Add topic remap plugin

ModeCompleted.msg: document nav_state (#22544 )
[control_allocation] small function comment typo fix (#22607 )
2026-06-01 07:10:04 +08:00 · 2024-01-09 10:27:42 +01:00 · 2024-01-08 11:32:41 +01:00 · 2024-01-08 11:12:06 +01:00 · 2024-01-06 04:41:00 -05:00 · 2024-01-06 04:41:00 -05:00
60 changed files with 422 additions and 2504 deletions
@@ -1 +0,0 @@
--ignore-dir=Documentation
@@ -1,33 +0,0 @@
-# How to install:
-#   gem install github_changelog_generator
-# How to run:
-#   github_changelog_generator -u PX4 -p Firmware
-# Description:
-#   The following params are sensible defaults for the PX4 project,
-#   if you want to do a changelog before a release you need to update since-tag and future-releases,
-
-# Params:
-#   github_changelog_generator --help for all options
-
-# max-issues
-#   max threshold for github api queries
-#   make sure you set your CHANGELOG_GITHUB_TOKEN before
-#   running
-max-issues=1500
-
-# exclude-tags-regex
-#   excludes release candidates
-exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
-
-# since-tag
-#   version of last stable release
-#   you need to change this depending on what you need
-#   if you want a changelog between versions this is the lowest version
-since-tag=1.6.5
-
-# future-release
-#   version you are about to release
-#   if you want a changelog between a version and all unreleased changes grouped as a release
-#     eg: v1.6.5 to v1.7.0
-future-release=v1.7.0
-
@@ -1,35 +0,0 @@
-language: cpp
-
-git:
-  depth: 100
-  submodules: false
-
-matrix:
-  fast_finish: true
-  include:
-    - os: linux
-      dist: xenial
-      # In order to stay under the coverity rate limit, we only run this weekly
-      # and not on push which is configured in travis-ci settings.
-      if: branch = main
-
-before_install:
-    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
-
-install:
-    - export PATH=$HOME/.local/bin:$PATH
-    - pip install --user --upgrade pip
-    - pip install --user -r Tools/setup/requirements.txt
-
-script:
-    - make
-
-addons:
-  coverity_scan:
-    project:
-      name: "PX4/Firmware"
-      description: "Build submitted via Travis CI"
-    notification_email: ci@px4.io
-    build_command_prepend: "make distclean"
-    build_command: "make px4_sitl_default"
-    branch_pattern: coverity_scan
@@ -1,172 +0,0 @@
-# This file is NOT licensed under the GPLv3, which is the license for the rest
-# of YouCompleteMe.
-#
-# Here's the license text for this file:
-#
-# This is free and unencumbered software released into the public domain.
-#
-# Anyone is free to copy, modify, publish, use, compile, sell, or
-# distribute this software, either in source code form or as a compiled
-# binary, for any purpose, commercial or non-commercial, and by any
-# means.
-#
-# In jurisdictions that recognize copyright laws, the author or authors
-# of this software dedicate any and all copyright interest in the
-# software to the public domain. We make this dedication for the benefit
-# of the public at large and to the detriment of our heirs and
-# successors. We intend this dedication to be an overt act of
-# relinquishment in perpetuity of all present and future rights to this
-# software under copyright law.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-# OTHER DEALINGS IN THE SOFTWARE.
-#
-# For more information, please refer to <http://unlicense.org/>
-
-import os
-import ycm_core
-
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-flags = [
-'-Wall',
-'-Wextra',
-'-Werror',
-#'-Wc++98-compat',
-'-Wno-long-long',
-'-Wno-variadic-macros',
-'-fexceptions',
-'-DNDEBUG',
-# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
-# source code needs it.
-#'-DUSE_CLANG_COMPLETER',
-# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
-# language to use when compiling headers. So it will guess. Badly. So C++
-# headers will be compiled as C headers. You don't want that so ALWAYS specify
-# a "-std=<something>".
-# For a C project, you would set this to something like 'c99' instead of
-# 'c++14'.
-'-std=c++14',
-# ...and the same thing goes for the magic -x option which specifies the
-# language that the files to be compiled are written in. This is mostly
-# relevant for c++ headers.
-# For a C project, you would set this to 'c' instead of 'c++'.
-'-x',
-'c++',
-'-undef', # get rid of standard definitions to allow us to include arm math header
-'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
-'-I', './NuttX/nuttx/arch/arm/include',
-'-include', './src/include/visibility.h',
-'-I', './src',
-'-I', './src/modules',
-'-I', './src/include',
-'-I', './src/lib',
-'-I', './NuttX',
-]
-
-
-# Set this to the absolute path to the folder (NOT the file!) containing the
-# compile_commands.json file to use that instead of 'flags'. See here for
-# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
-#
-# Most projects will NOT need to set this to anything; you can just change the
-# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
-compilation_database_folder = ''
-
-if os.path.exists( compilation_database_folder ):
-  database = ycm_core.CompilationDatabase( compilation_database_folder )
-else:
-  database = None
-
-SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
-
-def DirectoryOfThisScript():
-  return os.path.dirname( os.path.abspath( __file__ ) )
-
-
-def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
-  if not working_directory:
-    return list( flags )
-  new_flags = []
-  make_next_absolute = False
-  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
-  for flag in flags:
-    new_flag = flag
-
-    if make_next_absolute:
-      make_next_absolute = False
-      if not flag.startswith( '/' ):
-        new_flag = os.path.join( working_directory, flag )
-
-    for path_flag in path_flags:
-      if flag == path_flag:
-        make_next_absolute = True
-        break
-
-      if flag.startswith( path_flag ):
-        path = flag[ len( path_flag ): ]
-        new_flag = path_flag + os.path.join( working_directory, path )
-        break
-
-    if new_flag:
-      new_flags.append( new_flag )
-  return new_flags
-
-
-def IsHeaderFile( filename ):
-  extension = os.path.splitext( filename )[ 1 ]
-  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
-
-
-def GetCompilationInfoForFile( filename ):
-  # The compilation_commands.json file generated by CMake does not have entries
-  # for header files. So we do our best by asking the db for flags for a
-  # corresponding source file, if any. If one exists, the flags for that file
-  # should be good enough.
-  if IsHeaderFile( filename ):
-    basename = os.path.splitext( filename )[ 0 ]
-    for extension in SOURCE_EXTENSIONS:
-      replacement_file = basename + extension
-      if os.path.exists( replacement_file ):
-        compilation_info = database.GetCompilationInfoForFile(
-          replacement_file )
-        if compilation_info.compiler_flags_:
-          return compilation_info
-    return None
-  return database.GetCompilationInfoForFile( filename )
-
-
-def FlagsForFile( filename, **kwargs ):
-  if database:
-    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-    # python list, but a "list-like" StringVec object
-    compilation_info = GetCompilationInfoForFile( filename )
-    if not compilation_info:
-      return None
-
-    final_flags = MakeRelativePathsInFlagsAbsolute(
-      compilation_info.compiler_flags_,
-      compilation_info.compiler_working_dir_ )
-
-    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
-    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
-    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
-    #try:
-    #  final_flags.remove( '-stdlib=libc++' )
-    #except ValueError:
-    #  pass
-  else:
-    relative_to = DirectoryOfThisScript()
-    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
-
-  return {
-    'flags': final_flags,
-    'do_cache': True
-  }
@@ -1,83 +0,0 @@
-{
-	"folders":
-	[
-		{
-			"path": ".",
-			"file_exclude_patterns":
-			[
-				"*.o",
-				"*.a",
-				"*.d",
-				".built",
-				".context",
-				".depend",
-				".config",
-				".version",
-				"Make.dep",
-				".configured",
-				"*.sublime-project",
-				"*.sublime-workspace",
-				".project",
-				".cproject",
-				"cscope.out"
-			],
-			"folder_exclude_patterns":
-			[
-				".settings",
-				"nuttx/arch/arm/src/board",
-				"nuttx/arch/arm/src/chip",
-				"build_*"
-			]
-		}
-	],
-	"settings":
-	{
-		"tab_size": 8,
-		"translate_tabs_to_spaces": false,
-		"highlight_line": true,
-		"AStyleFormatter":
-		{
-			"options_c":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			},
-			"options_c++":
-			{
-				"use_only_additional_options": true,
-				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
-			}
-		}
-	},
-	"build_systems":
-	[
-		{
-			"name": "PX4: make all",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4_fmu-v2_default -j8"],
-			"shell": true
-		},
-		{
-			"name": "PX4: make posix",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make posix"],
-			"shell": true
-		},
-		{
-			"name": "MindPX_V2: make and upload",
-			"working_dir": "${project_path}",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload mindpx-v2_default -j8"],
-			"shell": true
-		}
-	]
-}
@@ -1,47 +0,0 @@
-# Build version
-version: "{build}"
-# do not shallow clone because we want to infer the version from the last tag
-
-branches:
-  only:
-  - master
-  - beta
-  - stable
-
-# Build worker image (build VM template)
-image: Visual Studio 2017
-
-environment:
-  matrix:
-    - PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests
-    - PX4_CONFIG: px4_fmu-v5_default
-
-install:
-# if the toolchain wasn't restored from build cache download and install it
- ps: >-
-    if (-not (Test-Path C:\PX4)) {
-        Invoke-WebRequest https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi -OutFile C:\Toolchain.msi
-        Start-Process -Wait msiexec -ArgumentList '/I C:\Toolchain.msi /quiet /qn /norestart /log C:\install.log'
-    }
-
-# Note: using Start-Process -Wait is important
-# because otherwise the install begins but non-blocking and the result cannot be used just after
-
-build_script:
-# FIXME Temporary we need to create the home folder because it's not contained in installer 0.5 and CI fails if it doesn't exist
- if not exist "C:\PX4\home" mkdir C:\PX4\home
-# setup the environmental variables to work within the installed cygwin toolchain
- call C:\PX4\toolchain\scripts\setup-environment.bat x
-# safe the repopath for switching to it in cygwin bash
- for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i
-# build the make target
- call bash --login -c "cd $repopath && make $PX4_CONFIG"
-
-# Note: using bash --login is important
-# because otherwise certain things (like python; import numpy) do not work
-
-cache:
-# cache the entire toolchain installation folder to avoid
-# downloading it from AWS S3 and installing the MSI each time
-# it's ~1.8GB > 1GB free limit for build caches
- C:\PX4 -> appveyor.yml
@@ -3,7 +3,6 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOTFSDIR="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_MODULES_COMMANDER=y
@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-param set-default SYS_USE_IO 1
-
 safety_button start

