Improve intro, I hope

- Adds MSPv1 rx parsing to fetch VTX config
 - Allows to inspect and change VTX channel through CLI
 - Forward MSP_RC for stick commands osd
 - Forward MSP_STATUS for arming status for PIT and LP mode

.github/workflows/build_all_targets.yml

@@ -54,7 +54,13 @@ jobs:
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        run: |
+          echo "branchname=${{
+            github.event_name == 'pull_request' &&
+            format('pr-{0}', github.event.pull_request.number) ||
+            github.head_ref ||
+            github.ref_name
+          }}" >> $GITHUB_OUTPUT
 
       - name: Debug Matrix Output
         if: runner.debug == '1'

.vscode/cmake-variants.yaml

@@ -401,11 +401,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel

MAINTAINERS.md

@@ -7,33 +7,34 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
+| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
+| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
+| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
+| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
 
 **Release Managers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
 
 **Retired Maintainers**
 

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

@@ -110,25 +110,36 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
 
-	POSE_ARG=""
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pos_x=${pos_x:-0}
-		pos_y=${pos_y:-0}
-		pos_z=${pos_z:-0}
+	sdf_pose_str=""
 
-		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
+		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
+		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+
+		pose_x=${pose_x:-0}
+		pose_y=${pose_y:-0}
+		pose_z=${pose_z:-0}
+		pose_roll=${pose_roll:-0}
+		pose_pitch=${pose_pitch:-0}
+		pose_yaw=${pose_yaw:-0}
+
+		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
+		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
 	fi
 
-	echo "INFO  [init] Spawning model"
+	echo "INFO  [init] Spawning Gazebo model"
+
+	# include the actual SDF in this one, containing the pose if given
+	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
 
 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
 
 	# Wait for model to spawn
 	sleep 1

ROMFS/px4fmu_common/init.d-posix/rcS

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

ROMFS/px4fmu_common/init.d/rc.fw_apps

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

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-# there is a 2.5 factor applied on the _FS thresholds if for invalidation
-param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50

ROMFS/px4fmu_common/init.d/rc.mc_defaults

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

ROMFS/px4fmu_common/init.d/rc.vtol_apps

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

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

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

ROMFS/px4fmu_common/init.d/rcS

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

Tools/ci/check_msg_versioning.sh

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

Tools/docker_run.sh

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

Tools/msg/generate_msg_docs.py

@@ -2,6 +2,7 @@
 
 """
 Generate docs from .msg files
+Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """
 
 import os
@@ -9,6 +10,99 @@ import argparse
 import sys
 
 
+import yaml
+
+def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
+    """
+    Generates human readable version of dds_topics.yaml.
+    Default output is to docs/en/middleware/dds_topics.md
+    """
+
+    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
+    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
+
+    try:
+        with open(dds_file_path, 'r') as file:
+            data = yaml.safe_load(file)
+
+        # Get messages and topics that are not published by default
+        # Start by getting all that are published.
+        all_messages_in_source = set()
+        all_message_types =set()
+        all_topics =set()
+        for message in data["publications"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        for message in data["subscriptions"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
+        for message in allMessageFiles:
+            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
+        messagesNotExported = all_messages_in_source - all_message_types
+
+        # write out the dds file
+        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+"""
+
+        for message in data["publications"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
+
+        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
+
+        for message in data["subscriptions"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
+
+        dds_markdown += "\n## Subscriptions Multi\n\n"
+
+        if not data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+        else:
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in data["subscriptions_multi"]:
+                dds_markdown += f"{message['topic']} | {message['type']}\n"
+
+        if messagesNotExported:
+            # Print the topics that are not exported to DDS
+            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
+            dds_markdown += "\n\n::: details See messages\n"
+            for item in  messagesNotExported:
+                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
+            dds_markdown += "\n:::\n" # End of details block
+
+        #print(dds_markdown)
+        with open(output_file_path, 'w') as content_file:
+                content_file.write(dds_markdown)
+
+    except yaml.YAMLError as exc:
+        print(f"Error parsing YAML: {exc}")
+    except FileNotFoundError:
+        print(f"Error: {dds_file_path} not found.")
+
+
 def get_msgs_list(msgdir):
     """
     Makes a list of relative paths of .msg files in the given directory
@@ -30,6 +124,7 @@ def get_msgs_list(msgdir):
 
 
 if __name__ == "__main__":
+
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
     args = parser.parse_args()
@@ -132,3 +227,5 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
     index_file = os.path.join(output_dir, 'index.md')
     with open(index_file, 'w') as content_file:
             content_file.write(index_text)
+
+    generate_dds_yaml_doc(msg_files)

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

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

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,6 +132,7 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2025 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
@@ -31,10 +31,46 @@
  *
  ****************************************************************************/
 
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusExternal(3),
-	initI2CBusInternal(4),
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
 };
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi2,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+		},
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs = 1,
+	.entries  = {
+		&fmum_fram
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/airmind/mindpx-v2/default.px4board

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

boards/ark/fmu-v6x/default.px4board

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

boards/ark/fpv/default.px4board

@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

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

@@ -34,75 +34,25 @@
 #pragma once
 
 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#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 */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
+// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
+// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#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_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 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
+// available
 
 // 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 */
+#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/fpv/nuttx-config/nsh/defconfig

@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/auterion/fmu-v6s/default.px4board

@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y

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

@@ -26,3 +26,6 @@ nshterm /dev/ttyS3 &
 
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
+
+# Start the ESC telemetry
+dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/multicopter.px4board

@@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y

boards/auterion/fmu-v6s/rover.px4board

@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n

boards/av/x-v1/default.px4board

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

boards/beaglebone/blue/default.px4board

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

boards/bluerobotics/navigator/default.px4board

@@ -49,7 +49,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y

boards/corvon/743v1/default.px4board

@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/cuav/7-nano/default.px4board

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

boards/cuav/nora/default.px4board

@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/x7pro/default.px4board

@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorange/default.px4board

@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeyellow/default.px4board

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

boards/emlid/navio2/default.px4board

@@ -32,7 +32,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-dual/default.px4board

@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-dual/init/rc.board_extras

@@ -10,4 +10,4 @@
 # fi
 
 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5

boards/hkust/nxt-v1/default.px4board

@@ -41,7 +41,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-v1/init/rc.board_extras

@@ -10,4 +10,4 @@
 # fi
 
 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5

boards/holybro/durandal-v1/default.px4board

@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakutef7/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5

boards/holybro/kakuteh7-wing/default.px4board

@@ -13,13 +13,11 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -37,7 +35,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -57,9 +56,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -69,6 +66,7 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/holybro/kakuteh7-wing/firmware.prototype

@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7-WING",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
     "git_identity": "",
     "board_revision": 0
 }

boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld

@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K

boards/holybro/kakuteh7-wing/src/board_config.h

@@ -114,7 +114,6 @@
 
 #define BOARD_NUMBER_BRICKS 2
 
-// TODO: fix
 #define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */
 
@@ -129,17 +128,20 @@
  */
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
-#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
-#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
+
+#define GPIO_VTX_9V_EN                  /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+
+#define GPIO_CAM_SWITCH                 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
 /* Define True logic Power Control in arch agnostic form */
 
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+
+#define VTX_9V_EN(on_true)                px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
+
+#define CAM_SWITCH_CAM1                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
+#define CAM_SWITCH_CAM2                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, true)  // high is CAM2
 
 /* Tone alarm output */
 
@@ -196,11 +198,10 @@
 
 #define BOARD_ADC_SERVO_VALID     (1)
 
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#define BOARD_ADC_BRICK1_VALID  (1)
+#define BOARD_ADC_BRICK2_VALID  (1)
 
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+#define BOARD_ADC_SERVO_VALID   (1)
 
 
 /* This board provides a DMA pool and APIs */
@@ -217,6 +218,8 @@
 		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_PPM_IN,                      \
+		GPIO_VTX_9V_EN,                   \
+		GPIO_CAM_SWITCH,                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/holybro/kakuteh7-wing/src/init.c

@@ -108,21 +108,21 @@ __END_DECLS
  ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* set the peripheral rails off */
+	/* off */
+	VTX_9V_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
-	VDD_5V_PERIPH_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_PERIPH_EN(true);
+	VDD_3V3_SENSORS_EN(true);
+	VTX_9V_EN(true);
 
+	CAM_SWITCH_CAM1;
 }
 
 /************************************************************************************
@@ -210,10 +210,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)
 
-	/* Power on Interfaces */
-	VDD_5V_PERIPH_EN(true);
-	VDD_5V_HIPOWER_EN(true);
-
 	/* Need hrt running before using the ADC */
 
 	px4_platform_init();
@@ -254,6 +250,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
+		{14, 128 * 1024, 0x081C0000},
 		{15, 128 * 1024, 0x081E0000},
 		{0, 0, 0},
 	};

boards/holybro/kakuteh7/default.px4board

@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5

boards/holybro/kakuteh7dualimu/default.px4board

@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7dualimu/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5

boards/holybro/kakuteh7mini/default.px4board

@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7mini/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5

boards/holybro/kakuteh7v2/default.px4board

@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakuteh7v2/init/rc.board_extras

@@ -9,4 +9,4 @@ then
 fi
 
 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5

boards/holybro/pix32v5/default.px4board

@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/matek/h743-mini/default.px4board

@@ -30,7 +30,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743-mini/init/rc.board_extras

