	static_assert(util::sizeofArguments(args...) <= sizeof(e.arguments), "Too many arguments");
@@ -120,7 +120,7 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message,
 
 inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message);

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -72,7 +72,7 @@ static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};
 static constexpr wq_config_t INS2{"wq:INS2", 6000, -16};
 static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
 
-static constexpr wq_config_t hp_default{"wq:hp_default", 2392, -18};
+static constexpr wq_config_t hp_default{"wq:hp_default", 2800, -18};
 
 static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};
 

platforms/common/pab_manifest.c

@@ -356,20 +356,22 @@ static const px4_hw_mft_item_t base_configuration_17[] = {
 	},
 };
 
+// BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{HW_BASE_ID(0),  base_configuration_0, arraySize(base_configuration_0)},  // std Base with PX4IO
-	{HW_BASE_ID(1),  base_configuration_1, arraySize(base_configuration_1)},  // std Base No PX4IO
-	{HW_BASE_ID(2),  base_configuration_0, arraySize(base_configuration_0)},  // CUAV Base
-	{HW_BASE_ID(3),  base_configuration_3, arraySize(base_configuration_3)},  // NXP T1 PHY
-	{HW_BASE_ID(4),  base_configuration_0, arraySize(base_configuration_0)},  // HB CM4 base
-	{HW_BASE_ID(5),  base_configuration_5, arraySize(base_configuration_5)},  // HB Mini
-	{HW_BASE_ID(8),  base_configuration_0, arraySize(base_configuration_0)},  // Auterion Skynode ver 8 Aliased to 0
-	{HW_BASE_ID(9),  base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 9
-	{HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 10
-	{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)},  // Auterion Skynode ver 16
-	{HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)},  // Auterion Skynode ver 17
+	{HW_BASE_ID(0),      base_configuration_0, arraySize(base_configuration_0)},   // std Base with PX4IO
+	{HW_BASE_ID(1),      base_configuration_1, arraySize(base_configuration_1)},   // std Base No PX4IO
+	{HW_BASE_ID(2),      base_configuration_0, arraySize(base_configuration_0)},   // CUAV Base
+	{HW_BASE_ID(3),      base_configuration_3, arraySize(base_configuration_3)},   // NXP T1 PHY
+	{HW_BASE_ID(4),      base_configuration_0, arraySize(base_configuration_0)},   // HB CM4 base
+	{HW_BASE_ID(5),      base_configuration_5, arraySize(base_configuration_5)},   // HB Mini
+	{HW_BASE_ID(8),      base_configuration_0, arraySize(base_configuration_0)},   // Auterion Skynode ver 8 Aliased to 0
+	{HW_BASE_ID(9),      base_configuration_9, arraySize(base_configuration_9)},   // Auterion Skynode ver 9
+	{HW_BASE_ID(10),     base_configuration_9, arraySize(base_configuration_9)},   // Auterion Skynode ver 10
+	{HW_BASE_ID(16),     base_configuration_0, arraySize(base_configuration_0)},   // Auterion Skynode ver 16
+	{HW_BASE_ID(17),     base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
+	{HW_BASE_ID(0x100),  base_configuration_0, arraySize(base_configuration_0)},   // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0
 };
 
 /************************************************************************************

platforms/common/px4_cli.cpp

@@ -59,6 +59,7 @@ int px4_get_parameter_value(const char *option, int &value)
 		if (param_handle != PARAM_INVALID) {
 
 			if (param_type(param_handle) != PARAM_TYPE_INT32) {
+				PX4_ERR("Type of param '%s' is different from INT32", param_name);
 				return -EINVAL;
 			}
 
@@ -87,3 +88,48 @@ int px4_get_parameter_value(const char *option, int &value)
 
 	return 0;
 }
+
+int px4_get_parameter_value(const char *option, float &value)
+{
+	value = 0;
+
+	/* check if this is a param name */
+	if (strncmp("p:", option, 2) == 0) {
+
+		const char *param_name = option + 2;
+
+		/* user wants to use a param name */
+		param_t param_handle = param_find(param_name);
+
+		if (param_handle != PARAM_INVALID) {
+
+			if (param_type(param_handle) != PARAM_TYPE_FLOAT) {
+				PX4_ERR("Type of param '%s' is different from FLOAT", param_name);
+				return -EINVAL;
+			}
+
+			float pwm_parm;
+			int ret = param_get(param_handle, &pwm_parm);
+
+			if (ret != 0) {
+				return ret;
+			}
+
+			value = pwm_parm;
+
+		} else {
+			PX4_ERR("param name '%s' not found", param_name);
+			return -ENXIO;
+		}
+
+	} else {
+		char *ep;
+		value = strtof(option, &ep);
+
+		if (*ep != '\0') {
+			return -EINVAL;
+		}
+	}
+
+	return 0;
+}

platforms/nuttx/src/bootloader/stm/stm32_common/main.c

@@ -71,6 +71,14 @@ const mcu_rev_t silicon_revs[] = {
 	{MCU_REV_Z, 'Z'}, /* Revision Z */
 };
 
+/*
+ * If APP_RESERVATION_SIZE is greater than 0 and
+ * FLASH_BASED_PARAMS is defined, throw a compile error
+ */
+#if defined(FLASH_BASED_PARAMS) && (APP_RESERVATION_SIZE <= 0)
+# error "APP_RESERVATION_SIZE must be greater than 0 if FLASH_BASED_PARAMS is defined"
+#endif
+
 #define APP_SIZE_MAX			(BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE))
 
 

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -181,7 +181,7 @@ bool SerialImpl::open()
 	}
 
 	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (serial_fd < 0) {
 		PX4_ERR("failed to open %s err: %d", _port, errno);

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -114,6 +114,7 @@ private:
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
 	bool _inverted_mode{false};
+
 };
 
 } // namespace device

platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c

@@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel)
 	return timer_io_channels[channel].timer_index;
 }
 
+static uint32_t get_timer_channels(unsigned timer)
+{
+	uint32_t channels = 0;
+	static uint32_t channels_cache[MAX_IO_TIMERS] = {0};
+
+	if (validate_timer_index(timer) < 0) {
+		return channels;
+
+	} else {
+		if (channels_cache[timer] == 0) {
+			/* Gather the channel bits that belong to the timer */
+
+			uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
+			uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+
+			for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) {
+				channels |= 1 << chan_index;
+			}
+
+			/* cache them */
+
+			channels_cache[timer] = channels;
+		}
+	}
+
+	return channels_cache[timer];
+}
+
 static uint32_t get_channel_mask(unsigned channel)
 {
 	return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0;
@@ -391,41 +419,66 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
 	return rv;
 }
 