 if param greater -s UAVCAN_ENABLE 0
@@ -18,7 +18,7 @@

 set HAVE_PM2 yes

-if ver hwtypecmp V5X005000 V5X005001 V5X005002
+if ver hwtypecmp V6XRT005000
 then
 	set HAVE_PM2 no
 fi
@@ -84,6 +84,8 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -b 3 -a 0x77 start
-	bmp388 -X -b 2 start
 fi
+
+bmp388 -X -b 2 start
+
 unset HAVE_PM2
@@ -1,4 +1,66 @@
+/* Static */
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text.arm_svcall)
+*(.text.arm_switchcontext)
+*(.text.board_autoled_on)
+*(.text.clock_timer)
+*(.text.exception_common)
 *(.text.hrt_absolute_time)
+*(.text.hrt_tim_isr)
+*(.text.imxrt_configwaitints)
+*(.text.imxrt_dma_callback)
+*(.text.imxrt_dmach_interrupt)
+*(.text.imxrt_dmaterminate)
+*(.text.imxrt_edma_interrupt)
+*(.text.imxrt_endwait)
+*(.text.imxrt_gpio3_16_31_interrupt)
+*(.text.imxrt_interrupt)
+*(.text.imxrt_lpi2c_isr)
+*(.text.imxrt_recvdma)
+*(.text.imxrt_tcd_free)
+*(.text.imxrt_timerisr)
+*(.text.imxrt_usbinterrupt)
+*(.text.irq_dispatch)
+*(.text.memcpy)
+*(.text.nxsched_add_blocked)
+*(.text.nxsched_add_prioritized)
+*(.text.nxsched_add_readytorun)
+*(.text.nxsched_get_files)
+*(.text.nxsched_get_tcb)
+*(.text.nxsched_merge_pending)
+*(.text.nxsched_process_timer)
+*(.text.nxsched_remove_blocked)
+*(.text.nxsched_remove_readytorun)
+*(.text.nxsched_resume_scheduler)
+*(.text.nxsched_suspend_scheduler)
+*(.text.nxsem_add_holder)
+*(.text.nxsem_add_holder_tcb)
+*(.text.nxsem_clockwait)
+*(.text.nxsem_foreachholder)
+*(.text.nxsem_freecount0holder)
+*(.text.nxsem_freeholder)
+*(.text.nxsem_post)
+*(.text.nxsem_release_holder)
+*(.text.nxsem_restore_baseprio)
+*(.text.nxsem_tickwait)
+*(.text.nxsem_timeout)
+*(.text.nxsem_trywait)
+*(.text.nxsem_wait)
+*(.text.nxsem_wait_uninterruptible)
+*(.text.nxsig_timedwait)
+*(.text.sched_lock)
+*(.text.sched_note_resume)
+*(.text.sched_note_suspend)
+*(.text.sched_unlock)
+*(.text.sq_addafter)
+*(.text.sq_addlast)
+*(.text.sq_rem)
+*(.text.sq_remafter)
+*(.text.sq_remfirst)
+*(.text.uart_connected)
+*(.text.wd_timer)
+/* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
@@ -12,20 +74,16 @@
 *(.text._ZN4uORB12Subscription9subscribeEv.part.0)
 *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
 *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
-*(.text.exception_common)
 *(.text.strcmp)
 *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
 *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
 *(.text._Z12get_orb_meta6ORB_ID)
-*(.text.nxsem_wait)
 *(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text.nxsem_post)
 *(.text._ZN3px49WorkQueue3RunEv)
 *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN4EKF23RunEv)
 *(.text.imxrt_lpspi_exchange)
 *(.text.imxrt_dmach_xfrsetup)
-*(.text.arm_doirq)
 *(.text._ZN7sensors10VehicleIMU7PublishEv)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
 *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
@@ -40,16 +98,11 @@
 *(.text.perf_set_elapsed.part.0)
 *(.text._ZN4uORB12Subscription6updateEPv)
 *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
-*(.text.hrt_tim_isr)
-*(.text.nxsig_timedwait)
-*(.text.nxsem_foreachholder)
 *(.text._ZN7sensors10VehicleIMU3RunEv)
 *(.text.up_unblock_task)
 *(.text.__aeabi_l2f)
 *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
-*(.text.sched_unlock)
 *(.text.pthread_mutex_timedlock)
-*(.text.nxsem_restore_baseprio)
 *(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
 *(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
 *(.text._ZN6device3SPI9_transferEPhS1_j)
@@ -59,12 +112,10 @@
 *(.text.fs_getfilep)
 *(.text.MEM_DataCopy0_1)
 *(.text._ZN7sensors19VehicleAcceleration3RunEv)
-*(.text.sched_note_resume)
 *(.text.uart_ioctl)
 *(.text._ZN26MulticopterPositionControl3RunEv.part.0)
 *(.text.pthread_mutex_take)
 *(.text._ZN14ImuDownSampler6updateERKN9estimator9imuSampleE)
-*(.text.irq_dispatch)
 *(.text._ZN39ControlAllocationSequentialDesaturation6mixYawEv)
 *(.text._ZN16ControlAllocator25publish_actuator_controlsEv.part.0)
 *(.text._ZN9ICM42688P7RunImplEv)
@@ -74,39 +125,27 @@
 *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text.wd_start)
-*(.text.sq_rem)
-*(.text.nxsem_add_holder_tcb)
-*(.text.imxrt_dmaterminate)
 *(.text.hrt_call_enter)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text.nxsched_add_blocked)
-*(.text.arm_switchcontext)
 *(.text._ZN3Ekf19fixCovarianceErrorsEb)
-*(.text.nxsched_add_prioritized)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text.ioctl)
 *(.text._ZN6events12SendProtocol6updateERKy)
-*(.text.imxrt_dmach_interrupt)
-*(.text.sched_lock)
 *(.text._ZN6device3SPI8transferEPhS1_j)
 *(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
 *(.text.hrt_call_internal)
-*(.text.arm_svcall)
 *(.text._ZN39ControlAllocationSequentialDesaturation18mixAirmodeDisabledEv)
 *(.text._ZN7Mavlink15get_free_tx_bufEv)
 *(.text.nx_poll)
-*(.text.sched_note_suspend)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
-*(.text.nxsem_freecount0holder)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
 *(.text._ZN24MavlinkStreamCommandLong4sendEv)
 *(.text._ZN9Commander3runEv)
-*(.text.nxsem_release_holder)
 *(.text._ZN3Ekf17predictCovarianceERKN9estimator9imuSampleE)
 *(.text.wd_cancel)
 *(.text._ZN7Sensors3RunEv)
@@ -123,16 +162,13 @@
 *(.text._ZN16ControlAllocator32publish_control_allocator_statusEi)
 *(.text.__ieee754_atan2f)
 *(.text._ZNK18DynamicSparseLayer3getEt)
-*(.text.nxsched_remove_readytorun)
 *(.text.__udivmoddi4)
 *(.text._ZN8Failsafe17checkStateAndModeERKyRKN12FailsafeBase5StateERK16failsafe_flags_s)
 *(.text._ZN29MavlinkStreamHygrometerSensor4sendEv)
-*(.text.nxsched_remove_blocked)
 *(.text.pthread_mutex_give)
 *(.text._ZN3Ekf18controlFusionModesERKN9estimator9imuSampleE)
 *(.text._ZN4cdev4CDev11poll_notifyEm)
 *(.text.file_vioctl)
-*(.text.wd_timer)
 *(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
 *(.text.nxsig_nanosleep)
 *(.text.imxrt_lpspi1select)
@@ -148,7 +184,6 @@
 *(.text.cdcuart_ioctl)
 *(.text.cdcacm_sndpacket)
 *(.text._ZN7sensors22VehicleAngularVelocity16SensorBiasUpdateEb)
-*(.text.nxsched_merge_pending)
 *(.text._ZN13MavlinkStream11update_dataEv)
 *(.text._ZN7sensors18VotedSensorsUpdate21calcGyroInconsistencyEv)
 *(.text.param_set_used)
@@ -162,18 +197,14 @@
 *(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
-*(.text.nxsem_tickwait)
 *(.text.clock_nanosleep)
-*(.text.memcpy)
 *(.text.up_release_pending)
 *(.text.MEM_DataCopy0)
 *(.text._ZN22MavlinkStreamGPSRawInt4sendEv)
 *(.text.dq_rem)