@@ -11,4 +11,4 @@
 atxxxx start -s
 
 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5

boards/matek/h743-slim/default.px4board

@@ -33,7 +33,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743-slim/init/rc.board_extras

@@ -12,4 +12,4 @@ atxxxx start -s
 
 
 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5

boards/matek/h743/default.px4board

@@ -32,7 +32,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/matek/h743/init/rc.board_extras

@@ -12,4 +12,4 @@ atxxxx start -s
 
 
 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5

boards/micoair/h743-aio/default.px4board

@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/micoair/h743-v2/default.px4board

@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/micoair/h743/default.px4board

@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/modalai/fc-v1/default.px4board

@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/modalai/fc-v2/default.px4board

@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-classic/default.px4board

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

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/ctrl-zero-h7-oem/default.px4board

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

boards/mro/ctrl-zero-h7/default.px4board

@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/pixracerpro/default.px4board

@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/x21-777/default.px4board

@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/mro/x21/default.px4board

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

boards/nxp/fmuk66-e/default.px4board

@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/fmuk66-v3/default.px4board

@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -33,7 +33,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/mr-canhubk3/sysview.px4board

@@ -20,7 +20,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -24,7 +24,8 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/nxp/mr-tropic/default.px4board

@@ -1,105 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_PARAM_FILE="/fs/nor/mtd_params"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_COMMON_INS=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
-CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_COMMON_UWB=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_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_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_NETMAN=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/nxp/mr-tropic/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 36,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the TROPIC Community board",
-    "image": "",
-    "build_time": 0,
-    "summary": "TROPIC Community",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 0,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/nxp/mr-tropic/init/rc.board_defaults

@@ -1,39 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
-param set-default SENS_EN_INA238 0
-param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 0
-
-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_CRSF_TEL_EN 1
-param set-default RC_SBUS_PRT_CFG 0
-
-if [ -f "/fs/microsd/ipcfg-eth0" ]
-then
-else
-	netman update -i eth0
-fi
-
-rgbled_pwm start
-safety_button start
-
-if param greater -s UAVCAN_ENABLE 0
-then
-	ifup can0
-fi
-
-# Start the ESC telemetry
-#dshot telemetry -d /dev/ttyS4 -x
-#TODO WAIT FOR https://github.com/PX4/PX4-Autopilot/pull/24706

boards/nxp/mr-tropic/init/rc.board_mavlink

@@ -1,4 +0,0 @@
-#!/bin/sh
-#
-# Tropic Community specific board MAVLink startup script.
-#------------------------------------------------------------------------------

boards/nxp/mr-tropic/init/rc.board_sensors

@@ -1,85 +0,0 @@
-#!/bin/sh
-#
-# PX4 board sensors init
-#------------------------------------------------------------------------------
-#
-# UART mapping on Tropic Community:
-#
-# LPUART5       /dev/ttyS0      CONSOLE
-# LPUART3       /dev/ttyS1      GPS
-# LPUART2       /dev/ttyS2      TELEM1
-# LPUART4       /dev/ttyS3      TELEM2
-# LPUART8       /dev/ttyS4      RC
-#
-#------------------------------------------------------------------------------
-
-set INA_CONFIGURED no
-
-board_adc start
-
-if param compare SENS_EN_INA226 1
-then
-	# Start Digital power monitors
-	ina226 -X -b 3 -t 1 -k start
-	set INA_CONFIGURED yes
-fi
-
-if param compare SENS_EN_INA228 1
-then
-	# Start Digital power monitors
-	ina228 -X -b 3 -t 1 -k start
-	set INA_CONFIGURED yes
-fi
-
-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 3 -t 1 -k start
-	set INA_CONFIGURED yes
-fi
-
-if [ $INA_CONFIGURED = no ]
-then
-	# INA226, INA228, INA238 auto-start
-	i2c_launcher start -b 3 -t 1
-fi
-
-
-if ver hwtypecmp 000
-then
-# Internal SPI bus icm45686
-icm45686 -R 2 -b 3 -s start
-fi
-
-if ver hwtypecmp 001
-then
-# Internal SPI bus ICM42688p
-icm42688p -R 2 -b 3 -s start
-fi
-
-if ver hwtypecmp 002
-then
-# Internal SPI bus ICM42686p
-icm42688p -6 -R 2 -b 3 -s start
-fi
-
-
-# Internal on IMU SPI BMI088
-bmi088 -A -R 2 -b 4 -s start
-bmi088 -G -R 2 -b 4 -s start
-
-# Internal magnetometer on I2c
-bmm350 -I -b 4 -R 6 start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
-
-# Disable startup of internal baros if param is set to false
-if param compare SENS_INT_BARO_EN 1
-then
-	bmp388 -I -b 4 start
-fi
-
-unset INA_CONFIGURED

boards/nxp/mr-tropic/nuttx-config/Kconfig

@@ -1,4 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see the file kconfig-language.txt in the NuttX tools repository.
-#