-static int timer_set_rate(unsigned channel, unsigned rate)
+static int timer_set_rate(unsigned timer, unsigned rate)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+		}
+	}
+
 	px4_leave_critical_section(flags);
 	return 0;
 }
 
-static inline void io_timer_set_oneshot_mode(unsigned channel)
+static inline void io_timer_set_oneshot_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~SMCTRL_PRSC_MASK;
-	rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~SMCTRL_PRSC_MASK;
+			rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);
 
 }
 
-static inline void io_timer_set_PWM_mode(unsigned channel)
+static inline void io_timer_set_PWM_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
-	rvalue |= SMCTRL_PRSC_DIV16;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
+			rvalue |= SMCTRL_PRSC_DIV16;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);
 }
 
@@ -530,33 +583,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 			break;
 		}
 
-		uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
-		uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+		int channels = get_timer_channels(timer);
 
-		for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {
+		for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) {
+			if ((1 << chan) & channels) {
 
-			/* Clear all Faults */
-			rFSTS0(timer) = FSTS_FFLAG_MASK;
+				/* Clear all Faults */
+				rFSTS0(timer) = FSTS_FFLAG_MASK;
 
-			rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
-			rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
-			/* Edge aligned at 0 */
-			rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
-			rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
-					 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
-			rDTSRCSEL(timer) = 0;
-			rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
-			rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
-			io_timer_set_PWM_mode(chan);
-			timer_set_rate(chan, 50);
+				rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
+				rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
+				/* Edge aligned at 0 */
+				rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
+				rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
+						 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
+				rDTSRCSEL(timer) = 0;
+				rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
+				rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
+			}
 		}
 
+		io_timer_set_PWM_mode(timer);
+		timer_set_rate(timer, 50);
+
 		px4_leave_critical_section(flags);
 	}
 
@@ -818,8 +873,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
 	return value;
 }
 
-// The rt has 1:1 group to channel
-uint32_t io_timer_get_group(unsigned group)
+uint32_t io_timer_get_group(unsigned timer)
 {
-	return get_channel_mask(group);
+	return get_timer_channels(timer);
 }

platforms/posix/include/SerialImpl.hpp

@@ -114,6 +114,7 @@ private:
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
 	bool _inverted_mode{false};
+
 };
 
 } // namespace device

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -179,7 +179,7 @@ bool SerialImpl::open()
 	}
 
 	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (serial_fd < 0) {
 		PX4_ERR("failed to open %s err: %d", _port, errno);

platforms/qurt/src/px4/SerialImpl.cpp

@@ -163,7 +163,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 		return -1;
 	}
 
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
+	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 100);
 
 	if (ret_read < 0) {
 		PX4_DEBUG("%s read error %d", _port, ret_read);

src/drivers/actuators/voxl_esc/CMakeLists.txt

@@ -38,8 +38,6 @@ px4_add_module(
 		crc16.c
 		crc16.h
 
-		voxl_esc_serial.cpp
-		voxl_esc_serial.hpp
 		voxl_esc.cpp
 		voxl_esc.hpp
 		qc_esc_packet_types.h

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -36,7 +36,6 @@
 #include <px4_platform_common/getopt.h>
 
 #include "voxl_esc.hpp"
-#include "voxl_esc_serial.hpp"
 
 // future use:
 #define MODALAI_PUBLISH_ESC_STATUS	0
@@ -83,10 +82,7 @@ VoxlEsc::~VoxlEsc()
 {
 	_outputs_on = false;
 
-	if (_uart_port) {
-		_uart_port->uart_close();
-		_uart_port = nullptr;
-	}
+	_uart_port.close();
 
 	perf_free(_cycle_perf);
 	perf_free(_output_update_perf);
@@ -94,30 +90,185 @@ VoxlEsc::~VoxlEsc()
 
 int VoxlEsc::init()
 {
+	PX4_INFO("VOXL_ESC: Starting VOXL ESC driver");
 
 	/* Getting initial parameter values */
 	int ret = update_params();
 
 	if (ret != OK) {
+		PX4_ERR("VOXL_ESC: Failed to update params during init");
 		return ret;
 	}
 
-	_uart_port = new VoxlEscSerial();
-	memset(&_esc_chans, 0x00, sizeof(_esc_chans));
+	print_params();
 
-	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) {
-		_version_info[esc_id].sw_version = UINT16_MAX;
-		_version_info[esc_id].hw_version = UINT16_MAX;
-		_version_info[esc_id].id = esc_id;
-	}
-
-	//get_instance()->ScheduleOnInterval(10000); //100hz
+	//WARING: uart port initialization and device detection does not happen here
+	//because init() is called from a different thread from Run(), so fd opened in init() cannot be used in Run()
+	//this is an issue (feature?) specific to nuttx where each thread group gets separate set of fds
+	//https://cwiki.apache.org/confluence/display/NUTTX/Detaching+File+Descriptors
+	//detaching file descriptors is not implemented in the current version of nuttx that px4 uses
+	//
+	//There is no problem when running on VOXL2, but in order to have the same logical flow on both systems,
+	//we will initialize uart and query the device in Run()
 
 	ScheduleNow();
 