 *(.text._ZN15GyroCalibration3RunEv.part.0)
-*(.text.imxrt_edma_interrupt)
 *(.text._ZN7sensors18VotedSensorsUpdate22calcAccelInconsistencyEv)
 *(.text._ZN24MavlinkStreamADSBVehicle4sendEv)
-*(.text.nxsched_process_timer)
 *(.text.sinf)
 *(.text.hrt_call_after)
 *(.text._ZN39ControlAllocationSequentialDesaturation8allocateEv)
@@ -184,8 +215,6 @@
 *(.text._ZN20MavlinkStreamESCInfo4sendEv)
 *(.text.sem_post)
 *(.text._ZN3px417ScheduledWorkItem15ScheduleDelayedEm)
-*(.text.nxsched_resume_scheduler)
-*(.text.nxsched_add_readytorun)
 *(.text._ZN10FlightTaskC1Ev)
 *(.text.usleep)
 *(.text._ZN14FlightTaskAutoC1Ev)
@@ -194,7 +223,6 @@
 *(.text.imxrt_gpio_write)
 *(.text._ZN3Ekf6updateEv)
 *(.text.__ieee754_acosf)
-*(.text.nxsem_wait_uninterruptible)
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
@@ -204,10 +232,8 @@
 *(.text._ZN18MavlinkStreamDebug4sendEv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE4sendEv)
 *(.text.asinf)
-*(.text.nxsem_freeholder)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_3DcmIfEE)
 *(.text._ZN4EKF227PublishInnovationTestRatiosERKy)
-*(.text.imxrt_gpio3_16_31_interrupt)
 *(.text._ZN4EKF213PublishStatusERKy)
 *(.text._ZN4EKF226PublishInnovationVariancesERKy)
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
@@ -222,7 +248,6 @@
 *(.text._ZNK10ConstLayer3getEt)
 *(.text.__aeabi_uldivmod)
 *(.text.up_udelay)
-*(.text.imxrt_usbinterrupt)
 *(.text.up_idle)
 *(.text._ZN20MavlinkStreamGPS2Raw4sendEv)
 *(.text._ZN4EKF217UpdateCalibrationERKyRNS_19InFlightCalibrationERKN6matrix7Vector3IfEES8_fbb)
@@ -268,11 +293,9 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt4sendEv)
 *(.text._ZN4uORB12Subscription4copyEPv)
 *(.text._ZN7sensors19VehicleAcceleration21SensorSelectionUpdateEb)
-*(.text.nxsem_add_holder)
 *(.text.crc_accumulate)
 *(.text._ZN3px46logger6Logger13update_paramsEv)
 *(.text._ZN11calibration14DeviceExternalEm)
-*(.text.sq_addafter)
 *(.text._ZN25MavlinkStreamHomePosition8get_sizeEv)
 *(.text.imxrt_lpspi_modifyreg32)
 *(.text._ZN7sensors19VehicleAcceleration16SensorBiasUpdateEb)
@@ -280,7 +303,6 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmlEf)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
-*(.text.nxsched_suspend_scheduler)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
 *(.text._ZN3Ekf16fuseVelPosHeightEffi)
 *(.text._ZN3Ekf23controlBaroHeightFusionEv)
@@ -294,7 +316,6 @@
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
 *(.text._ZN3Ekf16controlMagFusionEv)
-*(.text.nxsem_clockwait)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
 *(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
@@ -302,13 +323,11 @@
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
 *(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
-*(.text.imxrt_tcd_free)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
 *(.text.perf_event_count)
 *(.text._ZN4EKF215PublishAttitudeERKy)
 *(.text._ZN19MavlinkStreamRawRpm8get_sizeEv)
-*(.text.nxsem_trywait)
 *(.text._ZNK3px46atomicIbE4loadEv)
 *(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
 *(.text.pthread_mutex_add)
@@ -332,7 +351,6 @@
 *(.text._ZN3Ekf31checkVerticalAccelerationHealthERKN9estimator9imuSampleE)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
-*(.text.nxsem_timeout)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
@@ -396,7 +414,6 @@
 *(.text._ZN17MavlinkLogHandler4sendEv)
 *(.text._ZN7control10SuperBlock5setDtEf)
 *(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
-*(.text.board_autoled_on)
 *(.text._ZN5PX4IO13io_get_statusEv)
 *(.text._ZN26MulticopterAttitudeControl3RunEv)
 *(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
@@ -432,7 +449,6 @@
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
 *(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
-*(.text.nxsched_get_tcb)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
@@ -455,7 +471,6 @@
 *(.text._ZN6Sticks25checkAndUpdateStickInputsEv)
 *(.text.atan2f)
 *(.text._ZN23MavlinkStreamRCChannels4sendEv)
-*(.text.sq_remfirst)
 *(.text._ZN4EKF221UpdateExtVisionSampleER17ekf2_timestamps_s)
 *(.text.imxrt_dmach_stop)
 *(.text._ZN9Commander16handleAutoDisarmEv)
@@ -488,7 +503,6 @@
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
 *(.text._ZN4EKF217PublishEventFlagsERKy)
-*(.text.sq_remafter)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)
@@ -593,7 +607,6 @@
 *(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
 *(.text._ZNK6matrix6VectorIfLj2EE4normEv)
 *(.text._Z15arm_auth_updateyb)
-*(.text.imxrt_lpi2c_isr)
 *(.text._ZN3LED5ioctlEP4fileim)
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
@@ -627,13 +640,11 @@
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text.imxrt_timerisr)
 *(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
 *(.text._ZN3Ekf20controlFakeHgtFusionEv)
-*(.text.sq_addlast)
 *(.text.imxrt_reqcomplete)
 *(.text._ZNK6matrix7Vector3IfEmlEf)
 *(.text._ZN18ZeroVelocityUpdate6updateER3EkfRKN9estimator9imuSampleE)
@@ -653,7 +664,6 @@
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
 *(.text.uart_xmitchars_done)
-*(.text.nxsched_get_files)
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
 *(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
@@ -702,7 +712,6 @@
 *(.text._ZThn8_N3ADC3RunEv)
 *(.text._ZN11StickTiltXYC1EP12ModuleParams)
 *(.text._ZN12SafetyButton3RunEv)
-*(.text.arm_ack_irq)
 *(.text._ZN6BMP38811set_op_modeEh)
 *(.text._ZN3GPS8callbackE15GPSCallbackTypePviS1_)
 *(.text._ZN13AnalogBattery19get_current_channelEv)
@@ -36,7 +36,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 		bootloader_main.c
 		init.c
 		usb.c
-		imxrt_romapi.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
 		imxrt_clockconfig.c
@@ -48,6 +47,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers # sdio
 			px4_layer #gpio
 			arch_io_pins # iotimer
+			arch_board_romapi
 			bootloader
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@@ -72,7 +72,6 @@ else()
 		spi.cpp
 		timer_config.cpp
 		usb.c
-		imxrt_romapi.c
 		imxrt_flexspi_fram.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
@@ -83,6 +82,7 @@ else()
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_board_hw_info
+			arch_board_romapi
 			arch_spi
 			drivers__led # drv_led_start
 			nuttx_arch # sdio
@@ -297,6 +297,7 @@
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"
 #define V6XRT_00             HW_VER_REV(0x0,0x0) // First Release
+#define V6XRT_50             HW_VER_REV(0x5,0x0) // HB Mini Rev 0