boards/nxp/mr-tropic/nuttx-config/include/board.h

@@ -1,412 +0,0 @@
-/************************************************************************************
- * nuttx-configs/nxp/nxp_tropic-community/include/board.h
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-#ifndef __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-
-/* Set VDD_SOC to 1.25V */
-
-#define IMXRT_VDD_SOC (0x12)
-
-/* Set Arm PLL (PLL1) to  fOut    = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        576Mhz  = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        ARM_PLL_DIV_SELECT = 96
- *                        ARM_PODF_DIVISOR   = 2
- *                        576Mhz  = (24Mhz * 96/2) / 2
- *
- *     AHB_CLOCK_ROOT             = PLL1fOut / IMXRT_AHB_PODF_DIVIDER
- *     1Hz to 600 Mhz             = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER
- *                        IMXRT_ARM_CLOCK_DIVIDER = 1
- *                        576Mhz  = 576Mhz / 1
- *
- *     PRE_PERIPH_CLK_SEL         = PRE_PERIPH_CLK_SEL_PLL1
- *     PERIPH_CLK_SEL             = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1)
- *     PERIPH_CLK                 = 576Mhz
- *
- *     IPG_CLOCK_ROOT             = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER
- *                       IMXRT_IPG_PODF_DIVIDER = 4
- *                       144Mhz = 576Mhz / 4
- *
- *     PRECLK_CLOCK_ROOT          = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER
- *                       IMXRT_PERCLK_PODF_DIVIDER = 1
- *                       16Mhz = 144Mhz / 9
- *
- *     SEMC_CLK_ROOT              = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2)
- *                       IMXRT_SEMC_PODF_DIVIDER = 8
- *                       72Mhz    = 576Mhz / 8
- *
- * Set Sys PLL (PLL2) to  fOut    = (24Mhz * (20+(2*(DIV_SELECT)))
- *                        528Mhz  = (24Mhz * (20+(2*(1)))
- *
- * Set USB1 PLL (PLL3) to fOut    = (24Mhz * 20)
- *                         480Mhz = (24Mhz * 20)
- *
- * Set LPSPI PLL3 PFD0 to fOut    = (480Mhz / 12 * 18)
- *                        720Mhz  = (480Mhz / 12 * 18)
- *                         90Mhz  = (720Mhz / LSPI_PODF_DIVIDER)
- *
- * Set LPI2C PLL3 / 8 to   fOut   = (480Mhz / 8)
- *                         60Mhz  = (480Mhz / 8)
- *                         12Mhz  = (60Mhz / LSPI_PODF_DIVIDER)
- *
- * Set USDHC1 PLL2 PFD2 to fOut   = (528Mhz / 24 * 18)
- *                        396Mhz  = (528Mhz / 24 * 18)
- *                        198Mhz  = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER)
- */
-
-#define BOARD_XTAL_FREQUENCY      24000000
-#define IMXRT_PRE_PERIPH_CLK_SEL  CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1
-#define IMXRT_PERIPH_CLK_SEL      CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH
-#define IMXRT_ARM_PLL_DIV_SELECT  96
-#define IMXRT_ARM_PODF_DIVIDER    2
-#define IMXRT_AHB_PODF_DIVIDER    1
-#define IMXRT_IPG_PODF_DIVIDER    4
-#define IMXRT_PERCLK_CLK_SEL      CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT
-#define IMXRT_PERCLK_PODF_DIVIDER 9
-#define IMXRT_SEMC_PODF_DIVIDER   8
-#define IMXRT_CAN_CLK_SELECT       CCM_CSCMR2_CAN_CLK_SEL_PLL3_SW_80
-#define IMXRT_CAN_PODF_DIVIDER    1
-
-#define IMXRT_LPSPI_CLK_SELECT    CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0
-#define IMXRT_LSPI_PODF_DIVIDER   8
-
-#define IMXRT_LPI2C_CLK_SELECT    CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
-#define IMXRT_LSI2C_PODF_DIVIDER  5
-
-#define IMXRT_USDHC1_CLK_SELECT    CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0
-#define IMXRT_USDHC1_PODF_DIVIDER 2
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define IMXRT_SYS_PLL_SELECT      CCM_ANALOG_PLL_SYS_DIV_SELECT_22
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define BOARD_CPU_FREQUENCY \
-	(BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER
-
-#define BOARD_GPT_FREQUENCY \
-	(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
-
-
-/* 108Mhz clock for FlexIO using PLL3 PFD2 @ 520 */
-#define CONFIG_FLEXIO1_CLK          1
-#define CONFIG_FLEXIO1_PRED_DIVIDER 5
-#define CONFIG_FLEXIO1_PODF_DIVIDER 1
-#define CONFIG_PLL3_PFD2_FRAC       16
-#define BOARD_FLEXIO_PREQ           108000000
-
-/* Define this to enable tracing */
-#if CONFIG_USE_TRACE
-#  define IMXRT_TRACE_PODF_DIVIDER 1
-#  define IMXRT_TRACE_CLK_SELECT   CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0
-#endif
-
-/* SDIO *****************************************************************************/
-
-/* Pin drive characteristics */
-
-#define USDHC1_DATAX_IOMUX  (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-#define USDHC1_CMD_IOMUX    (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-#define USDHC1_CLK_IOMUX    (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_SPEED_MAX)
-#define USDHC1_CD_IOMUX     (IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
-
-#define PIN_USDHC1_D0       (GPIO_USDHC1_DATA0_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_02 */
-#define PIN_USDHC1_D1       (GPIO_USDHC1_DATA1_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_03 */
-#define PIN_USDHC1_D2       (GPIO_USDHC1_DATA2_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_04 */
-#define PIN_USDHC1_D3       (GPIO_USDHC1_DATA3_1 | USDHC1_DATAX_IOMUX) /* GPIO_SD_B0_05 */
-#define PIN_USDHC1_DCLK     (GPIO_USDHC1_CLK_1   | USDHC1_CLK_IOMUX)   /* GPIO_SD_B0_01 */
-#define PIN_USDHC1_CMD      (GPIO_USDHC1_CMD_1   | USDHC1_CMD_IOMUX)   /* GPIO_SD_B0_00 */
-#define PIN_USDHC1_CD       (PIN_USDHC1_D3)
-
-/* #define PIN_USDHC1_CD       (GPIO_USDHC1_CD_3    | USDHC1_CD_IOMUX)
- *  CD_B Pin works fine but somehow the driver has a timing issue with
- *  Thus use D3 instead
- */
-
-/* Ideal 400Khz for initial inquiry.
- *  Given input clock 198 Mhz.
- *   386.71875 KHz =  198 Mhz / (256 * 2)
- */
-
-#define BOARD_USDHC_IDMODE_PRESCALER    USDHC_SYSCTL_SDCLKFS_DIV256
-#define BOARD_USDHC_IDMODE_DIVISOR      USDHC_SYSCTL_DVS_DIV(2)
-
-/* Ideal 25 Mhz for other modes
- *  Given input clock 198 Mhz.
- *    24.75 MHz =  198 Mhz / (8 * 1)
- */
-
-#define BOARD_USDHC_MMCMODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_MMCMODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD1MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD1MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD4MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD4MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-/* ETH Disambiguation *******************************************************/
-
-/* Ethernet Interrupt: GPIO_B0_15
- *
- * This pin has a week pull-up within the PHY, is open-drain, and requires
- * an external 1k ohm pull-up resistor (present on the EVK).  A falling
- * edge then indicates a change in state of the PHY.
- */
-
-#define GPIO_ENET_INT   (IOMUX_ENET_INT_DEFAULT | \
-			 GPIO_PORT2 | GPIO_PIN15)    /* B0_15 */
-#define GPIO_ENET_IRQ   IMXRT_IRQ_GPIO2_15
-
-/* Ethernet Reset:  GPIO_B0_14
- *
- * The #RST uses inverted logic.  The initial value of zero will put the
- * PHY into the reset state.
- */
-
-#define GPIO_ENET_RST   (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
-			 GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */
-
-#define GPIO_ENET_TX_DATA00  (GPIO_ENET_TX_DATA00_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_07 */
-#define GPIO_ENET_TX_DATA01  (GPIO_ENET_TX_DATA01_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_08 */
-#define GPIO_ENET_RX_DATA00  (GPIO_ENET_RX_DATA00_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_04 */
-#define GPIO_ENET_RX_DATA01  (GPIO_ENET_RX_DATA01_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_05 */
-#define GPIO_ENET_MDIO       (GPIO_ENET_MDIO_1|IOMUX_ENET_MDIO_DEFAULT)   /* GPIO_B1_15 */
-#define GPIO_ENET_MDC        (GPIO_ENET_MDC_1|IOMUX_ENET_MDC_DEFAULT)     /* GPIO_B1_14 */
-#define GPIO_ENET_RX_EN      (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT)    /* GPIO_B1_06 */
-#define GPIO_ENET_RX_ER      (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */
-#define GPIO_ENET_TX_CLK     (GPIO_ENET_REF_CLK_2|\
-			      IOMUX_ENET_TX_CLK_DEFAULT)                  /* GPIO_B1_10 */
-#define GPIO_ENET_TX_EN      (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT)    /* GPIO_B1_09 */
-
-/* LED definitions ******************************************************************/
-/* The nxp fmutr1062 board has numerous LEDs but only three, LED_GREEN a Green LED,
- * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* PIO Disambiguation ***************************************************************/
-/* LPUARTs
- */
-#define LPUART_IOMUX      (IOMUX_PULL_UP_22K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW | IOMUX_SPEED_LOW | IOMUX_SCHMITT_TRIGGER)
-#define IOMUX_UART_CTS_DEFAULT (IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_SLOW)
-
-
-/* Debug */
-
-#define GPIO_LPUART6_RX   (GPIO_LPUART6_RX_2 | LPUART_IOMUX) /* GPIO_EMC_26 */
-#define GPIO_LPUART6_TX   (GPIO_LPUART6_TX_2 | LPUART_IOMUX) /* GPIO_EMC_25 */
-
-
-/* Telem 2 */
-
-#define GPIO_LPUART5_RX   (GPIO_LPUART5_RX_1 | LPUART_IOMUX) /* GPIO_B1_13 */
-#define GPIO_LPUART5_TX   (GPIO_LPUART5_TX_1 | LPUART_IOMUX) /* GPIO_B1_12 */
-#define GPIO_LPUART5_CTS  (GPIO_LPUART5_CTS_1 | IOMUX_UART_CTS_DEFAULT | PADMUX_SION)  /* GPIO_EMC_28 GPIO4_IO27 */
-#define GPIO_LPUART5_RTS  (GPIO_PORT4 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* GPIO_EMC_27 GPIO4_IO27 (GPIO only, no HW Flow control) */
-
-/* AUX */
-
-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_1 | LPUART_IOMUX) /* GPIO_B1_01 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_1 | LPUART_IOMUX) /* GPIO_B1_00 */
-#define GPIO_LPUART4_CTS  (GPIO_PORT1 | GPIO_PIN15 | GPIO_INPUT | PADMUX_SION | IOMUX_UART_CTS_DEFAULT)  /* GPIO_AD_B0_15 GPIO1_IO14 (Fixme Add GPIO Flow support in LPUART) */
-#define GPIO_LPUART4_RTS  (GPIO_PORT1 | GPIO_PIN14 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* GPIO_AD_B0_14 GPIO1_IO14 (GPIO only, no HW Flow control) */
-
-/* GPS 1 */
-
-#define GPIO_LPUART2_RX   (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_03 */
-#define GPIO_LPUART2_TX   (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_02 */
-
-/* Telem 1 */
-
-#define GPIO_LPUART3_RX   (GPIO_LPUART3_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_07 */
-#define GPIO_LPUART3_TX   (GPIO_LPUART3_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_06 */
-#define GPIO_LPUART3_CTS  (GPIO_LPUART3_CTS_1 | IOMUX_UART_CTS_DEFAULT | PADMUX_SION)  /* GPIO_AD_B1_04 GPIO1_IO20 */
-#define GPIO_LPUART3_RTS  (GPIO_PORT1 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_UART_DEFAULT) /* GPIO_AD_B1_05 GPIO1_IO21 (GPIO only, no HW Flow control) */
-//TODO check RT7 partial HW handshake
-
-/* RC INPUT single wire mode on Input on TX, for CRSF use TX and RX */
-
-#define GPIO_LPUART8_RX   (GPIO_LPUART8_RX_1 | LPUART_IOMUX) /* GPIO_AD_B1_11 */
-#define GPIO_LPUART8_TX   (GPIO_LPUART8_TX_1 | LPUART_IOMUX) /* GPIO_AD_B1_10 */
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- * CAN3 is routed to transceiver.
- */
-#define FLEXCAN_IOMUX     (IOMUX_PULL_UP_100K | IOMUX_DRIVE_40OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MEDIUM)
-
-#define GPIO_FLEXCAN3_RX  (GPIO_FLEXCAN3_RX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_37 */
-#define GPIO_FLEXCAN3_TX  (GPIO_FLEXCAN3_TX_3 | FLEXCAN_IOMUX) /* GPIO_EMC_36 */
-
-/* LPSPI */
-#define LPSPI_IOMUX       (IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SLEW_FAST | IOMUX_SPEED_MAX)
-
-
-#define GPIO_LPSPI3_SCK   (GPIO_LPSPI3_SCK_1 | LPSPI_IOMUX) /* GPIO_AD_B1_15 */
-#define GPIO_LPSPI3_MISO  (GPIO_LPSPI3_SDI_1 | LPSPI_IOMUX) /* GPIO_AD_B1_13 */
-#define GPIO_LPSPI3_MOSI  (GPIO_LPSPI3_SDO_1 | LPSPI_IOMUX) /* GPIO_AD_B1_14 */
-
-#define GPIO_LPSPI4_SCK   (GPIO_LPSPI4_SCK_2 | LPSPI_IOMUX) /* GPIO_B0_03 */
-#define GPIO_LPSPI4_MISO  (GPIO_LPSPI4_SDI_2 | LPSPI_IOMUX) /* GPIO_B0_01 */
-#define GPIO_LPSPI4_MOSI  (GPIO_LPSPI4_SDO_2 | LPSPI_IOMUX) /* GPIO_B0_02 */
-
-#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
-
-/* LPI2Cs */
-
-#define LPI2C_IOMUX    (IOMUX_SPEED_MEDIUM | IOMUX_DRIVE_33OHM  | IOMUX_OPENDRAIN | GPIO_SION_ENABLE)
-#define LPI2C_IO_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_OPENDRAIN | IOMUX_PULL_NONE)
-
-#define GPIO_LPI2C1_SDA   (GPIO_LPI2C1_SDA_2 | LPI2C_IOMUX) /* EVK J24-9 R276  */ /* GPIO_AD_B1_01 */
-#define GPIO_LPI2C1_SCL   (GPIO_LPI2C1_SCL_2 | LPI2C_IOMUX) /* EVK J24-10 R277 */ /* GPIO_AD_B1_00 */
-
-#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT1 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_01 GPIO1_IO17 */
-#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT1 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B1_00 GPIO1_IO16 */
-
-#define GPIO_LPI2C3_SDA   (GPIO_LPI2C3_SDA_2 | LPI2C_IOMUX) /* GPIO_EMC_21 */
-#define GPIO_LPI2C3_SCL   (GPIO_LPI2C3_SCL_2 | LPI2C_IOMUX) /* GPIO_EMC_22 */
-
-#define GPIO_LPI2C3_SDA_RESET (GPIO_PORT4 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_21 */
-#define GPIO_LPI2C3_SCL_RESET (GPIO_PORT4 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_EMC_22 */
-
-#define GPIO_LPI2C4_SDA   (GPIO_LPI2C4_SDA_1 | LPI2C_IOMUX) /* GPIO_AD_B0_13 */
-#define GPIO_LPI2C4_SCL   (GPIO_LPI2C4_SCL_1 | LPI2C_IOMUX) /* GPIO_AD_B0_12 */
-
-#define GPIO_LPI2C4_SDA_RESET (GPIO_PORT1 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_13 */
-#define GPIO_LPI2C4_SCL_RESET (GPIO_PORT1 | GPIO_PIN12 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LPI2C_IO_IOMUX) /* GPIO_AD_B0_12 */
-
-#define BOARD_PHY_ADDR (18)
-
-/* Board doesn't provide GPIO or other Hardware for signaling to timing analyzer */
-
-#define PROBE_INIT(mask)
-#define PROBE(n,s)
-#define PROBE_MARK(n)
-
-/************************************************************************************
- * Public Types
- ************************************************************************************/
-
-/************************************************************************************
- * Public Data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C"
-{
-#else
-#define EXTERN extern
-#endif
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif /* __NUTTX_CONFIG_NXP_TROPIC_INCLUDE_BOARD_H */