 	return 0;
 }
 
+int VoxlEsc::device_init()
+{
+	if (_device_initialized) {
+		return 0;
+	}
+
+	// Open serial port
+	if (!_uart_port.isOpen()) {
+		PX4_INFO("VOXL_ESC: Opening UART ESC device %s, baud rate %" PRIi32, _device, _parameters.baud_rate);
+#ifndef __PX4_QURT
+
+		//warn user that unless DMA is enabled for UART RX, data can be lost due to high frequency of per char cpu interrupts
+		//at least at 2mbit, there are definitely losses, did not test other baud rates to find the cut off
+		if (_parameters.baud_rate > 250000) {
+			PX4_WARN("VOXL_ESC: Baud rate is too high for non-DMA based UART, this can lead to loss of RX data");
+		}
+
+#endif
+
+		// Configure UART port
+		if (! _uart_port.setPort(_device)) {
+			PX4_ERR("Error configuring serial device on port %s", _device);
+			return -1;
+		}
+
+		if (! _uart_port.setBaudrate(_parameters.baud_rate)) {
+			PX4_ERR("Error setting baudrate to %d on %s", (int) _parameters.baud_rate, _device);
+			return -1;
+		}
+
+		// Open the UART. If this is successful then the UART is ready to use.
+		if (! _uart_port.open()) {
+			PX4_ERR("Error opening serial device  %s", _device);
+			return -1;
+		}
+	}
+
+	// Reset output channel values
+	memset(&_esc_chans, 0x00, sizeof(_esc_chans));
+
+	//reset the ESC version info before requesting
+	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) {
+		memset(&(_version_info[esc_id]), 0, sizeof(_version_info[esc_id]));
+		//_version_info[esc_id].sw_version = 0;  //invalid
+		//_version_info[esc_id].hw_version = 0;  //invalid
+		_version_info[esc_id].id         = esc_id;
+	}
+
+	// Detect ESCs
+	PX4_INFO("VOXL_ESC: Detecting ESCs...");
+	qc_esc_packet_init(&_fb_packet);
+
+	//request extended version info from each ESC and wait for reply
+	for (uint8_t esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) {
+		Command cmd;
+		cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
+
+		if (_uart_port.write(cmd.buf, cmd.len) != cmd.len) {
+			PX4_ERR("VOXL_ESC: Could not write version request packet to UART port");
+			return -1;
+		}
+
+		hrt_abstime t_request = hrt_absolute_time();
+		hrt_abstime t_timeout = 50000; //50ms timeout for version info response
+		bool got_response     = false;
+
+		while ((!got_response) && (hrt_elapsed_time(&t_request) < t_timeout)) {
+			px4_usleep(100); //sleep a bit while waiting for ESC to respond
+
+			int nread = _uart_port.read(_read_buf, sizeof(_read_buf));
+
+			for (int i = 0; i < nread; i++) {
+				int16_t parse_ret = qc_esc_packet_process_char(_read_buf[i], &_fb_packet);
+
+				if (parse_ret > 0) {
+					hrt_abstime response_time = hrt_elapsed_time(&t_request);
+					//PX4_INFO("got packet of length %i",ret);
+					_rx_packet_count++;
+					uint8_t packet_type = qc_esc_packet_get_type(&_fb_packet);
+					uint8_t packet_size = qc_esc_packet_get_size(&_fb_packet);
+
+					if (packet_type == ESC_PACKET_TYPE_VERSION_EXT_RESPONSE && packet_size == sizeof(QC_ESC_EXTENDED_VERSION_INFO)) {
+						QC_ESC_EXTENDED_VERSION_INFO ver;
+						memcpy(&ver, _fb_packet.buffer, packet_size);
+
+						PX4_INFO("VOXL_ESC: \tESC ID     : %i", ver.id);
+						PX4_INFO("VOXL_ESC: \tBoard Type : %i: %s", ver.hw_version, board_id_to_name(ver.hw_version));
+
+						uint8_t *u = &ver.unique_id[0];
+						PX4_INFO("VOXL_ESC: \tUnique ID  : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X",
+							 u[11], u[10], u[9], u[8], u[7], u[6], u[5], u[4], u[3], u[2], u[1], u[0]);
+
+						PX4_INFO("VOXL_ESC: \tFirmware   : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version);
+						PX4_INFO("VOXL_ESC: \tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version);
+						PX4_INFO("VOXL_ESC: \tReply time : %" PRIu32 "us", (uint32_t)response_time);
+						PX4_INFO("VOXL_ESC:");
+
+						if (ver.id == esc_id) {
+							memcpy(&_version_info[esc_id], &ver, sizeof(ver));
+							got_response = true;
+						}
+					}
+				}
+			}
+		}
+
+		if (!got_response) {
+			PX4_ERR("VOXL_ESC: ESC %d version info response timeout", esc_id);
+		}
+	}
+
+	//check the SW version of the ESCs
+	bool esc_detection_fault = false;
+
+	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) {
+		if (_version_info[esc_id].sw_version == 0) {
+			PX4_ERR("VOXL_ESC: ESC ID %d was not detected", esc_id);
+			esc_detection_fault = true;
+		}
+	}
+
+	//check the firmware hashes to make sure they are the same. Firmware hash has 8 chars plus optional "*"
+	for (int esc_id = 1; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) {
+		if (strncmp(_version_info[0].firmware_git_version, _version_info[esc_id].firmware_git_version, 9) != 0) {
+			PX4_ERR("VOXL_ESC: ESC %d Firmware hash does not match ESC 0 firmware hash:  (%.12s) != (%.12s)",
+				esc_id, _version_info[esc_id].firmware_git_version, _version_info[0].firmware_git_version);
+			esc_detection_fault = true;
+		}
+	}
+
+	//if firmware version is equal or greater than VOXL_ESC_EXT_RPM, ESC packet with extended rpm range is supported. use it
+	_extended_rpm      = true;
+
+	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; esc_id++) {
+		if (_version_info[esc_id].sw_version < VOXL_ESC_EXT_RPM) {
+			_extended_rpm = false;
+		}
+	}
+
+	if (esc_detection_fault) {
+		PX4_ERR("VOXL_ESC: Critical error during ESC initialization");
+		return -1;
+	}
+
+	PX4_INFO("VOXL_ESC: Use extened rpm packet : %d", _extended_rpm);
+
+	PX4_INFO("VOXL_ESC: All ESCs successfully detected");
+
+	_device_initialized =  true;
+
+	return 0;
+}
+
 int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 {
 	int ret = PX4_OK;
@@ -155,45 +306,48 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 	param_get(param_find("VOXL_ESC_VLOG"),    &params->verbose_logging);
 	param_get(param_find("VOXL_ESC_PUB_BST"), &params->publish_battery_status);
 
+	param_get(param_find("VOXL_ESC_T_WARN"), &params->esc_warn_temp_threshold);
+	param_get(param_find("VOXL_ESC_T_OVER"), &params->esc_over_temp_threshold);
+
 	if (params->rpm_min >= params->rpm_max) {
-		PX4_ERR("Invalid parameter VOXL_ESC_RPM_MIN.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_RPM_MIN.  Please verify parameters.");
 		params->rpm_min = 0;
 		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_motor_percent < 0 || params->turtle_motor_percent > 100) {
-		PX4_ERR("Invalid parameter VOXL_ESC_T_PERC.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_PERC.  Please verify parameters.");
 		params->turtle_motor_percent = 0;
 		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_motor_deadband < 0 || params->turtle_motor_deadband > 100) {
-		PX4_ERR("Invalid parameter VOXL_ESC_T_DEAD.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_DEAD.  Please verify parameters.");
 		params->turtle_motor_deadband = 0;
 		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_motor_expo < 0 || params->turtle_motor_expo > 100) {
-		PX4_ERR("Invalid parameter VOXL_ESC_T_EXPO.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_EXPO.  Please verify parameters.");
 		params->turtle_motor_expo = 0;
 		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_stick_minf < 0.0f || params->turtle_stick_minf > 100.0f) {
-		PX4_ERR("Invalid parameter VOXL_ESC_T_MINF.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_MINF.  Please verify parameters.");
 		params->turtle_stick_minf = 0.0f;
 		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_cosphi < 0.0f || params->turtle_cosphi > 100.0f) {
-		PX4_ERR("Invalid parameter VOXL_ESC_T_COSP.  Please verify parameters.");
+		PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_T_COSP.  Please verify parameters.");
 		params->turtle_cosphi = 0.0f;
 		ret = PX4_ERROR;
 	}
 