 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

@@ -539,6 +540,8 @@

 /* This board provides the board_on_reset interface */

+#define BOARD_HAS_ISP_BOOTLOADER 1
+
 #define BOARD_HAS_ON_RESET 1

 #define PX4_GPIO_INIT_LIST { \
@@ -22,7 +22,7 @@
 * Included Files
 ****************************************************************************/

-#include "imxrt_flexspi_nor_flash.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>

 /****************************************************************************
 * Public Data
@@ -66,8 +66,7 @@

 #include "arm_internal.h"
 #include "imxrt_flexspi_nor_boot.h"
-#include "imxrt_flexspi_nor_flash.h"
-#include "imxrt_romapi.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
 #include "imxrt_iomuxc.h"
 #include "imxrt_flexcan.h"
 #include "imxrt_enet.h"
@@ -79,10 +78,12 @@

 #include <arch/board/board.h>

+
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
+#include <px4_arch/imxrt_romapi.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 2021, 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
@@ -46,12 +46,14 @@
 * Included Files
 ****************************************************************************/

-#include <px4_platform_common/px4_config.h>
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <inttypes.h>
 #include <stdbool.h>
 #include <syslog.h>

 #include "systemlib/px4_macros.h"
-#include "px4_log.h"

 /****************************************************************************
 * Pre-Processor Definitions
@@ -98,8 +100,30 @@ static const px4_hw_mft_item_t hw_mft_list_V00[] = {
 	},
 };

+static const px4_hw_mft_item_t hw_mft_list_V50[] = {
+	{
+		//  PX4_MFT_PX4IO
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		// PX4_MFT_USB
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN2
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+};
+
 static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
+	{V6XRT_50, hw_mft_list_V50, arraySize(hw_mft_list_V50)}, // HB Mini
 };

 /************************************************************************************
@@ -122,7 +146,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -133,7 +157,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -1,205 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
-	<storageModule moduleId="org.eclipse.cdt.core.settings">
-		<cconfiguration id="cdt.managedbuild.toolchain.gnu.cross.base.432866957">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.cross.base.432866957" moduleId="org.eclipse.cdt.core.settings" name="Default">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="PX4-Firmware" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.cross.base.432866957" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
-					<folderInfo id="cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611" name="/" resourcePath="">
-						<toolChain id="cdt.managedbuild.toolchain.gnu.base.716090342" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
-							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.target.gnu.platform.base.328447809" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
-							<builder id="cdt.managedbuild.target.gnu.builder.base.977864740" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
-								<outputEntries>
-									<entry excluding="build*" flags="VALUE_WORKSPACE_PATH" kind="outputPath" name=""/>
-								</outputEntries>
-							</builder>
-							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1653222719" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
-								<option id="gnu.cpp.compiler.option.include.paths.1654158476" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
-								</option>
-								<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
-									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
-									<listOptionValue builtIn="false" value="__cplusplus=1"/>
-									<listOptionValue builtIn="false" value="__EXPORT"/>
-								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1055476396" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
-								<option id="gnu.c.compiler.option.include.paths.1309473256" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
-								</option>
-								<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
-									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
-									<listOptionValue builtIn="false" value="__cplusplus=1"/>
-									<listOptionValue builtIn="false" value="__EXPORT"/>
-								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1650107366" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.1577413388" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1471249362" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1062268162" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.assembler.base.900091175" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
-								<option id="gnu.both.asm.option.include.paths.2025449581" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
-								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src"/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-	</storageModule>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="PX4Firmware.null.2007659608" name="PX4Firmware"/>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="Default">
-			<resource resourceType="PROJECT" workspacePath="/PX4-Firmware"/>
-		</configuration>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
-		<buildTargets>
-			<target name="px4_fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>px4_fmu-v2_default</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="px4_fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>px4_fmu-v4_default</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="px4_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>px4_sitl_default</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>distclean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>tests</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="submodulesclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>submodulesclean</buildTarget>
-				<stopOnError>false</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="quick_check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>quick_check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-		</buildTargets>
-	</storageModule>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1747549746;cdt.managedbuild.tool.gnu.cpp.compiler.input.576083683">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139;cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.c.compiler.base.1055476396;cdt.managedbuild.tool.gnu.c.compiler.input.1650107366">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.c.compiler.595284732;cdt.managedbuild.tool.gnu.c.compiler.input.2047539569">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-	</storageModule>
-</cproject>
@@ -1,69 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>PX4-Firmware</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.core.ccnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-	</natures>
-	<linkedResources>
-		<link>
-			<name>topics_sources</name>
-			<type>2</type>
-			<locationURI>uORB_SRC</locationURI>
-		</link>
-		<link>
-			<name>uORB</name>
-			<type>2</type>
-			<locationURI>uORB_LOC</locationURI>
-		</link>
-	</linkedResources>
-	<filteredResources>
-		<filter>
-			<id>1457837186676</id>
-			<name></name>
-			<type>26</type>
-			<matcher>
-				<id>org.eclipse.ui.ide.multiFilter</id>
-				<arguments>1.0-name-matches-false-false-.git</arguments>
-			</matcher>
-		</filter>
-		<filter>
-			<id>1457837186687</id>
-			<name></name>
-			<type>10</type>
-			<matcher>
-				<id>org.eclipse.ui.ide.multiFilter</id>
-				<arguments>1.0-name-matches-true-false-build*</arguments>
-			</matcher>
-		</filter>
-	</filteredResources>
-	<variableList>
-		<variable>
-			<name>uORB_LOC</name>
-			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/uORB</value>
-		</variable>
-		<variable>
-			<name>uORB_SRC</name>
-			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/msg/topics_sources</value>
-		</variable>
-	</variableList>
-</projectDescription>
@@ -1,4 +1,5 @@
 # Mode completion result, published by an active mode.
+# The possible values of nav_state are defined in the VehicleStatus msg.
 # Note that this is not always published (e.g. when a user switches modes or on
 # failsafe activation)
 uint64 timestamp				 # time since system start (microseconds)
@@ -10,5 +11,5 @@ uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)

 uint8 result                     # One of RESULT_*

-uint8 nav_state                  # Source mode
+uint8 nav_state                  # Source mode (values in VehicleStatus)

@@ -70,6 +70,12 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
 */
 __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);

+/** Types of reboot requests for PX4 */
+typedef enum {
+	REBOOT_REQUEST = 0,          ///< Normal reboot
+	REBOOT_TO_BOOTLOADER = 1,    ///< Reboot to PX4 bootloader
+	REBOOT_TO_ISP = 2,           ///< Reboot to ISP bootloader
+} reboot_request_t;

 /**
 * Request the system to reboot.
@@ -83,7 +89,7 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
 * @return 0 on success, <0 on error
 */
 #if defined(CONFIG_BOARDCTL_RESET)
-__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
+__EXPORT int px4_reboot_request(reboot_request_t request = REBOOT_REQUEST, uint32_t delay_us = 0);
 #endif // CONFIG_BOARDCTL_RESET


@@ -108,6 +108,7 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
 #define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
 #define SHUTDOWN_ARG_REBOOT (1<<1)
 #define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
+#define SHUTDOWN_ARG_TO_ISP (1<<3)
 static uint8_t shutdown_args = 0;

 static constexpr int max_shutdown_hooks = 1;
@@ -175,7 +176,17 @@ static void shutdown_worker(void *arg)
 		if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
 #if defined(CONFIG_BOARDCTL_RESET)
 			PX4_INFO_RAW("Reboot NOW.");
-			boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
+
+			if (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) {
+				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_BOOTLOADER);
+
+			} else if (shutdown_args & SHUTDOWN_ARG_TO_ISP) {
+				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_ISP);
+
+			} else {
+				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_REQUEST);
+			}
+
 #else
 			PX4_PANIC("board reset not available");
 #endif
@@ -206,7 +217,7 @@ static void shutdown_worker(void *arg)
 }

 #if defined(CONFIG_BOARDCTL_RESET)
-int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
+int px4_reboot_request(reboot_request_t request, uint32_t delay_us)
 {
 	pthread_mutex_lock(&shutdown_mutex);

@@ -217,8 +228,11 @@ int px4_reboot_request(bool to_bootloader, uint32_t delay_us)

 	shutdown_args |= SHUTDOWN_ARG_REBOOT;

-	if (to_bootloader) {
+	if (request == REBOOT_TO_BOOTLOADER) {
 		shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
+
+	} else if (request == REBOOT_TO_ISP) {
+		shutdown_args |= SHUTDOWN_ARG_TO_ISP;
 	}

 	shutdown_time_us = hrt_absolute_time();
@@ -7,8 +7,8 @@
 #include <px4_defines.h>