boards/nxp/mr-tropic/nuttx-config/nsh/defconfig

@@ -1,258 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_NSH_DISABLE_MB is not set
-# CONFIG_NSH_DISABLE_MH is not set
-# CONFIG_NSH_DISABLE_MW is not set
-# CONFIG_SPI_CALLBACK is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/mr-tropic/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="imxrt"
-CONFIG_ARCH_CHIP_IMXRT=y
-CONFIG_ARCH_CHIP_MIMXRT1064DVL6A=y
-CONFIG_ARCH_INTERRUPTSTACK=2048
-CONFIG_ARCH_RAMVECTORS=y
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_ITCM=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU=y
-CONFIG_ARM_MPU_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=114325
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_BULKIN_REQLEN=96
-CONFIG_CDCACM_PRODUCTID=0x0024
-CONFIG_CDCACM_PRODUCTSTR="PX4 TROPIC Community"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1FC9
-CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
-CONFIG_DEBUG_ERROR=y
-CONFIG_DEBUG_FEATURES=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_TJA1103=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FSUTILS_IPCFG=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=2
-CONFIG_FS_PROCFS=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=2048
-CONFIG_IMXRT_EDMA=y
-CONFIG_IMXRT_EDMA_EDBG=y
-CONFIG_IMXRT_EDMA_ELINK=y
-CONFIG_IMXRT_EDMA_NTCD=64
-CONFIG_IMXRT_ENET=y
-CONFIG_IMXRT_ENET_NTXBUFFERS=8
-CONFIG_IMXRT_ENET_PHYINIT=y
-CONFIG_IMXRT_FLEXCAN3=y
-CONFIG_IMXRT_FLEXCAN_TXMB=1
-CONFIG_IMXRT_FLEXSPI2=y
-CONFIG_IMXRT_FLEXSPI2_XIP=y
-CONFIG_IMXRT_GPIO1_0_15_IRQ=y
-CONFIG_IMXRT_GPIO1_16_31_IRQ=y
-CONFIG_IMXRT_GPIO2_0_15_IRQ=y
-CONFIG_IMXRT_GPIO2_16_31_IRQ=y
-CONFIG_IMXRT_GPIO_IRQ=y
-CONFIG_IMXRT_INIT_FLEXRAM=y
-CONFIG_IMXRT_ITCM=384
-CONFIG_IMXRT_LPI2C1=y
-CONFIG_IMXRT_LPI2C3=y
-CONFIG_IMXRT_LPI2C4=y
-CONFIG_IMXRT_LPI2C_DMA=y
-CONFIG_IMXRT_LPI2C_DMA_MAXMSG=16
-CONFIG_IMXRT_LPI2C_DYNTIMEO=y
-CONFIG_IMXRT_LPI2C_DYNTIMEO_STARTSTOP=10
-CONFIG_IMXRT_LPSPI3=y
-CONFIG_IMXRT_LPSPI3_DMA=y
-CONFIG_IMXRT_LPSPI4=y
-CONFIG_IMXRT_LPSPI4_DMA=y
-CONFIG_IMXRT_LPSPI_DMA=y
-CONFIG_IMXRT_LPUART2=y
-CONFIG_IMXRT_LPUART3=y
-CONFIG_IMXRT_LPUART4=y
-CONFIG_IMXRT_LPUART5=y
-CONFIG_IMXRT_LPUART6=y
-CONFIG_IMXRT_LPUART8=y
-CONFIG_IMXRT_LPUART_INVERT=y
-CONFIG_IMXRT_LPUART_SINGLEWIRE=y
-CONFIG_IMXRT_SNVS_LPSRTC=y
-CONFIG_IMXRT_USBDEV=y
-CONFIG_IMXRT_USDHC1=y
-CONFIG_IMXRT_USDHC1_INVERT_CD=y
-CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INTELHEX_BINARY=y
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_THROTTLE=0
-CONFIG_IPCFG_BINARY=y
-CONFIG_IPCFG_PATH="/fs/nor"
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_LPI2C1_DMA=y
-CONFIG_LPI2C3_DMA=y
-CONFIG_LPI2C4_DMA=y
-CONFIG_LPUART2_RXDMA=y
-CONFIG_LPUART2_TXDMA=y
-CONFIG_LPUART3_BAUD=57600
-CONFIG_LPUART3_IFLOWCONTROL=y
-CONFIG_LPUART3_OFLOWCONTROL=y
-CONFIG_LPUART3_RXBUFSIZE=600
-CONFIG_LPUART3_RXDMA=y
-CONFIG_LPUART3_TXBUFSIZE=3000
-CONFIG_LPUART3_TXDMA=y
-CONFIG_LPUART4_BAUD=57600
-CONFIG_LPUART4_IFLOWCONTROL=y
-CONFIG_LPUART4_RXBUFSIZE=600
-CONFIG_LPUART4_RXDMA=y
-CONFIG_LPUART4_TXBUFSIZE=3000
-CONFIG_LPUART4_TXDMA=y
-CONFIG_LPUART5_BAUD=57600
-CONFIG_LPUART5_IFLOWCONTROL=y
-CONFIG_LPUART5_OFLOWCONTROL=y
-CONFIG_LPUART5_RXBUFSIZE=600
-CONFIG_LPUART5_RXDMA=y
-CONFIG_LPUART5_TXBUFSIZE=3000
-CONFIG_LPUART5_TXDMA=y
-CONFIG_LPUART6_BAUD=57600
-CONFIG_LPUART6_SERIAL_CONSOLE=y
-CONFIG_LPUART8_BAUD=420000
-CONFIG_LPUART8_RXBUFSIZE=600
-CONFIG_LPUART8_RXDMA=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_NAME_MAX=40
-CONFIG_NET=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSSERVER_NOADDR=y
-CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
-CONFIG_NETDEV_CAN_FILTER_IOCTL=y
-CONFIG_NETDEV_LATEINIT=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DHCPC=y
-CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_RETRY_MOUNTPATH=10
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
-CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
-CONFIG_NET_BROADCAST=y
-CONFIG_NET_CAN=y
-CONFIG_NET_CAN_EXTID=y
-CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_TX_DEADLINE=y
-CONFIG_NET_CAN_SOCK_OPTS=y
-CONFIG_NET_ETH_PKTSIZE=1518
-CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOLINGER=y
-CONFIG_NET_TCP=y
-CONFIG_NET_TCPBACKLOG=y
-CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_WRITE_BUFFERS=y
-CONFIG_NET_TIMESTAMP=y
-CONFIG_NET_UDP=y
-CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NET_UDP_WRITE_BUFFERS=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNET_LOGIN=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=1048576
-CONFIG_RAM_START=0x20200000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1800
-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=2032
-CONFIG_SDIO_BLOCKSETUP=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_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_CLE=y
-CONFIG_SYSTEM_DHCPC_RENEW=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_SYSTEM_SYSTEM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_DUALSPEED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -1,720 +0,0 @@
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boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld

@@ -1,180 +0,0 @@
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-/* BMI088 */
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer12RegisterReadENS1_8RegisterE)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13FIFOReadCountEv)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer8FIFOReadERKyh)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13RegisterCheckERKNS2_17register_config_tE)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13RegisterWriteENS1_8RegisterEh)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer17UpdateTemperatureEv)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer23RegisterSetAndClearBitsENS1_8RegisterEhh)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer26DataReadyInterruptCallbackEiPvS3_)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer7RunImplEv)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer9DataReadyEv)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD0Ev)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD1Ev)
-*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD2Ev)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope12RegisterReadENS1_8RegisterE)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope13RegisterCheckERKNS2_17register_config_tE)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope13RegisterWriteENS1_8RegisterEh)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope23RegisterSetAndClearBitsENS1_8RegisterEhh)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope26DataReadyInterruptCallbackEiPvS3_)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope7RunImplEv)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope8FIFOReadERKyh)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope9DataReadyEv)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD0Ev)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD1Ev)
-*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD2Ev)
-*(.text._ZN12I2CSPIDriverI6BMI088E3RunEv)
-
-/* BMM350 */
-*(.text._ZN12I2CSPIDriverI6BMM350E3RunEv)
-*(.text._ZN6BMM3507RunImplEv)
-*(.text._ZN6BMM35013RegisterWriteEN12Bosch_BMM3508RegisterEh)
-*(.text._ZN6BMM35012RegisterReadEN12Bosch_BMM3508RegisterEPh)
-*(.text._ZN6BMM35014ReadOutRawDataEPf)

boards/nxp/mr-tropic/nuttx-config/scripts/script.ld

@@ -1,179 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/teensy-4.x/scripts/flash.ld
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/* Specify the memory areas */
-
-MEMORY
-{
-  flash (rx)  : ORIGIN = 0x70000000, LENGTH = 4194304 - 128K
-  sram  (rwx) : ORIGIN = 0x20200000, LENGTH = 512K
-  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 384K
-  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-    /* Image Vector Table and Boot Data for booting from external flash */
-
-    .boot_hdr : ALIGN(4)
-    {
-        FILL(0xff)
-        __boot_hdr_start__ = ABSOLUTE(.) ;
-        KEEP(*(.boot_hdr.conf))
-        . = 0x1000 ;
-        KEEP(*(.boot_hdr.ivt))
-        . = 0x1020 ;
-        KEEP(*(.boot_hdr.boot_data))
-        . = 0x1030 ;
-        KEEP(*(.boot_hdr.dcd_data))
-        __boot_hdr_end__ = ABSOLUTE(.) ;
-        . = 0x2000 ;
-    } >flash
-
-    .vectors :
-    {
-        KEEP(*(.vectors))
-        *(.text .text.__start)
-    } >flash
-
-    .itcmfunc :
-    {
-        . = ALIGN(8);
-        _sitcmfuncs = ABSOLUTE(.);
-        FILL(0xFF)
-        . = 0x40 ;
-        INCLUDE "itcm_static_functions.ld"
-        INCLUDE "itcm_functions_includes.ld"
-        . = ALIGN(8);
-        _eitcmfuncs = ABSOLUTE(.);
-    } > itcm AT > flash
-
-    _fitcmfuncs = LOADADDR(.itcmfunc);
-
-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
-
-    /* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
-       which effectively puts it into a no-cache region */
-    .dtcm : {
-        *(.bss.g_desc_pool)
-    } > dtcm
-
-    .text :
-    {
-        _stext = ABSOLUTE(.);
-        *(.vectors)
-        *(.text .text.*)
-        *(.fixup)
-        *(.gnu.warning)
-        *(.gnu.linkonce.t.*)
-        *(.glue_7)
-        *(.glue_7t)
-        *(.got)
-        *(.gcc_except_table)
-        *(.gnu.linkonce.r.*)
-        . = ALIGN(4096);
-        _etext = ABSOLUTE(.);
-        _srodata = ABSOLUTE(.);
-        *(.rodata .rodata.*)
-        . = ALIGN(4096);
-        _erodata = ABSOLUTE(.);
-    } > flash
-
-    .init_section :
-    {
-        _sinit = ABSOLUTE(.);
-        KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
-        KEEP(*(.init_array .ctors))
-        _einit = ABSOLUTE(.);
-    } > flash
-
-    .ARM.extab :
-    {
-        *(.ARM.extab*)
-    } > flash
-
-    .ARM.exidx :
-    {
-        __exidx_start = ABSOLUTE(.);
-        *(.ARM.exidx*)
-        __exidx_end = ABSOLUTE(.);
-    } > flash
-
-    _eronly = ABSOLUTE(.);
-
-    .data :
-    {
-        _sdata = ABSOLUTE(.);
-        *(.data .data.*)
-        *(.gnu.linkonce.d.*)
-        CONSTRUCTORS
-        . = ALIGN(4);
-        _edata = ABSOLUTE(.);
-    } > sram AT > flash
-
-    .ramfunc ALIGN(4):
-    {
-        _sramfuncs = ABSOLUTE(.);
-        *(.ramfunc  .ramfunc.*)
-        _eramfuncs = ABSOLUTE(.);
-    } > sram AT > flash
-
-    _framfuncs = LOADADDR(.ramfunc);
-
-    .bss :
-    {
-        _sbss = ABSOLUTE(.);
-        *(.bss .bss.*)
-        *(.gnu.linkonce.b.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = ABSOLUTE(.);
-    } > sram
-
-    /* Stabs debugging sections. */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
-    _sdtcm = ORIGIN(dtcm);
-    _edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
-}

boards/nxp/mr-tropic/src/CMakeLists.txt

@@ -1,60 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-px4_add_library(drivers_board
-	i2c.cpp
-	init.c
-	sdhc.c
-	spi.cpp
-	timer_config.cpp
-	tropic_led_pwm.cpp
-	usb.c
-	imxrt_flexspi_nor_boot.c
-	imxrt_flexspi_nor_flash.c
-	imxrt_flexspi_storage.c
-	imxrt_ocram_initialize.c
-	hw_rev_ver_tropic.c
-	manifest.c
-)
-
-# Force compiler not to use builtin functions (like memcpy)
-# to optimize for loops in init.c (imxrt_ocram_initialize)
-set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_spi
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)