 	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
 		if (params->function_map[i] < (int)OutputFunction::Motor1 || params->function_map[i] > (int)OutputFunction::Motor4) {
-			PX4_ERR("Invalid parameter VOXL_ESC_FUNCX.  Only supports motors 1-4.  Please verify parameters.");
+			PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_FUNCX.  Only supports motors 1-4.  Please verify parameters.");
 			params->function_map[i] = 0;
 			ret = PX4_ERROR;
 
@@ -211,7 +365,7 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 		if (params->motor_map[i] == VOXL_ESC_OUTPUT_DISABLED ||
 		    params->motor_map[i] < -(VOXL_ESC_OUTPUT_CHANNELS) ||
 		    params->motor_map[i] > VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_ERR("Invalid parameter VOXL_ESC_MOTORX.  Please verify parameters.");
+			PX4_ERR("VOXL_ESC: Invalid parameter VOXL_ESC_MOTORX.  Please verify parameters.");
 			params->motor_map[i] = 0;
 			ret = PX4_ERROR;
 		}
@@ -264,35 +418,11 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-int VoxlEsc::flush_uart_rx()
-{
-	while (_uart_port->uart_read(_read_buf, sizeof(_read_buf)) > 0) {}
-
-	return 0;
-}
-
-bool VoxlEsc::check_versions_updated()
-{
-	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) {
-		if (_version_info[esc_id].sw_version == UINT16_MAX) { return false; }
-	}
-
-	// PX4_INFO("Got all ESC Version info!");
-	_extended_rpm = true;
-	_need_version_info = false;
-
-	for (int esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) {
-		if (_version_info[esc_id].sw_version < VOXL_ESC_EXT_RPM) { _extended_rpm = false; }
-	}
-
-	return true;
-}
-
 int VoxlEsc::read_response(Command *out_cmd)
 {
 	px4_usleep(_current_cmd.resp_delay_us);
 
-	int res = _uart_port->uart_read(_read_buf, sizeof(_read_buf));
+	int res = _uart_port.read(_read_buf, sizeof(_read_buf));
 
 	if (res > 0) {
 		//PX4_INFO("read %i bytes",res);
@@ -341,7 +471,8 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 						uint32_t voltage     = fb.voltage;
 						int32_t  current     = fb.current * 8;
 						int32_t  temperature = fb.temperature / 100;
-						PX4_INFO("[%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1,
+						PX4_INFO("VOXL_ESC: [%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id,
+							 motor_idx + 1,
 							 (int)rpm, (int)power, (int)voltage, (int)current, (int)temperature);
 					}
 
@@ -382,6 +513,19 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 					_esc_status.timestamp = _esc_status.esc[id].timestamp;
 					_esc_status.counter++;
 
+
+					if ((_parameters.esc_over_temp_threshold > 0)
+					    && (_esc_status.esc[id].esc_temperature > _parameters.esc_over_temp_threshold)) {
+						_esc_status.esc[id].failures |= 1 << (esc_report_s::FAILURE_OVER_ESC_TEMPERATURE);
+					}
+
+					//TODO: do we also issue a warning if over-temperature threshold is exceeded?
+					if ((_parameters.esc_warn_temp_threshold > 0)
+					    && (_esc_status.esc[id].esc_temperature > _parameters.esc_warn_temp_threshold)) {
+						_esc_status.esc[id].failures |= 1 << (esc_report_s::FAILURE_WARN_ESC_TEMPERATURE);
+					}
+
+
 					//print ESC status just for debugging
 					/*
 					PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, CNT %d, FAIL %d",
@@ -397,30 +541,24 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 				QC_ESC_VERSION_INFO ver;
 				memcpy(&ver, _fb_packet.buffer, packet_size);
 
-				if (_need_version_info) {
-					memcpy(&_version_info[ver.id], &ver, sizeof(QC_ESC_VERSION_INFO));
-					check_versions_updated();
-					break;
-				}
-
-				PX4_INFO("ESC ID: %i", ver.id);
-				PX4_INFO("HW Version: %i", ver.hw_version);
-				PX4_INFO("SW Version: %i", ver.sw_version);
-				PX4_INFO("Unique ID: %i", (int)ver.unique_id);
+				PX4_INFO("VOXL_ESC: ESC ID: %i", ver.id);
+				PX4_INFO("VOXL_ESC: HW Version: %i", ver.hw_version);
+				PX4_INFO("VOXL_ESC: SW Version: %i", ver.sw_version);
+				PX4_INFO("VOXL_ESC: Unique ID: %i", (int)ver.unique_id);
 
 			} else if (packet_type == ESC_PACKET_TYPE_VERSION_EXT_RESPONSE && packet_size == sizeof(QC_ESC_EXTENDED_VERSION_INFO)) {
 				QC_ESC_EXTENDED_VERSION_INFO ver;
 				memcpy(&ver, _fb_packet.buffer, packet_size);
-				PX4_INFO("\tESC ID     : %i", ver.id);
-				PX4_INFO("\tBoard      : %i", ver.hw_version);
-				PX4_INFO("\tSW Version : %i", ver.sw_version);
+				PX4_INFO("VOXL_ESC: \tESC ID     : %i", ver.id);
+				PX4_INFO("VOXL_ESC: \tBoard      : %i", ver.hw_version);
+				PX4_INFO("VOXL_ESC: \tSW Version : %i", ver.sw_version);
 
 				uint8_t *u = &ver.unique_id[0];
-				PX4_INFO("\tUnique ID  : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X",
+				PX4_INFO("VOXL_ESC: \tUnique ID  : 0x%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X",
 					 u[11], u[10], u[9], u[8], u[7], u[6], u[5], u[4], u[3], u[2], u[1], u[0]);
 
-				PX4_INFO("\tFirmware   : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version);
-				PX4_INFO("\tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version);
+				PX4_INFO("VOXL_ESC: \tFirmware   : version %4d, hash %.12s", ver.sw_version, ver.firmware_git_version);
+				PX4_INFO("VOXL_ESC: \tBootloader : version %4d, hash %.12s", ver.bootloader_version, ver.bootloader_git_version);
 
 			} else if (packet_type == ESC_PACKET_TYPE_FB_POWER_STATUS && packet_size == sizeof(QC_ESC_FB_POWER_STATUS)) {
 				QC_ESC_FB_POWER_STATUS packet;
@@ -525,7 +663,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	const char *verb = argv[argc - 1];
 