 #include "hw_config.h"
-#include "imxrt_flexspi_nor_flash.h"
-#include "imxrt_romapi.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
+#include <px4_arch/imxrt_romapi.h>
 #include <hardware/rt117x/imxrt117x_ocotp.h>
 #include <hardware/rt117x/imxrt117x_anadig.h>
 #include <hardware/rt117x/imxrt117x_snvs.h>
@@ -187,7 +187,7 @@ static void mavlink_usb_check(void *arg)

 										if (param1 == 1) {
 											// 1: Reboot autopilot
-											px4_reboot_request(false, 0);
+											px4_reboot_request(REBOOT_REQUEST, 0);

 										} else if (param1 == 2) {
 											// 2: Shutdown autopilot
@@ -197,7 +197,7 @@ static void mavlink_usb_check(void *arg)

 										} else if (param1 == 3) {
 											// 3: Reboot autopilot and keep it in the bootloader until upgraded.
-											px4_reboot_request(true, 0);
+											px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
 										}
 									}
 								}
@@ -35,6 +35,8 @@ px4_add_library(arch_board_reset
 	board_reset.cpp
 )

+target_link_libraries(arch_board_reset PRIVATE arch_board_romapi)
+
 # up_systemreset
 if (NOT DEFINED CONFIG_BUILD_FLAT)
 	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
@@ -38,11 +38,16 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>
 #include <arm_internal.h>
 #include <hardware/rt117x/imxrt117x_snvs.h>

+
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
+#include <px4_arch/imxrt_romapi.h>
+
 #define BOOT_RTC_SIGNATURE                0xb007b007
 #define PX4_IMXRT_RTC_REBOOT_REG          3
 #define PX4_IMXRT_RTC_REBOOT_REG_ADDRESS  IMXRT_SNVS_LPGPR3
@@ -61,8 +66,13 @@ static int board_reset_enter_bootloader()

 int board_reset(int status)
 {
-	if (status == 1) {
+	if (status == REBOOT_TO_BOOTLOADER) {
 		board_reset_enter_bootloader();
+
+	} else if (status == REBOOT_TO_ISP) {
+		uint32_t arg = 0xeb100000;
+		ROM_API_Init();
+		ROM_RunBootloader(&arg);
 	}

 #if defined(BOARD_HAS_ON_RESET)
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.h
+ * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/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
@@ -18,8 +18,8 @@
 *
 ****************************************************************************/

-#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
+#ifndef __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
+#define __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H

 /****************************************************************************
 * Included Files
@@ -349,4 +349,4 @@ extern const struct flexspi_nor_config_s g_flash_config;
 extern const struct flexspi_nor_config_s g_flash_fast_config;


-#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
+#endif /* __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H */
@@ -1,14 +1,14 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
+ * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_romapi.h
 *
- * Copyright 2017-2020 NXP
+ * Copyright 2017-2024 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 ****************************************************************************/
-#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
-#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
+#ifndef __PX4_ARCH_IMXRT_ROMAPI_H
+#define __PX4_ARCH_IMXRT_ROMAPI_H

 /****************************************************************************
 *
@@ -370,4 +370,8 @@ void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance);

 /*@}*/

-#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PX4_ARCH_IMXRT_ROMAPI_H */
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_board_romapi
+	imxrt_romapi.c
+)
@@ -1,7 +1,7 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
+ * platforms/nuttx/src/px4/nxp/imrt/romapi/imxrt_romapi.c
 *
- * Copyright 2017-2020 NXP
+ * Copyright 2017-2024 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
@@ -22,8 +22,8 @@

 #include "arm_internal.h"

-#include "imxrt_flexspi_nor_flash.h"
-#include "imxrt_romapi.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
+#include <px4_arch/imxrt_romapi.h>

 #include <hardware/rt117x/imxrt117x_anadig.h>

@@ -38,6 +38,7 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>

@@ -72,7 +73,7 @@ static int board_reset_enter_bootloader()

 int board_reset(int status)
 {
-	if (status == 1) {
+	if (status == REBOOT_TO_BOOTLOADER) {
 		board_reset_enter_bootloader();
 	}

@@ -36,7 +36,7 @@ add_subdirectory(adc)
 add_subdirectory(../imxrt/board_critmon board_critmon)
 add_subdirectory(../imxrt/board_hw_info board_hw_info)
 add_subdirectory(../imxrt/board_reset board_reset)
-#add_subdirectory(../imxrt/dshot dshot)
+add_subdirectory(../imxrt/romapi romapi)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,24 +30,7 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-
 #pragma once

-#include <stdint.h>

-namespace device
-{
-
-class SerialSBUSImpl
-{
-public:
-
-	SerialSBUSImpl() {};
-	virtual ~SerialSBUSImpl() {};
-
-	bool configure(int fd, uint32_t baud);
-
-	static const uint32_t DEFAULT_BAUDRATE{100000};
-};
-
-} // namespace device
+#include "../../../imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h"
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,26 +30,7 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-
 #pragma once

-#include <stdint.h>

-namespace device
-{
-
-class SerialStandardImpl
-{
-public:
-
-	SerialStandardImpl() {};
-	virtual ~SerialStandardImpl() {};
-
-	bool configure(int fd, uint32_t baud);
-
-private:
-	bool validateBaudrate(uint32_t baudrate);
-
-};
-
-} // namespace device
+#include "../../../imxrt/include/px4_arch/imxrt_romapi.h"
@@ -39,6 +39,7 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>
 #include <nuttx/board.h>
@@ -96,7 +97,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)

 int board_reset(int status)
 {
-	if (status == 1) {
+	if (status == REBOOT_TO_BOOTLOADER) {
 		board_reset_enter_bootloader();
 	}

@@ -39,6 +39,7 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>
 #include <hardware/s32k3xx_mc_me.h>
@@ -38,6 +38,7 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>

@@ -119,7 +120,7 @@

 int board_reset(int status)
 {
-	if (status == 1) {
+	if (status == REBOOT_TO_BOOTLOADER) {
 		// board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
 	}

@@ -38,6 +38,7 @@
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>
 #include <stm32_pwr.h>
@@ -117,7 +118,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)

 int board_reset(int status)
 {
-	if (status == 1) {
+	if (status == REBOOT_TO_BOOTLOADER) {
 		board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
 	}

@@ -56,5 +56,4 @@ px4_add_module(
 		module.yaml
 	DEPENDS
 		git_gps_devices
-		drivers__device
 	)
@@ -45,11 +45,11 @@
 #include <poll.h>
 #endif

+#include <termios.h>
 #include <cstring>

 #include <drivers/drv_sensor.h>
 #include <lib/drivers/device/Device.hpp>
-#include <lib/drivers/device/Serial.hpp>
 #include <lib/parameters/param.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
@@ -81,7 +81,6 @@
 #include <linux/spi/spidev.h>
 #endif /* __PX4_LINUX */

-using namespace device;
 using namespace time_literals;

 #define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@@ -170,10 +169,7 @@ public:
 	void reset_if_scheduled();

 private:
-#ifdef __PX4_LINUX
-	int				_spi_fd {-1};					///< SPI interface to GPS
-#endif
-	Serial 			*_uart = nullptr;	
+	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
 	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
@@ -333,10 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
 		char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
 		set_device_bus(c - 48); // sub 48 to convert char to integer

-#ifdef __PX4_LINUX
 	} else if (_interface == GPSHelper::Interface::SPI) {
 		set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
-#endif
 	}

 	if (_mode == gps_driver_mode_t::None) {
@@ -409,22 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			return num_read;
 		}

-	case GPSCallbackType::writeDeviceData: {
-			gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
+	case GPSCallbackType::writeDeviceData:
+		gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);

-			int ret = 0;
-
-			if (gps->_uart) {
-				ret = gps->_uart->write((void *) data1, (size_t) data2);
-
-#ifdef __PX4_LINUX
-			} else if (gps->_spi_fd >= 0) {
-				ret = ::write(gps->_spi_fd, data1, (size_t)data2);
-#endif
-			}
-
-			return ret;
-		}
+		return ::write(gps->_serial_fd, data1, (size_t)data2);

 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -455,11 +437,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			// as of 2021 setting the time on Nuttx temporarily pauses interrupts
 			// so only set the time if it is very wrong.
 			// TODO: clock slewing of the RTC for small time differences
-#ifndef __PX4_QURT
 			px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time);
-#endif
 		}

+
 		break;
 	}

@@ -468,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)

 int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 {
-	int ret = 0;
-	const unsigned character_count = 32; // minimum bytes that we want to read
-	const int max_timeout = 50;
-	int timeout_adjusted = math::min(max_timeout, timeout);
-
 	handleInjectDataTopic();

-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
+#if !defined(__PX4_QURT)

-// SPI is only supported on Linux
-#if defined(__PX4_LINUX)
+	/* For non QURT, use the usual polling. */

-	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
+	//Poll only for the serial data. In the same thread we also need to handle orb messages,
+	//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
+	//two pollings use different underlying mechanisms (at least under posix), which makes this
+	//impossible. Instead we limit the maximum polling interval and regularly check for new orb
+	//messages.
+	//FIXME: add a unified poll() API
+	const int max_timeout = 50;

-		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
-		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
-		//two pollings use different underlying mechanisms (at least under posix), which makes this
-		//impossible. Instead we limit the maximum polling interval and regularly check for new orb
-		//messages.
-		//FIXME: add a unified poll() API
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;

-		pollfd fds[1];
-		fds[0].fd = _spi_fd;
-		fds[0].events = POLLIN;
+	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));

-		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
+	if (ret > 0) {
+		/* if we have new data from GPS, go handle it */
+		if (fds[0].revents & POLLIN) {
+			/*
+			 * We are here because poll says there is some data, so this
+			 * won't block even on a blocking device. But don't read immediately
+			 * by 1-2 bytes, wait for some more data to save expensive read() calls.
+			 * If we have all requested data available, read it without waiting.
+			 * If more bytes are available, we'll go back to poll() again.
+			 */
+			const unsigned character_count = 32; // minimum bytes that we want to read
+			unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
+			const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);

-		if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device. But don't read immediately
-				 * by 1-2 bytes, wait for some more data to save expensive read() calls.
-				 * If we have all requested data available, read it without waiting.
-				 * If more bytes are available, we'll go back to poll() again.
-				 */
-				unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
-				const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
+#ifdef __PX4_NUTTX
+			int err = 0;
+			int bytes_available = 0;
+			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);

+			if (err != 0 || bytes_available < (int)character_count) {
 				px4_usleep(sleeptime);
-
-				ret = ::read(_spi_fd, buf, buf_length);
-
-				if (ret > 0) {
-					_num_bytes_read += ret;
-				}
-
-			} else {
-				ret = -1;
 			}
-		}

+#else
+			px4_usleep(sleeptime);
 #endif
+
+			ret = ::read(_serial_fd, buf, buf_length);
+
+			if (ret > 0) {
+				_num_bytes_read += ret;
+			}
+
+		} else {
+			ret = -1;
+		}
 	}

 	return ret;
+
+#else
+	/* For QURT, just use read for now, since this doesn't block, we need to slow it down
+	 * just a bit. */
+	px4_usleep(10000);
+	return ::read(_serial_fd, buf, buf_length);
+#endif
 }

 void GPS::handleInjectDataTopic()
@@ -594,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);

-	size_t written = 0;
-
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		written = _uart->write((const void *) data, len);
-
-#ifdef __PX4_LINUX
-
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		written = ::write(_spi_fd, data, len);
-		::fsync(_spi_fd);
-#endif
-	}
-
+	size_t written = ::write(_serial_fd, data, len);
+	::fsync(_serial_fd);
 	return written == len;
 }

 int GPS::setBaudrate(unsigned baud)
 {
-	if (_interface == GPSHelper::Interface::UART) {
-		if ((_uart) && (_uart->setBaudrate(baud))) {
-			return 0;
-		}
+	/* process baud rate */
+	int speed;

-#ifdef __PX4_LINUX
+	switch (baud) {
+	case 9600:   speed = B9600;   break;

-	} else if (_interface == GPSHelper::Interface::SPI) {
-		// Can't set the baudrate on a SPI port but just return a success
-		return 0;
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
 #endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", baud);
+		return -EINVAL;
 	}

-	return -1;
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		GPS_ERR("ERR: %d (tcsetattr)", termios_state);
+		return -1;
+	}
+
+	return 0;
 }

 void GPS::initializeCommunicationDump()
@@ -784,58 +840,31 @@ GPS::run()
 			_helper = nullptr;
 		}

-		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
+		if (_serial_fd < 0) {
+			/* open the serial port */
+			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);

-			// Create the UART port instance
-			_uart = new Serial(_port);
-
-			if (_uart == nullptr) {
-				PX4_ERR("Error creating serial device %s", _port);
-				px4_usleep(100000);
-				continue;
-			}
-		}
-
-		if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
-			// Configure the desired baudrate if one was specified by the user.
-			// Otherwise the default baudrate will be used.
-			if (_configured_baudrate) {
-				if (! _uart->setBaudrate(_configured_baudrate)) {
-					PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
-					px4_usleep(100000);
-					continue;
-				}
-			}
-
-			// Open the UART. If this is successful then the UART is ready to use.
-			if (! _uart->open()) {
-				PX4_ERR("Error opening serial device  %s", _port);
-				px4_usleep(100000);
+			if (_serial_fd < 0) {
+				PX4_ERR("failed to open %s err: %d", _port, errno);
+				px4_sleep(1);
 				continue;
 			}

 #ifdef __PX4_LINUX

-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
-			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
+			if (_interface == GPSHelper::Interface::SPI) {
+				int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
+				int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);

-			if (_spi_fd < 0) {
-				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
-				px4_sleep(1);
-				continue;
-			}
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}

-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);

-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 			}

 #endif /* __PX4_LINUX */
@@ -1027,17 +1056,9 @@ GPS::run()
 			}
 		}

-		if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-
-#ifdef __PX4_LINUX
-
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
-			::close(_spi_fd);
-			_spi_fd = -1;
-#endif
+		if (_serial_fd >= 0) {
+			::close(_serial_fd);
+			_serial_fd = -1;
 		}

 		if (_mode_auto) {
@@ -1456,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;

 		case 'i':
-			if (!strcmp(myoptarg, "uart")) {
-				interface = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1469,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;

 		case 'j':
-			if (!strcmp(myoptarg, "uart")) {
-				interface_secondary = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface_secondary = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface_secondary = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;
@@ -40,31 +40,20 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 	if ("${CONFIG_SPI}" STREQUAL "y")
 		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
-
-	list(APPEND SRCS_PLATFORM nuttx/SerialImpl.cpp)
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
 	list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
-	list(APPEND SRCS_PLATFORM qurt/SerialImpl.cpp)
 	list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
-	if ("${CONFIG_I2C}" STREQUAL "y")
-		list(APPEND SRCS_PLATFORM posix/I2C.cpp)
-	endif()
-
-	if ("${CONFIG_SPI}" STREQUAL "y")
-		list(APPEND SRCS_PLATFORM posix/SPI.cpp)
-	endif()
-
-	list(APPEND SRCS_PLATFORM posix/SerialImpl.cpp)
-	list(APPEND SRCS_PLATFORM posix/SerialSBUSImpl.cpp)
-	list(APPEND SRCS_PLATFORM posix/SerialStandardImpl.cpp)
+	list(APPEND SRCS_PLATFORM
+		posix/I2C.cpp
+		posix/SPI.cpp
+	)
 endif()

 px4_add_library(drivers__device
 	CDev.cpp
-	Serial.cpp
 	${SRCS_PLATFORM}
 	)

@@ -1,103 +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.
- *
- ****************************************************************************/
-
-#include "Serial.hpp"
-
-namespace device
-{
-
-Serial::Serial(const char *port, uint32_t baudrate) :
-	_impl(port, baudrate)
-{
-}
-
-Serial::~Serial()
-{
-}
-
-bool Serial::open()
-{
-	return _impl.open();
-}
-
-bool Serial::isOpen() const
-{
-	return _impl.isOpen();
-}
-
-bool Serial::close()
-{
-	return _impl.close();
-}
-
-ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
-{
-	return _impl.read(buffer, buffer_size);
-}
-
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
-}
-
-ssize_t Serial::write(const void *buffer, size_t buffer_size)
-{
-	return _impl.write(buffer, buffer_size);
-}
-
-uint32_t Serial::getBaudrate() const
-{
-	return _impl.getBaudrate();
-}
-
-bool Serial::setBaudrate(uint32_t baudrate)
-{
-	return _impl.setBaudrate(baudrate);
-}
-
-bool Serial::getSBUSMode() const
-{
-	return _impl.getSBUSMode();
-}
-
-bool Serial::setSBUSMode(bool enable)
-{
-	return _impl.setSBUSMode(enable);
-}
-
-const char *Serial::getPort() const
-{
-	return _impl.getPort();
-}
-
-} // namespace device
@@ -1,89 +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.
- *
- ****************************************************************************/
-
-#pragma once
-
-// Bring in the correct platform implementation
-#ifdef __PX4_NUTTX
-#include "nuttx/SerialImpl.hpp"
-#elif defined(__PX4_QURT)
-#include "qurt/SerialImpl.hpp"
-#else
-#include "posix/SerialImpl.hpp"
-#endif
-
-namespace device __EXPORT
-{
-
-class Serial
-{
-public:
-	// Baud rate can be selected with constructor or by using setBaudrate
-	Serial(const char *port, uint32_t baudrate = 0);
-	virtual ~Serial();
-
-	// Open sets up the port and gets it configured. Unless an alternate mode
-	// is selected the port will be configured with parity disabled and 1 stop bit.
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	uint32_t getBaudrate() const;
-
-	// If the port has already been opened it will be reconfigured with a change
-	// of baudrate.
-	bool setBaudrate(uint32_t baudrate);
-
-	// SBUS has special configuration considerations and methods so it
-	// is given a special mode. It has parity enabled and 2 stop bits
-	bool getSBUSMode() const;
-	bool setSBUSMode(bool enable);
-
-	const char *getPort() const;
-
-private:
-	// Disable copy constructors
-	Serial(const Serial &);
-	Serial &operator=(const Serial &);
-
-	// platform implementation
-	SerialImpl _impl;
-};
-
-} // namespace device
@@ -1,363 +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.
- *
- ****************************************************************************/
-
-#include "SerialImpl.hpp"
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-#include <board_config.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-
- 	if (baudrate) {
-		_baudrate = baudrate;
-	} else {
-		// If baudrate is zero then choose a reasonable default
-		_baudrate = 9600;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::configure()
-{
-	struct termios uart_config;
-
-	if (_SBUSMode) {
-		if (_baudrate != DEFAULT_SBUS_BAUDRATE) {
-			PX4_WARN("Warning, SBUS baud rate being set to %lu", _baudrate);
-		}
-
-		/* even parity, two stop bits */
-		tcgetattr(_serial_fd, &uart_config);
-		cfsetspeed(&uart_config, _baudrate);
-		uart_config.c_cflag |= (CSTOPB | PARENB);
-		tcsetattr(_serial_fd, TCSANOW, &uart_config);
-
-		if (board_rc_singlewire(_port)) {
-			/* only defined in configs capable of IOCTL
-			 * Note It is never turned off
-			 */
-#ifdef TIOCSSINGLEWIRE
-			ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-#endif
-		}
-	} else {
-		/* process baud rate */
-		int speed;
-
-		switch (_baudrate) {
-		case 9600:   speed = B9600;   break;
-
-		case 19200:  speed = B19200;  break;
-
-		case 38400:  speed = B38400;  break;
-
-		case 57600:  speed = B57600;  break;
-
-		case 115200: speed = B115200; break;
-
-		case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-		case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-		case 921600: speed = B921600; break;
-
-		default:
-			PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-			return false;
-		}
-
-		int termios_state;
-
-		/* fill the struct for the new configuration */
-		if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-			PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-			return false;
-		}
-
-		/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-		//
-		// Input flags - Turn off input processing
-		//
-		// convert break to null byte, no CR to NL translation,
-		// no NL to CR translation, don't mark parity errors or breaks
-		// no input parity check, don't strip high bit off,
-		// no XON/XOFF software flow control
-		//
-		uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-					 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-		//
-		// Output flags - Turn off output processing
-		//
-		// no CR to NL translation, no NL to CR-NL translation,
-		// no NL to CR translation, no column 0 CR suppression,
-		// no Ctrl-D suppression, no fill characters, no case mapping,
-		// no local output processing
-		//
-		// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-		//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-		uart_config.c_oflag = 0;
-
-		//
-		// No line processing
-		//
-		// echo off, echo newline off, canonical mode off,
-		// extended input processing off, signal chars off
-		//
-		uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-		/* no parity, one stop bit, disable flow control */
-		uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-		/* set baud rate */
-		if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-			PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-			return false;
-		}
-
-		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-			PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-			return false;
-		}
-
-		if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-			PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-			return false;
-		}
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		close();
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if ((_open) && (configure() != 0)) {
-		// Configure failed! Close the port
-		close();
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::getSBUSMode() const
-{
-	return _SBUSMode;
-}
-
-bool SerialImpl::setSBUSMode(bool enable)
-{
-	if (_open) {
-		PX4_ERR("Cannot configure SBUS mode after port has already been opened");
-		return false;
-	}
-
-	_SBUSMode = enable;
-	_baudrate = DEFAULT_SBUS_BAUDRATE;
-
-	return true;
-}
-
-} // namespace device
@@ -1,83 +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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	bool getSBUSMode() const;
-	bool setSBUSMode(bool enable);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	bool _SBUSMode{false};
-	static const uint32_t DEFAULT_SBUS_BAUDRATE{100000};
-
-	bool configure();
-
-};
-
-} // namespace device
@@ -1,253 +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.
- *
- ****************************************************************************/
-
-#include "SerialImpl.hpp"
-
-#include <unistd.h>
-
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-
- 	if (baudrate) {
-		_baudrate = baudrate;
-	} else {
-		// If baudrate is zero then choose a reasonable default
-		_baudrate = 9600;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::configure()
-{
-	if (_SBUSMode) {
-		return _sbus.configure(_serial_fd, _baudrate);
-	}
-
-	return _standard.configure(_serial_fd, _baudrate);
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		close();
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if ((_open) && (configure() != 0)) {
-		// Configure failed! Close the port
-		close();
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::getSBUSMode() const
-{
-	return _SBUSMode;
-}
-
-bool SerialImpl::setSBUSMode(bool enable)
-{
-	if (_open) {
-		PX4_ERR("Cannot configure SBUS mode after port has already been opened");
-		return false;
-	}
-
-	_SBUSMode = enable;
-	_baudrate = SerialSBUSImpl::DEFAULT_BAUDRATE;
-
-	return true;
-}
-
-} // namespace device
@@ -1,89 +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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "SerialSBUSImpl.hpp"
-#include "SerialStandardImpl.hpp"
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	bool getSBUSMode() const;
-	bool setSBUSMode(bool enable);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	bool _SBUSMode{false};
-
-	// The configuration routines for SBUS versus other needed to be separated
-	// out because they use different methods with different, conflicting header files
-	SerialSBUSImpl _sbus;
-	SerialStandardImpl _standard;
-
-	bool configure();
-};
-
-} // namespace device
@@ -1,80 +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.
- *
- ****************************************************************************/
-
-#include "SerialSBUSImpl.hpp"
-
-#include <sys/ioctl.h>
-#include <asm-generic/termbits.h>
-#include <px4_log.h>
-
-namespace device
-{
-
-bool SerialSBUSImpl::configure(int fd, uint32_t baud)
-{
-	struct termios2 tio = {};
-
-	if (ioctl(fd, TCGETS2, &tio)) {
-		return false;
-	}
-
-	if (baud != DEFAULT_BAUDRATE) {
-		PX4_WARN("Warning, SBUS baud rate being set to %u", baud);
-	}
-
-	/**
-	 * Setting serial port,8E2, non-blocking.100Kbps
-	 */
-	tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL
-			 | IXON);
-	tio.c_iflag |= (INPCK | IGNPAR);
-	tio.c_oflag &= ~OPOST;
-	tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
-	tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
-	/**
-	 * use BOTHER to specify speed directly in c_[io]speed member
-	 */
-	tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
-	tio.c_ispeed = baud;
-	tio.c_ospeed = baud;
-	tio.c_cc[VMIN] = 25;
-	tio.c_cc[VTIME] = 0;
-
-	if (ioctl(fd, TCSETS2, &tio)) {
-		return false;
-	}
-
-	return true;
-}
-
-} // namespace device
@@ -1,159 +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.
- *
- ****************************************************************************/
-
-#include "SerialStandardImpl.hpp"
-
-#include <sys/termios.h>
-#include <px4_log.h>
-
-namespace device
-{
-
-bool SerialStandardImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialStandardImpl::configure(int fd, uint32_t baud)
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(baud)) {
-		PX4_ERR("ERR: unknown baudrate: %u", baud);
-		return false;
-	}
-
-	switch (baud) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", baud);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-} // namespace device
@@ -1,239 +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.
- *
- ****************************************************************************/
-
-#include "SerialImpl.hpp"
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <drivers/device/qurt/uart.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-
- 	if (baudrate) {
-		_baudrate = baudrate;
-	} else {
-		// If baudrate is zero then choose a reasonable default.
-		// The default is the GPS UBX M10 default rate.
-		_baudrate = 115200;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::open()
-{
-	// There's no harm in calling open multiple times on the same port.
-	// In fact, that's the only way to change the baudrate
-
-	_open = false;
-	_serial_fd = -1;
-
-	// qurt_uart_open will check validity of port and baudrate
-	int serial_fd = qurt_uart_open(_port, _baudrate);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s at baudrate %u, fd: %d", _port, _baudrate, serial_fd);
-		close();
-		return false;
-
-	} else {
-		PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
-	}
-
-	_serial_fd = serial_fd;
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	// No close defined for qurt uart yet
-	// if (_serial_fd >= 0) {
-	// 	qurt_uart_close(_serial_fd);
-	// }
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
-
-	if (ret_read < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret_read);
-
-	}
-
-	return ret_read;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while (total_bytes_read < (int) character_count) {
-
-		if (timeout_us > 0) {
-			const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-
-			if (elapsed_us >= timeout_us) {
-				// If there was a partial read but not enough to satisfy the minimum then they will be lost
-				// but this really should never happen when everything is working normally.
-				// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
-				// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-				return total_bytes_read;
-			}
-		}
-
-		int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-		if (current_bytes_read < 0) {
-			// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
-			// but this really should never happen when everything is working normally.
-			PX4_ERR("%s failed to read uart", __FUNCTION__);
-			// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-			return -1;
-		}
-
-		// Current bytes read could be zero
-		total_bytes_read += current_bytes_read;
-
-		// If we have at least reached our desired minimum number of characters
-		// then we can return now
-		if (total_bytes_read >= (int) character_count) {
-			return total_bytes_read;
-		}
-
-		// Wait a set amount of time before trying again or the remaining time
-		// until the timeout if we are getting close
-		const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-		int64_t time_until_timeout = timeout_us - elapsed_us;
-		uint64_t time_to_sleep = 5000;
-
-		if ((time_until_timeout >= 0) &&
-		    (time_until_timeout < (int64_t) time_to_sleep)) {
-			time_to_sleep = time_until_timeout;
-		}
-
-		px4_usleep(time_to_sleep);
-	}
-
-	return -1;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
-
-	if (ret_write < 0) {
-		PX4_ERR("%s write error %d", _port, ret_write);
-
-	}
-
-	return ret_write;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return open();
-	}
-
-	return true;
-}
-
-} // namespace device
@@ -1,80 +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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	// Cannot configure Qurt UARTs for SBUS!
-	bool getSBUSMode() const { return false; }
-	bool setSBUSMode(bool enable) { return false; }
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	bool validateBaudrate(uint32_t baudrate);
-};
-
-} // namespace device
@@ -1201,7 +1201,7 @@ Commander::handle_command(const vehicle_command_s &cmd)

 #if defined(CONFIG_BOARDCTL_RESET)

-			} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(false, 400_ms) == 0)) {
+			} else if ((param1 == 1) && !isArmed() && (px4_reboot_request(REBOOT_REQUEST, 400_ms) == 0)) {
 				// 1: Reboot autopilot
 				answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);

@@ -1221,7 +1221,7 @@ Commander::handle_command(const vehicle_command_s &cmd)

 #if defined(CONFIG_BOARDCTL_RESET)

-			} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(true, 400_ms) == 0)) {
+			} else if ((param1 == 3) && !isArmed() && (px4_reboot_request(REBOOT_TO_BOOTLOADER, 400_ms) == 0)) {
 				// 3: Reboot autopilot and keep it in the bootloader until upgraded.
 				answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);

@@ -177,7 +177,7 @@ void WorkerThread::threadEntry()
 			param_reset_specific(reset_cal, sizeof(reset_cal) / sizeof(reset_cal[0]));
 			_ret_value = param_save_default(true);
 #if defined(CONFIG_BOARDCTL_RESET)
-			px4_reboot_request(false, 400_ms);
+			px4_reboot_request(REBOOT_REQUEST, 400_ms);
 #endif // CONFIG_BOARDCTL_RESET
 			break;
 		}
@@ -131,9 +131,9 @@ public:
 	void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control) { _control_sp = control; }

 	/**
-	 * Set the desired control vector
+	 * Get the desired control vector
 	 *
-	 * @param Control vector
+	 * @return Control vector
 	 */
 	const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const { return _control_sp; }

@@ -1669,6 +1669,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SCALED_IMU2", 25.0f);
 		configure_stream_local("SCALED_IMU3", 25.0f);
 		configure_stream_local("SCALED_PRESSURE", 1.0f);
+		configure_stream_local("SCALED_PRESSURE2", 1.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 20.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f);
 		configure_stream_local("SYS_STATUS", 1.0f);
@@ -76,8 +76,8 @@ if(gz-transport_FOUND)

 	px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
 	include(ExternalProject)
-	ExternalProject_Add(gz
-		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz
+	ExternalProject_Add(px4_gz_plugins
+		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz/plugins
 		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 		BINARY_DIR ${PX4_BINARY_DIR}/build_gz
 		INSTALL_COMMAND ""
@@ -121,14 +121,14 @@ if(gz-transport_FOUND)
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 px4_gz_plugins
 				)
 			else()
 				add_custom_target(gz_${model_only}_${world_name}
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 px4_gz_plugins
 				)
 			endif()
 		endforeach()
@@ -2,5 +2,7 @@

 export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
 export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
+export PX4_GZ_PLUGINS=@PX4_SOURCE_DIR@/build/px4_sitl_default/build_gz

 export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
+export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PX4_GZ_PLUGINS
@@ -375,7 +375,7 @@ write_reboot:

 	sleep(1);

-	px4_reboot_request(false);
+	px4_reboot_request(REBOOT_REQUEST);

 	while (1) { px4_usleep(1); } // this command should not return on success

@@ -44,6 +44,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/shutdown.h>
 #include <string.h>
+#include <board_config.h>

 static void print_usage()
 {
@@ -51,6 +52,9 @@ static void print_usage()

 	PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command");
 	PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true);
+#ifdef BOARD_HAS_ISP_BOOTLOADER
+	PRINT_MODULE_USAGE_PARAM_FLAG('i', "Reboot into ISP (1st stage bootloader)", true);
+#endif

 	PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
 }
@@ -58,17 +62,24 @@ static void print_usage()
 extern "C" __EXPORT int reboot_main(int argc, char *argv[])
 {
 	int ch;
-	bool to_bootloader = false;
+	reboot_request_t request = REBOOT_REQUEST;

 	int myoptind = 1;
 	const char *myoptarg = nullptr;

-	while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
+	while ((ch = px4_getopt(argc, argv, "bi", &myoptind, &myoptarg)) != -1) {
 		switch (ch) {
 		case 'b':
-			to_bootloader = true;
+			request = REBOOT_TO_BOOTLOADER;
 			break;

+#ifdef BOARD_HAS_ISP_BOOTLOADER
+
+		case 'i':
+			request = REBOOT_TO_ISP;
+			break;
+#endif
+
 		default:
 			print_usage();
 			return 1;
@@ -98,7 +109,7 @@ extern "C" __EXPORT int reboot_main(int argc, char *argv[])
 		return ret;
 	}

-	int ret = px4_reboot_request(to_bootloader);
+	int ret = px4_reboot_request(request);

 	if (ret < 0) {
 		PX4_ERR("reboot failed (%i)", ret);
Author	SHA1	Message	Date
Jaeyoung Lim	bf8840d109	Add topic remap plugin	2024-01-09 10:27:42 +01:00
Federico Ciresola	20129e63fa	ModeCompleted.msg: document nav_state (#22544 )	2024-01-08 11:32:41 +01:00
somebody-once-told-me	3d5c2ef6c4	[control_allocation] small function comment typo fix (#22607 ) Co-authored-by: Master Chief <master-chief@the-void.com>	2024-01-08 11:12:06 +01:00
Peter van der Perk	cf840ff373	Update NuttX	2024-01-06 04:41:00 -05:00
Peter van der Perk	0df7ee423f	fmu-v6xrt: Tune ITCM function mapping	2024-01-06 04:41:00 -05:00
muramura	b24d9bf009	fmu-v6xrt: Move external BMP388 outside of config parameter determination	2024-01-05 09:10:54 -05:00
Peter van der Perk	e79f6b2ac1	v6x-rt: Add reboot to isp support	2024-01-05 08:41:41 -05:00
David Sidrane	5d7cb99204	px4_fmu-v6xrt:Support PX4 VxX Mini baseboard	2024-01-05 01:38:22 -05:00
muramura	959cb41e3a	mavlink: Add a second barometric sensor message	2024-01-04 11:19:41 -05:00
Daniel Agar	6495f40ee4	delete old top level config files (dot files, CI, etc)	2024-01-04 11:18:56 -05:00
muramura	7b32b735e8	fmu-v6xrt: Delete a parameter setting that does not exist	2024-01-04 11:18:18 -05:00
Peter van der Perk	84093a07a2	reboot: Add reboot to ISP option	2024-01-04 11:17:16 -05:00
Peter van der Perk	8ba18a78af	v6x-rt: move romapi to platform	2024-01-04 05:12:34 -05:00