boards/nxp/mr-tropic/src/board_config.h

@@ -1,351 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * Tropic Community internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_arch/io_timer.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include "imxrt_gpio.h"
-#include "imxrt_iomuxc.h"
-#include "hardware/imxrt_pinmux.h"
-#include "hardware/imxrt_usb_analog.h"
-
-#include <arch/board/board.h>
-#include <arm_internal.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* Configuration ************************************************************************************/
-
-/* FMURT1062 GPIOs ***********************************************************************************/
-/* LEDs */
-/* An RGB LED is connected through GPIO as shown below:
- */
-#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
-#define GPIO_nLED_RED   /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
-#define GPIO_nLED_BLUE  /* GPIO_EMC_34 GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
-#define GPIO_nLED_GREEN /* GPIO_EMC_38 GPIO3_IO24 */ (GPIO_PORT3 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS   1
-#define BOARD_OVERLOAD_LED              LED_RED
-#define BOARD_ARMED_STATE_LED           LED_BLUE
-
-/*
- *  Define the ability to shut off off the sensor signals
- *  by changing the signals to inputs
- */
-
-#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
-
-/*  Define the Chip Selects, Data Ready and Control signals per SPI bus */
-
-#define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
-#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-
-
-/* SPI1 off */
-
-#define _GPIO_LPSPI1_SCK   /* GPIO_EMC_27  GPIO4_IO27 */  (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
-#define _GPIO_LPSPI1_MISO  /* GPIO_EMC_29  GPIO4_IO29 */  (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI1_MOSI  /* GPIO_EMC_28  GPIO4_IO28 */  (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
-
-#define GPIO_SPI1_SCK_OFF   _PIN_OFF(_GPIO_LPSPI1_SCK)
-#define GPIO_SPI1_MISO_OFF  _PIN_OFF(_GPIO_LPSPI1_MISO)
-#define GPIO_SPI1_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI1_MOSI)
-
-#define _GPIO_LPSPI3_SCK   /* GPIO_AD_B1_15 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
-#define _GPIO_LPSPI3_MISO  /* GPIO_AD_B1_13 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI3_MOSI  /* GPIO_AD_B1_14 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
-
-#define GPIO_SPI3_SCK_OFF   _PIN_OFF(_GPIO_LPSPI3_SCK)
-#define GPIO_SPI3_MISO_OFF  _PIN_OFF(_GPIO_LPSPI3_MISO)
-#define GPIO_SPI3_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI3_MOSI)
-
-/*  Define the SPI4 Data Ready and Control signals */
-
-#define GPIO_SPI4_DRDY7_EXTERNAL1   /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT  | DRDY_IOMUX)
-
-#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1   _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
-
-#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
-
-#define ADC1_CH(n)                  (n)
-#define ADC1_GPIO(n, p)             (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
-
-/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
-
-#define PX4_ADC_GPIO  \
-	/* ADC_5V_RAIL_SENSE       GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(0,  24)
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-
-#define ADC_5V_RAIL_SENSE        /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_CH(13)
-
-#define ADC_CHANNELS 	         (1 << ADC_5V_RAIL_SENSE)
-
-/* Power supply control and monitoring GPIOs */
-
-#define GENERAL_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
-#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
-
-
-/* PWM
- */
-
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define BOARD_NUM_IO_TIMERS         4
-
-// Input Capture not supported on MVP
-
-#define BOARD_HAS_NO_CAPTURE
-
-//#define BOARD_HAS_UI_LED_PWM           1  Not ported yet (Still Kinetis driver)
-#define BOARD_HAS_LED_PWM              1
-#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
-#define BOARD_HAS_CUSTOM_LED_PWM       1
-
-#define PWM_LED_RED    /* GPIO_EMC_33 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_OUTPUT_IOMUX)
-#define PWM_LED_BLUE   /* GPIO_EMC_34 */ (GPIO_FLEXPWM3_PWMB02_1 | GENERAL_OUTPUT_IOMUX)
-#define PWM_LED_GREEN  /* GPIO_EMC_38 */ (GPIO_FLEXPWM1_PWMA03_2 | GENERAL_OUTPUT_IOMUX)
-
-
-/* ETHERNET GPIO */
-
-#define GPIO_ENET_RX_ER_CONFIG1       /* GPIO_B1_11 GPIO2_IO27 PHYAD18        Open */  (GPIO_PORT2 | GPIO_PIN27 | GPIO_INPUT | IOMUX_PULL_NONE)
-#define GPIO_ENET_RX_DATA01_CONFIG4   /* GPIO_B1_05 GPIO2_IO21 (RMII-clkmode) High */  (GPIO_PORT2 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-#define GPIO_ENET_RX_DATA00_CONFIG5   /* GPIO_B1_04 GPIO2_IO20 SLAVE:Auto     Open */  (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT  | IOMUX_PULL_NONE)
-#define GPIO_ENET_CRS_DV_CONFIG6      /* GPIO_B1_06 GPIO4_IO22 SLAVE:POl Corr Low  */  (GPIO_PORT2 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-
-/* Tone alarm output */
-
-//FIXME FlexPWM TONE DRIVER
-#define TONE_ALARM_FLEXPWM      PWMA_VAL
-#define TONE_ALARM_TIMER        1  /* FlexPWM 3 */
-#define TONE_ALARM_CHANNEL      0  /* GPIO_EMC_23 PWM1_PWMA00 */
-
-#define GPIO_BUZZER_1           /* GPIO_EMC_23  GPIO4_IO23  */ (GPIO_PORT4 | GPIO_PIN23  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         (GPIO_FLEXPWM1_PWMA00_1 | GENERAL_OUTPUT_IOMUX)
-
-/* USB OTG FS
- *
- * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
- */
-
-/* High-resolution timer */
-#define HRT_TIMER               1  /* use GPT1 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-#define RC_SERIAL_PORT                  "/dev/ttyS5"
-//#define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
-//#define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
-//#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT  | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
-#define SAFETY_IOMUX      (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
-#define SAFETY_SW_IOMUX   (IOMUX_CMOS_INPUT  | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* EMC_39 */ (GPIO_PORT3 | GPIO_PIN25 | GPIO_INPUT  | SAFETY_INIT_IOMUX)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* EMC_39 */ (GPIO_PORT3 | GPIO_PIN25 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-
-#define GPIO_SAFETY_SWITCH_IN              /* GPIO_B0_12 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | SAFETY_SW_IOMUX)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-#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_NUMBER_BRICKS 1
-#define BOARD_NUMBER_DIGITAL_BRICKS     1
-
-#define BOARD_ADC_BRICK_VALID   1
-
-#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
-
-/* FMUv5 never powers odd the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-// FIXME LETS NOT RESET FOR NOW
-//#define BOARD_HAS_ON_RESET 1
-#define BOARD_HAS_TEENSY_BOOTLOADER
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_FLEXCAN3_TX,                 \
-		GPIO_FLEXCAN3_RX,                 \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_ENET_RX_ER_CONFIG1,          \
-		GPIO_ENET_RX_DATA01_CONFIG4,      \
-		GPIO_ENET_RX_DATA00_CONFIG5,      \
-		GPIO_ENET_CRS_DV_CONFIG6,         \
-		GPIO_ENET_RST                     \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-/* To detect IMU */
-#define BOARD_HAS_HW_VERSIONING  1
-#define BOARD_HAS_HW_SPLIT_VERSIONING 1
-#define HW_INFO_INIT_PREFIX    "TROPIC"
-
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
-//                 Base/FMUM
-#define TROPIC_0   HW_FMUM_ID(0x0) // ICM45686
-#define TROPIC_1   HW_FMUM_ID(0x1) // ICM42688
-#define TROPIC_2   HW_FMUM_ID(0x2) // ICM42686
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: fmurt1062_usdhc_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int fmurt1062_usdhc_initialize(void);
-
-/****************************************************************************************************
- * Name: imxrt_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void imxrt_spidev_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI Buses.
- *
- ************************************************************************************/
-
-extern int imxrt1062_spi_bus_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_usb_initialize
- *
- * Description:
- *   Called to configure USB.
- *
- ************************************************************************************/
-
-extern void imxrt_spiinitialize(void);
-
-extern int imxrt_usb_initialize(void);
-
-extern void imxrt_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-extern void fmurt1062_timer_initialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-int imxrt_flexspi_storage_initialize(void);
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/nxp/mr-tropic/src/hw_rev_ver_tropic.c

@@ -1,165 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hw_rev_ver_canhubk3.c
- * CANHUBK3 Hardware Revision and Version ID API
- */
-#include <drivers/drv_adc.h>
-#include <px4_arch/adc.h>
-#include <px4_platform_common/micro_hal.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <stdio.h>
-#include <board_config.h>
-#include <drivers/drv_sensor.h>
-
-#include <systemlib/px4_macros.h>
-
-#include <nuttx/spi/spi.h>
-
-#if defined(BOARD_HAS_HW_VERSIONING)
-
-#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-static int hw_revision = 0;
-static char hw_info[HW_INFO_SIZE] = {0};
-#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
-static char hw_base_info[HW_INFO_SIZE] = {0};
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-/************************************************************************************
- * Name: board_get_hw_type
- *
- * Description:
- *   Optional returns a 0 terminated string defining the HW type.
- *
- * Input Parameters:
- *   None
- *
- * Returned Value:
- *   a 0 terminated string defining the HW type. This my be a 0 length string ""
- *
- ************************************************************************************/
-
-__EXPORT const char *board_get_hw_type_name()
-{
-	return (const char *) hw_info;
-}
-
-#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
-/************************************************************************************
- * Name: board_get_hw_base_type_name
- *
- * Description:
- *   Optional returns a 0 terminated string defining the base type.
- *
- * Input Parameters:
- *   None
- *
- * Returned Value:
- *   a 0 terminated string defining the HW type. This my be a 0 length string ""
- *
- ************************************************************************************/
-
-__EXPORT const char *board_get_hw_base_type_name()
-{
-	return (const char *) hw_base_info;
-}
-#endif
-
-/************************************************************************************
- * Name: board_get_hw_version
- *
- * Description:
- *   Optional returns a integer HW version
- *
- * Input Parameters:
- *   None
- *
- * Returned Value:
- *   An integer value of this boards hardware version.
- *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
- *   A value of 0 is the default for boards supporting the API but not having version.
- *
- ************************************************************************************/
-
-__EXPORT int board_get_hw_version()
-{
-	return 0;
-}
-
-/************************************************************************************
- * Name: board_get_hw_revision
- *
- * Description:
- *   Optional returns a integer HW revision
- *
- * Input Parameters:
- *   None
- *
- * Returned Value:
- *   An integer value of this boards hardware revision.
- *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
- *   A value of 0 is the default for boards supporting the API but not having revision.
- *
- ************************************************************************************/
-
-__EXPORT int board_get_hw_revision()
-{
-	return hw_revision;
-}
-
-/************************************************************************************
-  * Name: board_determine_hw_info
- *
- * Description:
- *	Uses GPIO to detect MR-CANHUBK3-ADAP
- *
- ************************************************************************************/
-
-int board_determine_hw_info()
-{
-	hw_revision = 0; //TODO Read fuses
-
-	sprintf(hw_info, "%03d", hw_revision);
-
-	return 0;
-}
-#endif

boards/nxp/mr-tropic/src/imxrt_flexspi_nor_boot.c

@@ -1,55 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1064-evk/src/imxrt_flexspi_nor_boot.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "imxrt_flexspi_nor_boot.h"
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-locate_data(".boot_hdr.ivt")
-const struct ivt_s g_image_vector_table = {
-	IVT_HEADER,                         /* IVT Header */
-	IMAGE_ENTRY_ADDRESS,                /* Image  Entry Function */
-	IVT_RSVD,                           /* Reserved = 0 */
-	(uint32_t)DCD_ADDRESS,              /* Address where DCD information is stored */
-	(uint32_t)BOOT_DATA_ADDRESS,        /* Address where BOOT Data Structure is stored */
-	(uint32_t)IMAG_VECTOR_TABLE,        /* Pointer to IVT Self (absolute address */
-	(uint32_t)CSF_ADDRESS,              /* Address where CSF file is stored */
-	IVT_RSVD                            /* Reserved = 0 */
-};
-
-locate_data(".boot_hdr.boot_data")
-const struct boot_data_s g_boot_data = {
-	IMAGE_DEST,                         /* boot start location */
-	(IMAGE_DEST_END - IMAGE_DEST),      /* size */
-	PLUGIN_FLAG,                        /* Plugin flag */
-	0xffffffff                          /* empty - extra data word */
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/* None */