-	/* start the FMU if not running */
+	/* start the driver if not running */
 	if (!strcmp(verb, "start")) {
 		if (!is_running()) {
 			return VoxlEsc::task_spawn(argc, argv);
@@ -533,7 +671,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 	}
 
 	if (!is_running()) {
-		PX4_INFO("Not running");
+		PX4_INFO("VOXL_ESC:Not running");
 		return -1;
 
 	}
@@ -592,7 +730,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	if (!strcmp(verb, "reset")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Reset ESC: %i", esc_id);
+			PX4_INFO("VOXL_ESC: Reset ESC: %i", esc_id);
 			cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
 			return get_instance()->send_cmd_thread_safe(&cmd);
@@ -604,7 +742,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	} else if (!strcmp(verb, "version")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Request version for ESC: %i", esc_id);
+			PX4_INFO("VOXL_ESC: Request version for ESC: %i", esc_id);
 			cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
 			cmd.resp_delay_us = 2000;
@@ -617,7 +755,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	} else if (!strcmp(verb, "version-ext")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Request extended version for ESC: %i", esc_id);
+			PX4_INFO("VOXL_ESC: Request extended version for ESC: %i", esc_id);
 			cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
 			cmd.resp_delay_us = 5000;
@@ -630,7 +768,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	} else if (!strcmp(verb, "tone")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Request tone for ESC mask: %i", esc_id);
+			PX4_INFO("VOXL_ESC: Request tone for ESC mask: %i", esc_id);
 			cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
 			return get_instance()->send_cmd_thread_safe(&cmd);
@@ -644,7 +782,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 		if (led_mask <= 0x0FFF) {
 			get_instance()->_led_rsc.test = true;
 			get_instance()->_led_rsc.breath_en = false;
-			PX4_INFO("Request LED control for ESCs with mask: %i", led_mask);
+			PX4_INFO("VOXL_ESC: Request LED control for ESCs with mask: %i", led_mask);
 
 			get_instance()->_esc_chans[0].led = (led_mask & 0x0007);
 			get_instance()->_esc_chans[1].led = (led_mask & 0x0038) >> 3;
@@ -659,7 +797,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	}  else if (!strcmp(verb, "rpm")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Request RPM for ESC ID: %i - RPM: %i", esc_id, rate);
+			PX4_INFO("VOXL_ESC: Request RPM for ESC ID: %i - RPM: %i", esc_id, rate);
 			int16_t rate_req[VOXL_ESC_OUTPUT_CHANNELS] = {0, 0, 0, 0};
 			uint8_t id_fb = 0;
 
@@ -693,8 +831,8 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			cmd.repeat_delay_us = repeat_delay_us;
 			cmd.print_feedback  = true;
 
-			PX4_INFO("feedback id debug: %i", id_fb);
-			PX4_INFO("Sending UART ESC RPM command %i", rate);
+			PX4_INFO("VOXL_ESC: Feedback id debug: %i", id_fb);
+			PX4_INFO("VOXL_ESC: Sending UART ESC RPM command %i", rate);
 
 			return get_instance()->send_cmd_thread_safe(&cmd);
 
@@ -705,7 +843,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	} else if (!strcmp(verb, "pwm")) {
 		if (esc_id < VOXL_ESC_OUTPUT_CHANNELS) {
-			PX4_INFO("Request PWM for ESC ID: %i - PWM: %i", esc_id, rate);
+			PX4_INFO("VOXL_ESC: Request PWM for ESC ID: %i - PWM: %i", esc_id, rate);
 			int16_t rate_req[VOXL_ESC_OUTPUT_CHANNELS] = {0, 0, 0, 0};
 			uint8_t id_fb = 0;
 
@@ -738,8 +876,8 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			cmd.repeat_delay_us = repeat_delay_us;
 			cmd.print_feedback  = true;
 
-			PX4_INFO("feedback id debug: %i", id_fb);
-			PX4_INFO("Sending UART ESC power command %i", rate);
+			PX4_INFO("VOXL_ESC: Feedback id debug: %i", id_fb);
+			PX4_INFO("VOXL_ESC: Sending UART ESC power command %i", rate);
 
 			return get_instance()->send_cmd_thread_safe(&cmd);
 
@@ -1103,8 +1241,8 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 					       sizeof(cmd.buf),
 					       _extended_rpm);
 
-	if (_uart_port->uart_write(cmd.buf, cmd.len) != cmd.len) {
-		PX4_ERR("Failed to send packet");
+	if (_uart_port.write(cmd.buf, cmd.len) != cmd.len) {
+		PX4_ERR("VOXL_ESC: Failed to send packet");
 		return false;
 	}
 
@@ -1118,7 +1256,7 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	 * uart_read is non-blocking and we will just parse whatever bytes came in up until this point
 	 */
 
-	int res = _uart_port->uart_read(_read_buf, sizeof(_read_buf));
+	int res = _uart_port.read(_read_buf, sizeof(_read_buf));
 
 	if (res > 0) {
 		parse_response(_read_buf, res, false);
@@ -1155,8 +1293,8 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 		// PX4_INFO("   0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x",
 		// 		 io_data.data[0], io_data.data[1], io_data.data[2], io_data.data[3],
 		// 		 io_data.data[4], io_data.data[5], io_data.data[6], io_data.data[7]);
-		if (_uart_port->uart_write(io_data.data, io_data.len) != io_data.len) {
-			PX4_ERR("Failed to send modal io data to esc");
+		if (_uart_port.write(io_data.data, io_data.len) != io_data.len) {
+			PX4_ERR("VOXL_ESC: Failed to send modal io data to esc");
 			return false;
 		}
 	}
@@ -1170,6 +1308,7 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 void VoxlEsc::Run()
 {
 	if (should_exit()) {
+		PX4_ERR("VOXL_ESC: Stopping the module");
 		ScheduleClear();
 		_mixing_output.unregister();
 
@@ -1179,30 +1318,26 @@ void VoxlEsc::Run()
 
 	perf_begin(_cycle_perf);
 
-	/* Open serial port in this thread */
-	if (!_uart_port->is_open()) {
-		if (_uart_port->uart_open(_device, _parameters.baud_rate) == PX4_OK) {
-			PX4_INFO("Opened UART ESC device");
+	//check to see if we need to open uart port and query the device
+	//see comment in init() regarding why we do not initialize the device there
 
-		} else {
-			PX4_ERR("Failed openening device");
-			return;
+	int retries_left = VOXL_ESC_NUM_INIT_RETRIES;
+
+	while ((!_device_initialized) && (retries_left > 0)) {
+		retries_left--;
+		int dev_init_ret = device_init();
+
+		if (dev_init_ret != 0) {
+			PX4_WARN("VOXL_ESC: Failed to initialize device, retries left %d", retries_left);
 		}
 	}
 