boards/nxp/mr-tropic/src/imxrt_flexspi_nor_boot.h

@@ -1,166 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1064-evk/src/imxrt_flexspi_nor_boot.h
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-#ifndef __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
-#define __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdint.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* IVT Data */
-
-#define IVT_MAJOR_VERSION           0x4
-#define IVT_MAJOR_VERSION_SHIFT     0x4
-#define IVT_MAJOR_VERSION_MASK      0xf
-#define IVT_MINOR_VERSION           0x1
-#define IVT_MINOR_VERSION_SHIFT     0x0
-#define IVT_MINOR_VERSION_MASK      0xf
-
-#define IVT_VERSION(major, minor)   \
-	((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) |  \
-	 (((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT))
-
-#define IVT_TAG_HEADER              (0xd1)       /* Image Vector Table */
-#define IVT_SIZE                    0x2000
-#define IVT_PAR                     IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION)
-
-#define IVT_HEADER                  (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24))
-#define IVT_RSVD                    (uint32_t)(0x00000000)
-
-/* DCD Data */
-
-#define DCD_TAG_HEADER              (0xd2)
-#define DCD_TAG_HEADER_SHIFT        (24)
-#define DCD_VERSION                 (0x40)
-#define DCD_ARRAY_SIZE              1
-
-#define FLASH_BASE                  0x70000000
-#define FLASH_END                   0x70400000
-
-/* This needs to take into account  the memory configuration at boot
- * bootloader
- */
-
-#define ROM_BOOTLOADER_OCRAM_RES    0x8000
-#define OCRAM_BASE                  (0x20200000 + ROM_BOOTLOADER_OCRAM_RES)
-#define OCRAM_END                   (OCRAM_BASE + (512 * 1024) + (256 * 1024) \
-				     - ROM_BOOTLOADER_OCRAM_RES)
-
-#define SCLK 1
-#if defined(CONFIG_BOOT_RUNFROMFLASH)
-#  define IMAGE_DEST                FLASH_BASE
-#  define IMAGE_DEST_END            FLASH_END
-#  define IMAGE_DEST_OFFSET         0
-#else
-#  define IMAGE_DEST                OCRAM_BASE
-#  define IMAGE_DEST_END            OCRAM_END
-#  define IMAGE_DEST_OFFSET         IVT_SIZE
-#endif
-
-#define LOCATE_IN_DEST(x)           (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST)
-#define LOCATE_IN_SRC(x)            (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE)
-
-#ifdef CONFIG_IMXRT1064_EVK_SDRAM
-#  define DCD_ADDRESS               &g_dcd_data
-#else
-#  define DCD_ADDRESS               0
-#endif
-#define BOOT_DATA_ADDRESS           LOCATE_IN_DEST(&g_boot_data)
-#define CSF_ADDRESS                 0
-#define PLUGIN_FLAG                 (uint32_t)0
-
-/* Located in Destination Memory */
-
-#define IMAGE_ENTRY_ADDRESS        ((uint32_t)&_vectors)
-#define IMAG_VECTOR_TABLE           LOCATE_IN_DEST(&g_image_vector_table)
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/* IVT Data */
-
-struct ivt_s {
-	/* Header with tag #HAB_TAG_IVT, length and HAB version fields
-	 * (see data)
-	 */
-
-	uint32_t hdr;
-
-	/* Absolute address of the first instruction to execute from the
-	 * image
-	 */
-
-	uint32_t entry;
-
-	/* Reserved in this version of HAB: should be NULL. */
-
-	uint32_t reserved1;
-
-	/* Absolute address of the image DCD: may be NULL. */
-
-	uint32_t dcd;
-
-	/* Absolute address of the Boot Data: may be NULL, but not interpreted
-	 * any further by HAB
-	 */
-
-	uint32_t boot_data;
-
-	/* Absolute address of the IVT. */
-
-	uint32_t self;
-
-	/* Absolute address of the image CSF. */
-
-	uint32_t csf;
-
-	/* Reserved in this version of HAB: should be zero. */
-
-	uint32_t reserved2;
-};
-
-/* Boot Data */
-
-struct boot_data_s {
-	uint32_t start;           /* boot start location */
-	uint32_t size;            /* size */
-	uint32_t plugin;          /* plugin flag - 1 if downloaded application is plugin */
-	uint32_t placeholder;     /* placeholder to make even 0x10 size */
-};
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-extern const struct boot_data_s g_boot_data;
-#ifdef CONFIG_IMXRT1064_EVK_SDRAM
-extern const uint8_t g_dcd_data[];
-#endif
-extern  const uint32_t  _vectors[];
-
-#endif /* __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */

boards/nxp/mr-tropic/src/imxrt_flexspi_nor_flash.c

@@ -1,64 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "imxrt_flexspi_nor_flash.h"
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-locate_data(".boot_hdr.conf")
-const struct flexspi_nor_config_s g_flash_config = {
-	.mem_config =
-	{
-		.tag                    = FLEXSPI_CFG_BLK_TAG,
-		.version                = FLEXSPI_CFG_BLK_VERSION,
-		.read_sample_clksrc     = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD,
-		.cs_hold_time           = 3u,
-		.cs_setup_time          = 3u,
-		.column_address_width   = 0u,
-		.device_type            = FLEXSPI_DEVICE_TYPE_SERIAL_NOR,
-		.sflash_pad_type        = SERIAL_FLASH_4PADS,
-		.serial_clk_freq        = FLEXSPI_SERIAL_CLKFREQ_133MHz,
-		.sflash_a1size          = 4u * 1024u * 1024u,
-		.lookup_table           =
-		{
-			/* Fast Read Quad I/O */
-			[0 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xeb,
-						  RADDR_SDR, FLEXSPI_4PAD, 0x18),
-			[0 + 1] = FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06,
-						  READ_SDR, FLEXSPI_4PAD, 0x04),
-
-		},
-	},
-
-	.page_size = 256u,
-	.sector_size = 4u * 1024u,
-	.blocksize = 64u * 1024u,
-	.is_uniform_blocksize = false,
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/