-	/* Get ESC FW version info */
-	if (_need_version_info) {
-		for (uint8_t esc_id = 0; esc_id < VOXL_ESC_OUTPUT_CHANNELS; ++esc_id) {
-			Command cmd;
-			cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
-
-			if (_uart_port->uart_write(cmd.buf, cmd.len) == cmd.len) {
-				if (read_response(&_current_cmd) != 0) { PX4_ERR("Failed to parse version request response packet!"); }
-
-			} else {
-				PX4_ERR("Failed to send version request packet!");
-			}
-		}
+	if (!_device_initialized) {
+		PX4_ERR("VOXL_ESC: Failed to initialize device, exiting the module");
+		ScheduleClear();
+		_mixing_output.unregister();
+		exit_and_cleanup();
+		return;
 	}
 
 	_mixing_output.update();  //calls MixingOutput::limitAndUpdateOutputs which calls updateOutputs in this module
@@ -1278,11 +1413,11 @@ void VoxlEsc::Run()
 	if (!_outputs_on) {
 		if (_current_cmd.valid()) {
 			//PX4_INFO("sending %d commands with delay %dus",_current_cmd.repeats,_current_cmd.repeat_delay_us);
-			flush_uart_rx();
+			_uart_port.flush();
 
 			do {
 				//PX4_INFO("CMDs left %d",_current_cmd.repeats);
-				if (_uart_port->uart_write(_current_cmd.buf, _current_cmd.len) == _current_cmd.len) {
+				if (_uart_port.write(_current_cmd.buf, _current_cmd.len) == _current_cmd.len) {
 					if (_current_cmd.repeats == 0) {
 						_current_cmd.clear();
 					}
@@ -1296,19 +1431,19 @@ void VoxlEsc::Run()
 				} else {
 					if (_current_cmd.retries == 0) {
 						_current_cmd.clear();
-						PX4_ERR("Failed to send command, errno: %i", errno);
+						PX4_ERR("VOXL_ESC: Failed to send command, errno: %i", errno);
 
 					} else {
 						_current_cmd.retries--;
-						PX4_ERR("Failed to send command, errno: %i", errno);
+						PX4_ERR("VOXL_ESC: Failed to send command, errno: %i", errno);
 					}
 				}
 
 				px4_usleep(_current_cmd.repeat_delay_us);
 			} while (_current_cmd.repeats-- > 0);
 
-			PX4_INFO("RX packet count: %d", (int)_rx_packet_count);
-			PX4_INFO("CRC error count: %d", (int)_rx_crc_error_count);
+			PX4_INFO("VOXL_ESC: RX packet count: %d", (int)_rx_packet_count);
+			PX4_INFO("VOXL_ESC: CRC error count: %d", (int)_rx_crc_error_count);
 
 		} else {
 			Command *new_cmd = _pending_cmd.load();
@@ -1385,16 +1520,10 @@ $ todo
 	return 0;
 }
 
-int VoxlEsc::print_status()
+void VoxlEsc::print_params()
 {
-	PX4_INFO("Max update rate: %i Hz", _current_update_rate);
-	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
-	PX4_INFO("UART port: %s", _device);
-	PX4_INFO("UART open: %s", _uart_port->is_open() ? "yes" : "no");
-
-	PX4_INFO("");
-
 	PX4_INFO("Params: VOXL_ESC_CONFIG: %" PRId32, _parameters.config);
+	PX4_INFO("Params: VOXL_ESC_MODE: %" PRId32, _parameters.mode);
 	PX4_INFO("Params: VOXL_ESC_BAUD: %" PRId32, _parameters.baud_rate);
 
 	PX4_INFO("Params: VOXL_ESC_FUNC1: %" PRId32, _parameters.function_map[0]);
@@ -1410,6 +1539,28 @@ int VoxlEsc::print_status()
 	PX4_INFO("Params: VOXL_ESC_RPM_MIN: %" PRId32, _parameters.rpm_min);
 	PX4_INFO("Params: VOXL_ESC_RPM_MAX: %" PRId32, _parameters.rpm_max);
 
+	PX4_INFO("Params: VOXL_ESC_T_PERC: %" PRId32, _parameters.turtle_motor_percent);
+	PX4_INFO("Params: VOXL_ESC_T_DEAD: %" PRId32, _parameters.turtle_motor_deadband);
+	PX4_INFO("Params: VOXL_ESC_T_EXPO: %" PRId32, _parameters.turtle_motor_expo);
+	PX4_INFO("Params: VOXL_ESC_T_MINF: %f",       (double)_parameters.turtle_stick_minf);
+	PX4_INFO("Params: VOXL_ESC_T_COSP: %f",       (double)_parameters.turtle_cosphi);
+
+	PX4_INFO("Params: VOXL_ESC_VLOG: %" PRId32,    _parameters.verbose_logging);
+	PX4_INFO("Params: VOXL_ESC_PUB_BST: %" PRId32, _parameters.publish_battery_status);
+	
+	PX4_INFO("Params: VOXL_ESC_T_WARN: %" PRId32, _parameters.esc_warn_temp_threshold);
+	PX4_INFO("Params: VOXL_ESC_T_OVER: %" PRId32, _parameters.esc_over_temp_threshold);
+}
+
+int VoxlEsc::print_status()
+{
+	PX4_INFO("Max update rate: %i Hz", _current_update_rate);
+	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
+	PX4_INFO("UART port: %s", _device);
+	PX4_INFO("UART open: %s", _uart_port.isOpen() ? "yes" : "no");
+
+	PX4_INFO("");
+	print_params();
 	PX4_INFO("");
 
 	for( int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++){
@@ -1432,6 +1583,25 @@ int VoxlEsc::print_status()
 	return 0;
 }
 
+const char * VoxlEsc::board_id_to_name(int board_id)
+{
+	switch(board_id){
+		case 31: return "ModalAi 4-in-1 ESC V2 RevB (M0049)";
+		case 32: return "Blheli32 4-in-1 ESC Type A (Tmotor F55A PRO F051)";
+		case 33: return "Blheli32 4-in-1 ESC Type B (Tmotor F55A PRO G071)";
+		case 34: return "ModalAi 4-in-1 ESC (M0117-1)";
+		case 35: return "ModalAi I/O Expander (M0065)";
+		case 36: return "ModalAi 4-in-1 ESC (M0117-3)";
+		case 37: return "ModalAi 4-in-1 ESC (M0134-1)";
+		case 38: return "ModalAi 4-in-1 ESC (M0134-3)";
+		case 39: return "ModalAi 4-in-1 ESC (M0129-1)";
+		case 40: return "ModalAi 4-in-1 ESC (M0129-3)";
+		case 41: return "ModalAi 4-in-1 ESC (M0134-6)";
+		case 42: return "ModalAi 4-in-1 ESC (M0138-1)";
+		default: return "Unknown Board";
+	}
+}
+
 extern "C" __EXPORT int voxl_esc_main(int argc, char *argv[]);
 
 int voxl_esc_main(int argc, char *argv[])

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -51,11 +51,13 @@
 #include <uORB/topics/actuator_test.h>
 #include <uORB/topics/buffer128.h>
 
-#include "voxl_esc_serial.hpp"
+#include <px4_platform_common/Serial.hpp>
 
 #include "qc_esc_packet.h"
 #include "qc_esc_packet_types.h"
 
+using namespace device;
+
 class VoxlEsc : public ModuleBase<VoxlEsc>, public OutputModuleInterface
 {
 public:
@@ -76,16 +78,18 @@ public:
 
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
+	void print_params();
 
 	/** @see OutputModuleInterface */
 	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	virtual int	init();
+	int device_init(); // function where uart port is opened and ESC queried
 
 	struct Command {
 		uint16_t	id                 = 0;
-		uint8_t 	len                = 0;
+		uint8_t		len                = 0;
 		uint16_t	repeats            = 0;
 		uint16_t	repeat_delay_us    = 2000;
 		uint8_t		retries            = 0;
@@ -94,7 +98,7 @@ public:
 		bool		print_feedback     = false;
 
 		static const uint8_t BUF_SIZE = 128;
-		uint8_t 	buf[BUF_SIZE];
+		uint8_t		buf[BUF_SIZE];
 
 		bool valid() const { return len > 0; }
 		void clear() { len = 0; }
@@ -125,16 +129,19 @@ private:
 	static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX1 = 1;
 	static constexpr uint32_t VOXL_ESC_MODE_TURTLE_AUX2 = 2;
 
-	static constexpr uint16_t VOXL_ESC_EXT_RPM = 39;
+	static constexpr uint16_t VOXL_ESC_EXT_RPM =
+		39;                // minimum firmware version for extended RPM command support
 	static constexpr uint16_t VOXL_ESC_RPM_MAX = INT16_MAX -
 			1;		// 32K, Limit max standard range RPM to prevent overflow (rpm packet packing function accepts int32_t)
 	static constexpr uint16_t VOXL_ESC_RPM_MAX_EXT = UINT16_MAX -
 			5;	// 65K, Limit max extended range RPM to prevent overflow (rpm packet packing function accepts int32_t)
 
+	static constexpr uint16_t VOXL_ESC_NUM_INIT_RETRIES = 3;
+
 	//static constexpr uint16_t max_pwm(uint16_t pwm) { return math::min(pwm, VOXL_ESC_PWM_MAX); }
 	//static constexpr uint16_t max_rpm(uint16_t rpm) { return math::min(rpm, VOXL_ESC_RPM_MAX); }
 
-	VoxlEscSerial 		*_uart_port;
+	Serial			_uart_port{};
 
 	typedef struct {
 		int32_t		config{VOXL_ESC_UART_CONFIG};
@@ -151,7 +158,9 @@ private:
 		int32_t		motor_map[VOXL_ESC_OUTPUT_CHANNELS] {1, 2, 3, 4};
 		int32_t		direction_map[VOXL_ESC_OUTPUT_CHANNELS] {1, 1, 1, 1};
 		int32_t		verbose_logging{0};
-		int32_t 	publish_battery_status{0};
+		int32_t		publish_battery_status{0};
+		int32_t		esc_warn_temp_threshold{0};
+		int32_t		esc_over_temp_threshold{0};
 	} voxl_esc_params_t;
 
 	struct EscChan {
@@ -161,7 +170,7 @@ private:
 		uint8_t		power_applied;
 		uint8_t		led;
 		uint8_t		cmd_counter;
-		float 		voltage;  //Volts
+		float		voltage;  //Volts
 		float		current;  //Amps
 		float		temperature; //deg C
 		hrt_abstime 	feedback_time;
@@ -182,7 +191,7 @@ private:
 	} led_rsc_t;
 
 	ch_assign_t		_output_map[VOXL_ESC_OUTPUT_CHANNELS] {{1, 1}, {2, 1}, {3, 1}, {4, 1}};
-	MixingOutput 		_mixing_output;
+	MixingOutput		_mixing_output;
 
 	perf_counter_t		_cycle_perf;
 	perf_counter_t		_output_update_perf;
@@ -193,8 +202,8 @@ private:
 
 	uORB::Subscription	_vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription	_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
-	uORB::Subscription 	_parameter_update_sub{ORB_ID(parameter_update)};
-	uORB::Subscription 	_actuator_test_sub{ORB_ID(actuator_test)};
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription	_actuator_test_sub{ORB_ID(actuator_test)};
 	uORB::Subscription	_led_update_sub{ORB_ID(led_control)};
 	uORB::Subscription	_voxl2_io_data_sub{ORB_ID(voxl2_io_data)};
 
@@ -203,12 +212,12 @@ private:
 
 	bool _extended_rpm{false};
 	bool _need_version_info{true};
-	QC_ESC_VERSION_INFO _version_info[4];
-	bool check_versions_updated();
+	QC_ESC_EXTENDED_VERSION_INFO _version_info[VOXL_ESC_OUTPUT_CHANNELS];
 
 	voxl_esc_params_t	_parameters;
 	int			update_params();
 	int			load_params(voxl_esc_params_t *params, ch_assign_t *map);
+	const char *board_id_to_name(int board_id);
 
 	bool			_turtle_mode_en{false};
 	int32_t			_rpm_turtle_min{0};
@@ -216,7 +225,7 @@ private:
 	manual_control_setpoint_s _manual_control_setpoint{};
 
 	uint16_t		_cmd_id{0};
-	Command 		_current_cmd;
+	Command			_current_cmd;
 	px4::atomic<Command *>	_pending_cmd{nullptr};
 
 	EscChan			_esc_chans[VOXL_ESC_OUTPUT_CHANNELS];
@@ -224,24 +233,25 @@ private:
 	esc_status_s		_esc_status;
 	EscPacket		_fb_packet;
 
-	led_rsc_t	 	_led_rsc;
+	led_rsc_t		_led_rsc;
 	int			_fb_idx;
 	uint32_t		_rx_crc_error_count{0};
 	uint32_t		_rx_packet_count{0};
 
-	static const uint8_t 	READ_BUF_SIZE = 128;
+	static const uint8_t	READ_BUF_SIZE = 128;
 	uint8_t			_read_buf[READ_BUF_SIZE];
 
-	Battery 		_battery;
+	Battery			_battery;
 	static constexpr unsigned _battery_report_interval{100_ms};
 	hrt_abstime		_last_battery_report_time;
 
-	void 			update_leds(vehicle_control_mode_s mode, led_control_s control);
+	bool			_device_initialized{false};
 
-	int 			read_response(Command *out_cmd);
-	int 			parse_response(uint8_t *buf, uint8_t len, bool print_feedback);
-	int			flush_uart_rx();
-	int			check_for_esc_timeout();
+	void			update_leds(vehicle_control_mode_s mode, led_control_s control);
+
+	int				read_response(Command *out_cmd);
+	int				parse_response(uint8_t *buf, uint8_t len, bool print_feedback);
+	int				check_for_esc_timeout();
 	void			mix_turtle_mode(uint16_t outputs[]);
 	void			handle_actuator_test();
 };

src/drivers/actuators/voxl_esc/voxl_esc_params.c

@@ -231,4 +231,35 @@ PARAM_DEFINE_INT32(VOXL_ESC_VLOG, 0);
  * @min 0
  * @max 1
  */
-PARAM_DEFINE_INT32(VOXL_ESC_PUB_BST, 1);
+PARAM_DEFINE_INT32(VOXL_ESC_PUB_BST, 1);
+
+
+/**
+ * UART ESC Temperature Warning Threshold (Degrees C)
+ *
+ * Only applicable to ESCs that report temperature
+ *
+ * @reboot_required true
+ *
+ * @group VOXL ESC
+ * @value 0 - Disabled
+ * @min 0
+ * @max 200
+ */
+PARAM_DEFINE_INT32(VOXL_ESC_T_WARN, 0);
+
+
+/**
+ * UART ESC Over-Temperature Threshold (Degrees C)
+ *
+ * Only applicable to ESCs that report temperature
+ *
+ * @reboot_required true
+ *
+ * @group VOXL ESC
+ * @value 0 - Disabled
+ * @min 0
+ * @max 200
+ */
+PARAM_DEFINE_INT32(VOXL_ESC_T_OVER, 0);
+

src/drivers/actuators/voxl_esc/voxl_esc_serial.cpp

@@ -1,191 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "string.h"
-#include "voxl_esc_serial.hpp"
-
-VoxlEscSerial::VoxlEscSerial()
-{
-}
-
-VoxlEscSerial::~VoxlEscSerial()
-{
-	if (_uart_fd >= 0) {
-		uart_close();
-	}
-}
-
-int VoxlEscSerial::uart_open(const char *dev, speed_t speed)
-{
-	if (_uart_fd >= 0) {
-		PX4_ERR("Port in use: %s (%i)", dev, errno);
-		return -1;
-	}
-
-	/* Open UART */
-#ifdef __PX4_QURT
-	_uart_fd = qurt_uart_open(dev, speed);
-#else
-	_uart_fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
-#endif
-
-	if (_uart_fd < 0) {
-		PX4_ERR("Error opening port: %s (%i)", dev, errno);
-		return -1;
-	}
-
-#ifndef __PX4_QURT
-	/* Back up the original UART configuration to restore it after exit */
-	int termios_state;
-
-	if ((termios_state = tcgetattr(_uart_fd, &_orig_cfg)) < 0) {
-		PX4_ERR("Error configuring port: tcgetattr %s: %d", dev, termios_state);
-		uart_close();
-		return -1;
-	}
-
-	/* Fill the struct for the new configuration */
-	tcgetattr(_uart_fd, &_cfg);
-
-	/* Disable output post-processing */
-	_cfg.c_oflag &= ~OPOST;
-
-	_cfg.c_cflag |= (CLOCAL | CREAD);    /* ignore modem controls */
-	_cfg.c_cflag &= ~CSIZE;
-	_cfg.c_cflag |= CS8;                 /* 8-bit characters */
-	_cfg.c_cflag &= ~PARENB;             /* no parity bit */
-	_cfg.c_cflag &= ~CSTOPB;             /* only need 1 stop bit */
-	_cfg.c_cflag &= ~CRTSCTS;            /* no hardware flowcontrol */
-
-	/* setup for non-canonical mode */
-	_cfg.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
-	_cfg.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
-
-	if (cfsetispeed(&_cfg, speed) < 0 || cfsetospeed(&_cfg, speed) < 0) {
-		PX4_ERR("Error configuring port: %s: %d (cfsetispeed, cfsetospeed)", dev, termios_state);
-		uart_close();
-		return -1;
-	}
-
-	if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &_cfg)) < 0) {
-		PX4_ERR("Error configuring port: %s (tcsetattr)", dev);
-		uart_close();
-		return -1;
-	}
-
-#endif
-
-	_speed =  speed;
-
-	return 0;
-}
-
-int VoxlEscSerial::uart_set_baud(speed_t speed)
-{
-#ifndef __PX4_QURT
-
-	if (_uart_fd < 0) {
-		return -1;
-	}
-
-	if (cfsetispeed(&_cfg, speed) < 0) {
-		return -1;
-	}
-
-	if (tcsetattr(_uart_fd, TCSANOW, &_cfg) < 0) {
-		return -1;
-	}
-
-	_speed = speed;
-
-	return 0;
-#endif
-
-	return -1;
-}
-
-int VoxlEscSerial::uart_close()
-{
-#ifndef __PX4_QURT
-
-	if (_uart_fd < 0) {
-		PX4_ERR("invalid state for closing");
-		return -1;
-	}
-
-	if (tcsetattr(_uart_fd, TCSANOW, &_orig_cfg)) {
-		PX4_ERR("failed restoring uart to original state");
-	}
-
-	if (close(_uart_fd)) {
-		PX4_ERR("error closing uart");
-	}
-
-#endif
-
-	_uart_fd = -1;
-
-	return 0;
-}
-
-int VoxlEscSerial::uart_write(FAR void *buf, size_t len)
-{
-	if (_uart_fd < 0 || buf == NULL) {
-		PX4_ERR("invalid state for writing or buffer");
-		return -1;
-	}
-
-#ifdef __PX4_QURT
-	return qurt_uart_write(_uart_fd, (const char *) buf, len);
-#else
-	return write(_uart_fd, buf, len);
-#endif
-}
-
-int VoxlEscSerial::uart_read(FAR void *buf, size_t len)
-{
-	if (_uart_fd < 0 || buf == NULL) {
-		PX4_ERR("invalid state for reading or buffer");
-		return -1;
-	}
-
-#ifdef __PX4_QURT
-#define ASYNC_UART_READ_WAIT_US 2000
-	// The UART read on SLPI is via an asynchronous service so specify a timeout
-	// for the return. The driver will poll periodically until the read comes in
-	// so this may block for a while. However, it will timeout if no read comes in.
-	return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US);
-#else
-	return read(_uart_fd, buf, len);
-#endif
-}