boards/nxp/mr-tropic/src/imxrt_flexspi_nor_flash.h

@@ -1,347 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1064-evk/src/imxrt_flexspi_nor_flash.h
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-#ifndef __BOARDS_ARM_IMXRT_IMXRT1064_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __BOARDS_ARM_IMXRT_IMXRT1064_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdint.h>
-#include <stdbool.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* FLEXSPI memory config block related definitions */
-
-#define FLEXSPI_CFG_BLK_TAG         (0x42464346ul)
-#define FLEXSPI_CFG_BLK_VERSION     (0x56010400ul)
-#define FLEXSPI_CFG_BLK_SIZE        (512)
-
-/* FLEXSPI Feature related definitions */
-
-#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1
-
-/* Lookup table related definitions */
-
-#define CMD_INDEX_READ              0
-#define CMD_INDEX_READSTATUS        1
-#define CMD_INDEX_WRITEENABLE       2
-#define CMD_INDEX_WRITE             4
-
-#define CMD_LUT_SEQ_IDX_READ        0
-#define CMD_LUT_SEQ_IDX_READSTATUS  1
-#define CMD_LUT_SEQ_IDX_WRITEENABLE 3
-#define CMD_LUT_SEQ_IDX_WRITE       9
-
-#define CMD_SDR                     0x01
-#define CMD_DDR                     0x21
-#define RADDR_SDR                   0x02
-#define RADDR_DDR                   0x22
-#define CADDR_SDR                   0x03
-#define CADDR_DDR                   0x23
-#define MODE1_SDR                   0x04
-#define MODE1_DDR                   0x24
-#define MODE2_SDR                   0x05
-#define MODE2_DDR                   0x25
-#define MODE4_SDR                   0x06
-#define MODE4_DDR                   0x26
-#define MODE8_SDR                   0x07
-#define MODE8_DDR                   0x27
-#define WRITE_SDR                   0x08
-#define WRITE_DDR                   0x28
-#define READ_SDR                    0x09
-#define READ_DDR                    0x29
-#define LEARN_SDR                   0x0a
-#define LEARN_DDR                   0x2a
-#define DATSZ_SDR                   0x0b
-#define DATSZ_DDR                   0x2b
-#define DUMMY_SDR                   0x0c
-#define DUMMY_DDR                   0x2c
-#define DUMMY_RWDS_SDR              0x0d
-#define DUMMY_RWDS_DDR              0x2d
-#define JMP_ON_CS                   0x1f
-#define STOP                        0
-
-#define FLEXSPI_1PAD                0
-#define FLEXSPI_2PAD                1
-#define FLEXSPI_4PAD                2
-#define FLEXSPI_8PAD                3
-
-#define FLEXSPI_LUT_OPERAND0_MASK   (0xffu)
-#define FLEXSPI_LUT_OPERAND0_SHIFT  (0U)
-#define FLEXSPI_LUT_OPERAND0(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND0_MASK)
-#define FLEXSPI_LUT_NUM_PADS0_MASK  (0x300u)
-#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u)
-#define FLEXSPI_LUT_NUM_PADS0(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS0_MASK)
-#define FLEXSPI_LUT_OPCODE0_MASK    (0xfc00u)
-#define FLEXSPI_LUT_OPCODE0_SHIFT   (10u)
-#define FLEXSPI_LUT_OPCODE0(x)      (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE0_MASK)
-#define FLEXSPI_LUT_OPERAND1_MASK   (0xff0000u)
-#define FLEXSPI_LUT_OPERAND1_SHIFT  (16U)
-#define FLEXSPI_LUT_OPERAND1(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND1_MASK)
-#define FLEXSPI_LUT_NUM_PADS1_MASK  (0x3000000u)
-#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u)
-#define FLEXSPI_LUT_NUM_PADS1(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS1_MASK)
-#define FLEXSPI_LUT_OPCODE1_MASK    (0xfc000000u)
-#define FLEXSPI_LUT_OPCODE1_SHIFT   (26u)
-#define FLEXSPI_LUT_OPCODE1(x)      (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE1_MASK)
-
-#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1)  \
-	(FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \
-	 FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \
-	 FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1))
-
-/*  */
-
-#define NOR_CMD_INDEX_READ          CMD_INDEX_READ
-#define NOR_CMD_INDEX_READSTATUS    CMD_INDEX_READSTATUS
-#define NOR_CMD_INDEX_WRITEENABLE   CMD_INDEX_WRITEENABLE
-#define NOR_CMD_INDEX_ERASESECTOR   3
-#define NOR_CMD_INDEX_PAGEPROGRAM   CMD_INDEX_WRITE
-#define NOR_CMD_INDEX_CHIPERASE     5
-#define NOR_CMD_INDEX_DUMMY         6
-#define NOR_CMD_INDEX_ERASEBLOCK    7
-
-/*  READ LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ    CMD_LUT_SEQ_IDX_READ
-
-/* Read Status LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS
-
-/* 2  Read status DPI/QPI/OPI sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2
-
-/* 3  Write Enable sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE
-
-/* 4  Write Enable DPI/QPI/OPI sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4
-
-/* 5  Erase Sector sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5
-
-/* 8 Erase Block sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8
-
-/* 9  Program sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE
-
-/* 11 Chip Erase sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11
-
-/* 13 Read SFDP sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13
-
-/* 14 Restore 0-4-4/0-8-8 mode sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14
-
-/* 15 Exit 0-4-4/0-8-8 mode sequence id in LUT stored in config blobk */
-
-#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/* Definitions for FlexSPI Serial Clock Frequency */
-
-enum flexspi_serial_clkfreq_e {
-	FLEXSPI_SERIAL_CLKFREQ_30MHz  = 1,
-	FLEXSPI_SERIAL_CLKFREQ_50MHz  = 2,
-	FLEXSPI_SERIAL_CLKFREQ_60MHz  = 3,
-	FLEXSPI_SERIAL_CLKFREQ_75MHz  = 4,
-	FLEXSPI_SERIAL_CLKFREQ_80MHz  = 5,
-	FLEXSPI_SERIAL_CLKFREQ_100MHz = 6,
-	FLEXSPI_SERIAL_CLKFREQ_120MHz = 7,
-	FLEXSPI_SERIAL_CLKFREQ_133MHz = 8,
-	FLEXSPI_SERIAL_CLKFREQ_166MHz = 9,
-};
-
-/* FlexSPI clock configuration type */
-
-enum flexspi_serial_clockmode_e {
-	FLEXSPI_CLKMODE_SDR,
-	FLEXSPI_CLKMODE_DDR,
-};
-
-/* FlexSPI Read Sample Clock Source definition */
-
-enum flash_read_sample_clk_e {
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2,
-	FLASH_READ_SAMPLE_CLK_EXT_INPUT_FROM_DQSPAD = 3,
-};
-
-/*  Misc feature bit definitions */
-
-enum flash_misc_feature_e {
-	FLEXSPIMISC_OFFSET_DIFFCLKEN = 0,                /* Bit for Differential clock enable */
-	FLEXSPIMISC_OFFSET_CK2EN = 1,                    /* Bit for CK2 enable */
-	FLEXSPIMISC_OFFSET_PARALLELEN = 2,               /* Bit for Parallel mode enable */
-	FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3,      /* Bit for Word Addressable enable */
-	FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4,       /* Bit for Safe Configuration Frequency enable */
-	FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5,  /* Bit for Pad setting override enable */
-	FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6,              /* Bit for DDR clock confiuration indication. */
-};
-
-/* Flash Type Definition */
-
-enum flash_flash_type_e {
-	FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1,              /* Flash devices are Serial NOR */
-	FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2,             /* Flash devices are Serial NAND */
-	FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3,              /* Flash devices are Serial RAM/HyperFLASH */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12,         /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial NAND */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13,          /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial RAMs */
-};
-
-/* Flash Pad Definitions */
-
-enum flash_flash_pad_e {
-	SERIAL_FLASH_1PAD  = 1,
-	SERIAL_FLASH_2PADS = 2,
-	SERIAL_FLASH_4PADS = 4,
-	SERIAL_FLASH_8PADS = 8,
-};
-
-/* Flash Configuration Command Type */
-
-enum flash_config_cmd_e {
-	DEVICE_CONFIG_CMD_TYPE_GENERIC,     /* Generic command, for example: configure dummy cycles, drive strength, etc */
-	DEVICE_CONFIG_CMD_TYPE_QUADENABLE,  /* Quad Enable command */
-	DEVICE_CONFIG_CMD_TYPE_SPI2XPI,     /* Switch from SPI to DPI/QPI/OPI mode */
-	DEVICE_CONFIG_CMD_TYPE_XPI2SPI,     /* Switch from DPI/QPI/OPI to SPI mode */
-	DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD,  /* Switch to 0-4-4/0-8-8 mode */
-	DEVICE_CONFIG_CMD_TYPE_RESET,       /* Reset device command */
-};
-
-/* FlexSPI LUT Sequence structure */
-
-struct flexspi_lut_seq_s {
-	uint8_t seq_num;                    /* Sequence Number, valid number: 1-16 */
-	uint8_t seq_id;                     /* Sequence Index, valid number: 0-15 */
-	uint16_t reserved;
-};
-
-/* FlexSPI Memory Configuration Block */
-
-struct flexspi_mem_config_s {
-	uint32_t tag;
-	uint32_t version;
-	uint32_t reserved0;
-	uint8_t read_sample_clksrc;
-	uint8_t cs_hold_time;
-	uint8_t cs_setup_time;
-	uint8_t column_address_width;     /* [0x00f-0x00f] Column Address with, for
-                                     * HyperBus protocol, it is fixed to 3,
-                                     * For Serial NAND, need to refer to
-                                     * datasheet
-                                     */
-	uint8_t device_mode_cfg_enable;
-	uint8_t device_mode_type;
-	uint16_t wait_time_cfg_commands;
-	struct flexspi_lut_seq_s device_mode_seq;
-	uint32_t device_mode_arg;
-	uint8_t config_cmd_enable;
-	uint8_t config_mode_type[3];
-	struct flexspi_lut_seq_s config_cmd_seqs[3];
-	uint32_t reserved1;
-	uint32_t config_cmd_args[3];
-	uint32_t reserved2;
-	uint32_t controller_misc_option;
-	uint8_t device_type;
-	uint8_t sflash_pad_type;
-	uint8_t serial_clk_freq;
-	uint8_t lut_custom_seq_enable;
-	uint32_t reserved3[2];
-	uint32_t sflash_a1size;
-	uint32_t sflash_a2size;
-	uint32_t sflash_b1size;
-	uint32_t sflash_b2size;
-	uint32_t cspad_setting_override;
-	uint32_t sclkpad_setting_override;
-	uint32_t datapad_setting_override;
-	uint32_t dqspad_setting_override;
-	uint32_t timeout_in_ms;
-	uint32_t command_interval;
-	uint16_t data_valid_time[2];
-	uint16_t busy_offset;
-	uint16_t busybit_polarity;
-	uint32_t lookup_table[64];
-	struct flexspi_lut_seq_s lut_customseq[12];
-	uint32_t reserved4[4];
-};
-
-/* Serial NOR configuration block */
-
-struct flexspi_nor_config_s {
-	struct flexspi_mem_config_s mem_config; /* Common memory configuration info
-                                           * via FlexSPI
-                                           */
-
-	uint32_t page_size;                  /* Page size of Serial NOR */
-	uint32_t sector_size;                /* Sector size of Serial NOR */
-	uint8_t ipcmd_serial_clkfreq;        /* Clock frequency for IP command */
-	uint8_t is_uniform_blocksize;        /* Sector/Block size is the same */
-	uint8_t reserved0[2];                /* Reserved for future use */
-	uint8_t serial_nor_type;             /* Serial NOR Flash type: 0/1/2/3 */
-	uint8_t need_exit_nocmdmode;         /* Need to exit NoCmd mode before
-                                        * other IP command
-                                        */
-
-	uint8_t halfclk_for_nonreadcmd;      /* Half the Serial Clock for non-read
-                                        * command: true/false
-                                        */
-
-	uint8_t need_restore_nocmdmode;      /* Need to Restore NoCmd mode after IP
-                                        * command execution
-                                        */
-
-	uint32_t blocksize;                  /* Block size */
-	uint32_t reserve2[11];               /* Reserved for future use */
-};
-
-#endif /* __BOARDS_ARM_IMXRT_IMXRT1064_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */