Implemented flush for Serial UART API

Tools/astyle/files_to_check_code_style.sh

@@ -30,5 +30,4 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/msg/templates/uorb/msg.cpp.em

@@ -73,16 +73,9 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
-@{
-queue_length = 1
-for constant in spec.constants:
-	if constant.name == 'ORB_QUEUE_LENGTH':
-		queue_length = constant.val
-}@
-
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

boards/ark/can-flow/firmware.prototype

@@ -4,7 +4,7 @@
     "description": "Firmware for the ARK flow board",
     "image": "",
     "build_time": 0,
-    "summary": "ARKFLOW",
+    "summary": "ARFFLOW",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2080768,

boards/modalai/fc-v2/default.px4board

@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/voxl2-slpi/default.px4board

@@ -4,12 +4,13 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

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

@@ -44,6 +44,7 @@ add_library(drivers_board
     )
 
 # Add custom drivers for SLPI
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)

boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__invensense__icm42688p
+	MAIN icm42688p
+	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
+	SRCS
+		icm42688p_main.cpp
+		ICM42688P.cpp
+		ICM42688P.hpp
+		InvenSense_ICM42688P_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers__device
+	)

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp

@@ -0,0 +1,991 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM42688P.hpp"
+
+bool hitl_mode = false;
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
+	// SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
+	// I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
+	// _drdy_gpio(drdy_gpio)
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
+{
+	if (config.drdy_gpio != 0) {
+		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
+	}
+
+	if (!hitl_mode) {
+		// _px4_accel = std::make_shared<PX4Accelerometer>(get_device_id(), rotation);
+		// _px4_gyro = std::make_shared<PX4Gyroscope>(get_device_id(), rotation);
+		ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+		// _imu_server_pub.advertise();
+
+	} else {
+		ConfigureSampleRate(0);
+	}
+}
+
+ICM42688P::~ICM42688P()
+{
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_fifo_empty_perf);
+	perf_free(_fifo_overflow_perf);
+	perf_free(_fifo_reset_perf);
+	perf_free(_drdy_missed_perf);
+
+	// if (!hitl_mode){
+	//  		_imu_server_pub.unadvertise();
+	// }
+}
+
+int ICM42688P::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("SPI::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool ICM42688P::Reset()
+{
+	_state = STATE::RESET;
+	DataReadyInterruptDisable();
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void ICM42688P::exit_and_cleanup()
+{
+	DataReadyInterruptDisable();
+	I2CSPIDriverBase::exit_and_cleanup();
+}
+
+void ICM42688P::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
+
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_fifo_empty_perf);
+	perf_print_counter(_fifo_overflow_perf);
+	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_drdy_missed_perf);
+}
+
+int ICM42688P::probe()
+{
+	for (int i = 0; i < 3; i++) {
+		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+
+		if (whoami == WHOAMI) {
+			PX4_INFO("ICM42688P::probe successful!");
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+
+			uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
+			int bank = reg_bank_sel >> 4;
+
+			if (bank >= 1 && bank <= 3) {
+				DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
+				// force bank selection and retry
+				SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true);
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void ICM42688P::RunImpl()
+{
+	PX4_INFO(">>> ICM42688P this: %p", this);
+
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// DEVICE_CONFIG: Software reset configuration
+		RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+		if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
+		    && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
+		    && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
+
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
+			}
+		}
+
+		break;
+
+	case STATE::CONFIGURE:
+
+		if (Configure()) {
+
+			// Wakeup accel and gyro after configuring registers
+			ScheduleDelayed(1_ms); // add a delay here to be safe
+			RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
+			ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
+
+			// if configure succeeded then start reading from FIFO
+			_state = STATE::FIFO_READ;
+
+			if (DataReadyInterruptConfigure()) {
+				_data_ready_interrupt_enabled = true;
+
+				// backup schedule as a watchdog timeout
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_ERR("ICM42688P::RunImpl interrupt configuration failed");
+
+				_data_ready_interrupt_enabled = false;
+				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+			}
+
+			FIFOReset();
+
+		} else {
+
+			PX4_ERR("ICM42688P::RunImpl configuration failed");
+
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::FIFO_READ: {
+#ifndef __PX4_QURT
+			uint32_t samples = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
+				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
+					perf_count(_drdy_missed_perf);
+
+				} else {
+					samples = _fifo_gyro_samples;
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			if (samples == 0) {
+				// check current FIFO count
+				const uint16_t fifo_count = FIFOReadCount();
+
+				if (fifo_count >= FIFO::SIZE) {
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if (fifo_count == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else {
+					// FIFO count (size in bytes)
+					samples = (fifo_count / sizeof(FIFO::DATA));
+
+					if (samples > FIFO_MAX_SAMPLES) {
+						// not technically an overflow, but more samples than we expected or can publish
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
+						samples = 0;
+					}
+				}
+			}
+
+			bool success = false;
+
+			if (samples >= 1) {
+				if (FIFORead(now, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
+					}
+				}
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			// check configuration registers periodically or immediately following any failure
+			if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
+			    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
+			    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
+			   ) {
+				_last_config_check_timestamp = now;
+				_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
+				_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
+				_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
+
+			} else {
+				// register check failed, force reset
+				perf_count(_bad_register_perf);
+				Reset();
+			}
+
+#endif
+		}
+
+		break;
+	}
+}
+
+void ICM42688P::ConfigureSampleRate(int sample_rate)
+{
+	if (sample_rate == 0) {
+		sample_rate = 800; // default to 800 Hz
+	}
+
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+
+	ConfigureFIFOWatermark(_fifo_gyro_samples);
+}
+
+void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
+{
+	// FIFO watermark threshold in number of bytes
+	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
+
+	for (auto &r : _register_bank0_cfg) {
+		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
+			// FIFO_WM[7:0]  FIFO_CONFIG2
+			r.set_bits = fifo_watermark_threshold & 0xFF;
+
+		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
+			// FIFO_WM[11:8] FIFO_CONFIG3
+			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
+		}
+	}
+}
+
+void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
+{
+	if (bank != _last_register_bank || force) {
+		// select BANK_0
+		uint8_t cmd_bank_sel[2] {};
+		cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
+		cmd_bank_sel[1] = bank;
+		transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
+
+		_last_register_bank = bank;
+	}
+}
+
+bool ICM42688P::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	// // 20-bits data format used
+	// //  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
+	if (!hitl_mode) {
+		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+		_px4_gyro.set_range(math::radians(2000.f));
+		_px4_gyro.set_scale(math::radians(1.f / 131.f));
+	}
+
+	return success;
+}
+
+static bool interrupt_debug = false;
+static uint32_t interrupt_debug_count = 0;
+static const uint32_t interrupt_debug_trigger = 800;
+static hrt_abstime last_interrupt_time = 0;
+static hrt_abstime avg_interrupt_delta = 0;
+static hrt_abstime max_interrupt_delta = 0;
+static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000;
+static hrt_abstime cumulative_interrupt_delta = 0;
+
+int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
+{
+	hrt_abstime current_interrupt_time = hrt_absolute_time();
+
+	if (interrupt_debug) {
+		if (last_interrupt_time) {
+			hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time;
+
+			if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; }
+
+			if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; }
+
+			cumulative_interrupt_delta += interrupt_delta_time;
+		}
+
+		last_interrupt_time = current_interrupt_time;
+
+		interrupt_debug_count++;
+
+		if (interrupt_debug_count == interrupt_debug_trigger) {
+			avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger;
+			PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta,
+				 min_interrupt_delta, avg_interrupt_delta);
+			interrupt_debug_count = 0;
+			cumulative_interrupt_delta = 0;
+		}
+	}
+
+	static_cast<ICM42688P *>(arg)->DataReady();
+
+	return 0;
+}
+
+void ICM42688P::DataReady()
+{
+#ifndef __PX4_QURT
+	uint32_t expected = 0;
+
+	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
+		ScheduleNow();
+	}
+
+#else
+	uint16_t fifo_byte_count = FIFOReadCount();
+
+	FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA));
+#endif
+}
+
+bool ICM42688P::DataReadyInterruptConfigure()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+}
+
+bool ICM42688P::DataReadyInterruptDisable()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+}
+
+template <typename T>
+bool ICM42688P::RegisterCheck(const T &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+template <typename T>
+uint8_t ICM42688P::RegisterRead(T reg)
+{
+	uint8_t cmd[2] {};
+	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+	return cmd[1];
+}
+
+template <typename T>
+void ICM42688P::RegisterWrite(T reg, uint8_t value)
+{
+	uint8_t cmd[2] { (uint8_t)reg, value };
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+template <typename T>
+void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}
+
+uint16_t ICM42688P::FIFOReadCount()
+{
+	// read FIFO count
+	uint8_t fifo_count_buf[3] {};
+	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return 0;
+	}
+
+	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+}
+
+// static uint32_t debug_decimator = 0;
+// static hrt_abstime last_sample_time = 0;
+// static bool imu_debug = true;
+
+bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
+{
+	FIFOTransferBuffer buffer{};
+	const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4;
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size);
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
+
+	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	// check FIFO header in every sample
+	uint16_t valid_samples = 0;
+
+	// for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+	for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) {
+		bool valid = true;
+
+		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+
+		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
+			// FIFO sample empty if HEADER_MSG set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
+			// accel bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
+			// gyro bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
+			// Packet does not contain a new and valid extended 20-bit data
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
+			// accel ODR changed
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
+			// gyro ODR changed
+			valid = false;
+		}
+
+		if (valid) {
+			valid_samples++;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			break;
+		}
+	}
+
+	// if (imu_debug) {
+	// 	debug_decimator++;
+	// 	if (debug_decimator == 801) {
+	// 		debug_decimator = 0;
+	// 		PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time);
+	// 	}
+	// 	last_sample_time = timestamp_sample;
+	// }
+
+	if (valid_samples > 0) {
+		if (ProcessTemperature(buffer.f, valid_samples)) {
+			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+			ProcessIMU(timestamp_sample, buffer.f, valid_samples);
+			return true;
+		}
+	}
+
+	return false;
+}
+
+void ICM42688P::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// SIGNAL_PATH_RESET: FIFO flush
+	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
+
+	// reset while FIFO is disabled
+	_drdy_fifo_read_samples.store(0);
+}
+
+static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
+{
+	// 0xXXXAABBC
+	uint32_t high   = ((a << 12) & 0x000FF000);
+	uint32_t low    = ((b << 4)  & 0x00000FF0);
+	uint32_t lowest = (c         & 0x0000000F);
+
+	uint32_t x = high | low | lowest;
+
+	if (a & Bit7) {
+		// sign extend
+		x |= 0xFFF00000u;
+	}
+
+	return static_cast<int32_t>(x);
+}
+
+void ICM42688P::ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0;
+	float gyro_x = 0.0,  gyro_y = 0.0,  gyro_z = 0.0;
+
+	for (int i = 0; i < samples; i++) {
+		_imu_server_decimator++;
+
+		if (_imu_server_decimator == 8) {
+			_imu_server_decimator = 0;
+			// 20 bit hires mode
+
+			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+			// Accel data is 18 bit
+			int32_t temp_accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
+								fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+			int32_t temp_accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
+								fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+			int32_t temp_accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
+								fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+			// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+			int32_t temp_gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0,
+							       fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
+			int32_t temp_gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0,
+							       fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
+			int32_t temp_gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0,
+							       fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
+
+			// accel samples invalid if -524288
+			if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) {
+				// shift accel by 2 (2 least significant bits are always 0)
+				accel_x = (float) temp_accel_x / 4.f;
+				accel_y = (float) temp_accel_y / 4.f;
+				accel_z = (float) temp_accel_z / 4.f;
+
+				// shift gyro by 1 (least significant bit is always 0)
+				gyro_x = (float) temp_gyro_x / 2.f;
+				gyro_y = (float) temp_gyro_y / 2.f;
+				gyro_z = (float) temp_gyro_z / 2.f;
+
+				// correct frame for publication
+				// sensor's frame is +x forward, +y left, +z up
+				// flip y & z to publish right handed with z down (x forward, y right, z down)
+				accel_y = -accel_y;
+				accel_z = -accel_z;
+				gyro_y  = -gyro_y;
+				gyro_z  = -gyro_z;
+
+				// Scale everything appropriately
+				float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f);
+				accel_x *= accel_scale_factor;
+				accel_y *= accel_scale_factor;
+				accel_z *= accel_scale_factor;
+
+				float gyro_scale_factor = math::radians(1.f / 131.f);
+				gyro_x *= gyro_scale_factor;
+				gyro_y *= gyro_scale_factor;
+				gyro_z *= gyro_scale_factor;
+
+				// Store the data in our array
+				_imu_server_data.accel_x[_imu_server_index] = accel_x;
+				_imu_server_data.accel_y[_imu_server_index] = accel_y;
+				_imu_server_data.accel_z[_imu_server_index] = accel_z;
+				_imu_server_data.gyro_x[_imu_server_index]  = gyro_x;
+				_imu_server_data.gyro_y[_imu_server_index]  = gyro_y;
+				_imu_server_data.gyro_z[_imu_server_index]  = gyro_z;
+				_imu_server_data.ts[_imu_server_index]      = timestamp_sample - (125 * (samples - 1 - i));
+				_imu_server_index++;
+
+				// If array is full, publish the data
+				if (_imu_server_index == 10) {
+					_imu_server_index = 0;
+					_imu_server_data.timestamp = hrt_absolute_time();
+					_imu_server_data.temperature = 0; // Not used right now
+					_imu_server_pub.publish(_imu_server_data);
+				}
+			}
+		}
+	}
+}
+
+void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_accel_fifo_s accel{};
+	accel.timestamp_sample = timestamp_sample;
+	accel.samples = 0;
+	accel.dt = FIFO_SAMPLE_DT;
+
+	// 18-bits of accelerometer data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+		// 20 bit hires mode
+		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+		// Accel data is 18 bit ()
+		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
+						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
+						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
+						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+		// sample invalid if -524288
+		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
+			// check if any values are going to exceed int16 limits
+			static constexpr int16_t max_accel = INT16_MAX;
+			static constexpr int16_t min_accel = INT16_MIN;
+
+			if (accel_x >= max_accel || accel_x <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_y >= max_accel || accel_y <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_z >= max_accel || accel_z <= min_accel) {
+				scale_20bit = true;
+			}
+
+			// shift by 2 (2 least significant bits are always 0)
+			accel.x[accel.samples] = accel_x / 4;
+			accel.y[accel.samples] = accel_y / 4;
+			accel.z[accel.samples] = accel_z / 4;
+			accel.samples++;
+		}
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled accel data is always 8192 LSB/g
+		if (!hitl_mode) {
+			_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+		}
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			// 20 bit hires mode
+			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+			// Accel data is 18 bit ()
+			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
+			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
+			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
+
+			accel.x[i] = accel_x;
+			accel.y[i] = accel_y;
+			accel.z[i] = accel_z;
+		}
+
+		if (!hitl_mode) {
+			_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
+		}
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < accel.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		accel.x[i] = accel.x[i];
+		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
+		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
+	}
+
+	if (!hitl_mode) {
+		_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	}
+
+	if (accel.samples > 0) {
+		if (!hitl_mode) {
+			_px4_accel.updateFIFO(accel);
+		}
+	}
+}
+
+void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_gyro_fifo_s gyro{};
+	gyro.timestamp_sample = timestamp_sample;
+	gyro.samples = 0;
+	gyro.dt = FIFO_SAMPLE_DT;
+
+	// 20-bits of gyroscope data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+		// 20 bit hires mode
+		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
+		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
+		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
+
+		// check if any values are going to exceed int16 limits
+		static constexpr int16_t max_gyro = INT16_MAX;
+		static constexpr int16_t min_gyro = INT16_MIN;
+
+		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		gyro.x[gyro.samples] = gyro_x / 2;
+		gyro.y[gyro.samples] = gyro_y / 2;
+		gyro.z[gyro.samples] = gyro_z / 2;
+		gyro.samples++;
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled gyro data is always 131 LSB/dps
+		if (!hitl_mode) {
+			_px4_gyro.set_scale(math::radians(1.f / 131.f));
+		}
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
+			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
+			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
+		}
+
+		if (!hitl_mode) {
+			_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
+		}
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < gyro.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		gyro.x[i] = gyro.x[i];
+		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
+		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
+	}
+
+	if (!hitl_mode) {
+		_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	}
+
+	if (gyro.samples > 0) {
+		if (!hitl_mode) {
+			_px4_gyro.updateFIFO(gyro);
+		}
+	}
+}
+
+bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
+{
+	int16_t temperature[FIFO_MAX_SAMPLES];
+	float temperature_sum{0};
+
+	int valid_samples = 0;
+
+	for (int i = 0; i < samples; i++) {
+		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
+
+		// sample invalid if -32768
+		if (t != -32768) {
+			temperature_sum += t;
+			temperature[valid_samples] = t;
+			valid_samples++;
+		}
+	}
+
+	if (valid_samples > 0) {
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// temperature changing wildly is an indication of a transfer error
+			if (fabsf(temperature[i] - temperature_avg) > 1000) {
+				perf_count(_bad_transfer_perf);
+				return false;
+			}
+		}
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			if (!hitl_mode) {
+				_px4_accel.set_temperature(TEMP_degC);
+				_px4_gyro.set_temperature(TEMP_degC);
+				return true;
+			}
+
+		} else {
+			perf_count(_bad_transfer_perf);
+		}
+	}
+
+	return false;
+}

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp

@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ICM42688P.hpp
+ *
+ * Driver for the Invensense ICM42688P connected via SPI.
+ *
+ */
+
+#pragma once
+
+#include "InvenSense_ICM42688P_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/device/spi.h>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/imu_server.h>
+#include <uORB/topics/sensor_accel_fifo.h>
+#include <uORB/topics/sensor_gyro_fifo.h>
+#include <memory>
+
+using namespace InvenSense_ICM42688P;
+
+extern bool hitl_mode;
+
+class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
+{
+public:
+	// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+	// 	  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM42688P(const I2CSPIDriverConfig &config);
+	~ICM42688P() override;
+
+	// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+	// 				     int runtime_instance);
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
+	static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
+	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	// static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr uint32_t FIFO_MAX_SAMPLES{10};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)),
+		      "Invalid FIFOTransferBuffer size");
+
+	struct register_bank0_config_t {
+		Register::BANK_0 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank1_config_t {
+		Register::BANK_1 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank2_config_t {
+		Register::BANK_2 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+	void ConfigureSampleRate(int sample_rate);
+	void ConfigureFIFOWatermark(uint8_t samples);
+
+	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
+	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
+	void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
+	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	template <typename T> bool RegisterCheck(const T &reg_cfg);
+	template <typename T> uint8_t RegisterRead(T reg);
+	template <typename T> void RegisterWrite(T reg, uint8_t value);
+	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
+	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
+	void FIFOReset();
+
+	void ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	// std::shared_ptr<PX4Accelerometer> _px4_accel;
+	// std::shared_ptr<PX4Gyroscope> _px4_gyro;
+	PX4Accelerometer _px4_accel;
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+	int _failure_count{0};
+
+	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
+
+	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	bool _data_ready_interrupt_enabled{false};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_READ,
+	} _state{STATE::RESET};
+
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
+	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+
+	uint8_t _checked_register_bank0{0};
+	static constexpr uint8_t size_register_bank0_cfg{12};
+	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
+		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
+		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
+		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+	};
+
+	uint8_t _checked_register_bank1{0};
+	static constexpr uint8_t size_register_bank1_cfg{4};
+	register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_1::GYRO_CONFIG_STATIC2,  0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
+		{ Register::BANK_1::GYRO_CONFIG_STATIC3,  GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC4,  GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC5,  GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
+	};
+
+	uint8_t _checked_register_bank2{0};
+	static constexpr uint8_t size_register_bank2_cfg{3};
+	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
+	};
+
+	uint32_t _temperature_samples{0};
+
+	// Support for the IMU server
+	uint32_t _imu_server_index{0};
+	uint32_t _imu_server_decimator{0};
+	imu_server_s _imu_server_data;
+	uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
+
+};

boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp

@@ -0,0 +1,430 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file InvenSense_ICM42688P_registers.hpp
+ *
+ * Invensense ICM-42688-P registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace InvenSense_ICM42688P
+{
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t WHOAMI = 0x47;
+
+static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+
+namespace Register
+{
+
+enum class BANK_0 : uint8_t {
+	DEVICE_CONFIG      = 0x11,
+
+	INT_CONFIG         = 0x14,
+
+	FIFO_CONFIG        = 0x16,
+
+	TEMP_DATA1         = 0x1D,
+	TEMP_DATA0         = 0x1E,
+
+	INT_STATUS         = 0x2D,
+	FIFO_COUNTH        = 0x2E,
+	FIFO_COUNTL        = 0x2F,
+	FIFO_DATA          = 0x30,
+
+	SIGNAL_PATH_RESET  = 0x4B,
+	INTF_CONFIG0       = 0x4C,
+	INTF_CONFIG1       = 0x4D,
+	PWR_MGMT0          = 0x4E,
+	GYRO_CONFIG0       = 0x4F,
+	ACCEL_CONFIG0      = 0x50,
+	GYRO_CONFIG1       = 0x51,
+	GYRO_ACCEL_CONFIG0 = 0x52,
+	ACCEL_CONFIG1      = 0x53,
+
+	FIFO_CONFIG1       = 0x5F,
+	FIFO_CONFIG2       = 0x60,
+	FIFO_CONFIG3       = 0x61,
+
+	INT_CONFIG0        = 0x63,
+
+	INT_SOURCE0        = 0x65,
+
+	SELF_TEST_CONFIG   = 0x70,
+
+	WHO_AM_I           = 0x75,
+	REG_BANK_SEL       = 0x76,
+};
+
+enum class BANK_1 : uint8_t {
+	GYRO_CONFIG_STATIC2 = 0x0B,
+	GYRO_CONFIG_STATIC3 = 0x0C,
+	GYRO_CONFIG_STATIC4 = 0x0D,
+	GYRO_CONFIG_STATIC5 = 0x0E,
+	INTF_CONFIG5        = 0x7B,
+};
+enum class BANK_2 : uint8_t {
+	ACCEL_CONFIG_STATIC2 = 0x03,
+	ACCEL_CONFIG_STATIC3 = 0x04,
+	ACCEL_CONFIG_STATIC4 = 0x05,
+};
+
+};
+
+//---------------- BANK0 Register bits
+
+// DEVICE_CONFIG
+enum DEVICE_CONFIG_BIT : uint8_t {
+	SOFT_RESET_CONFIG = Bit0, //
+};
+
+// INT_CONFIG
+enum INT_CONFIG_BIT : uint8_t {
+	INT1_MODE           = Bit2,
+	INT1_DRIVE_CIRCUIT  = Bit1,
+	INT1_POLARITY       = Bit0,
+};
+
+// FIFO_CONFIG
+enum FIFO_CONFIG_BIT : uint8_t {
+	// 7:6 FIFO_MODE
+	FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
+};
+
+// INT_STATUS
+enum INT_STATUS_BIT : uint8_t {
+	RESET_DONE_INT = Bit4,
+	DATA_RDY_INT   = Bit3,
+	FIFO_THS_INT   = Bit2,
+	FIFO_FULL_INT  = Bit1,
+};
+
+// SIGNAL_PATH_RESET
+enum SIGNAL_PATH_RESET_BIT : uint8_t {
+	ABORT_AND_RESET = Bit3,
+	FIFO_FLUSH      = Bit1,
+};
+
+// PWR_MGMT0
+enum PWR_MGMT0_BIT : uint8_t {
+	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
+	ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
+};
+
+// GYRO_CONFIG0
+enum GYRO_CONFIG0_BIT : uint8_t {
+	// 7:5 GYRO_FS_SEL
+	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
+	GYRO_FS_SEL_1000_DPS = Bit5,
+	GYRO_FS_SEL_500_DPS  = Bit6,
+	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
+	GYRO_FS_SEL_125_DPS  = Bit7,
+
+
+	// 3:0 GYRO_ODR
+	//  0001: 32kHz
+	GYRO_ODR_32KHZ_SET   = Bit0,
+	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	GYRO_ODR_16KHZ_SET   = Bit1,
+	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// ACCEL_CONFIG0
+enum ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:5 ACCEL_FS_SEL
+	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
+	ACCEL_FS_SEL_8G  = Bit5,
+	ACCEL_FS_SEL_4G  = Bit6,
+	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
+
+
+	// 3:0 ACCEL_ODR
+	//  0001: 32kHz
+	ACCEL_ODR_32KHZ_SET   = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	ACCEL_ODR_16KHZ_SET   = Bit1,
+	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// GYRO_CONFIG1
+enum GYRO_CONFIG1_BIT : uint8_t {
+	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+};
+
+// GYRO_ACCEL_CONFIG0
+enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:4 ACCEL_UI_FILT_BW
+	ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
+
+	// 3:0 GYRO_UI_FILT_BW
+	GYRO_UI_FILT_BW  = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
+};
+
+// ACCEL_CONFIG1
+enum ACCEL_CONFIG1_BIT : uint8_t {
+	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+};
+
+// FIFO_CONFIG1
+enum FIFO_CONFIG1_BIT : uint8_t {
+	FIFO_RESUME_PARTIAL_RD = Bit6,
+	FIFO_WM_GT_TH          = Bit5,
+	FIFO_HIRES_EN          = Bit4,
+	FIFO_TEMP_EN           = Bit2,
+	FIFO_GYRO_EN           = Bit1,
+	FIFO_ACCEL_EN          = Bit0,
+};
+
+// INT_CONFIG0
+enum INT_CONFIG0_BIT : uint8_t {
+	// 3:2 FIFO_THS_INT_CLEAR
+	CLEAR_ON_FIFO_READ = Bit3,
+};
+
+// INT_SOURCE0
+enum INT_SOURCE0_BIT : uint8_t {
+	UI_FSYNC_INT1_EN   = Bit6,
+	PLL_RDY_INT1_EN    = Bit5,
+	RESET_DONE_INT1_EN = Bit4,
+	UI_DRDY_INT1_EN    = Bit3,
+	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
+	FIFO_FULL_INT1_EN  = Bit1,
+	UI_AGC_RDY_INT1_EN = Bit0,
+};
+
+// REG_BANK_SEL
+enum REG_BANK_SEL_BIT : uint8_t {
+	USER_BANK_0 = 0,           // 0: Select USER BANK 0.
+	USER_BANK_1 = Bit0,        // 1: Select USER BANK 1.
+	USER_BANK_2 = Bit1,        // 2: Select USER BANK 2.
+	USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
+};
+
+
+//---------------- BANK1 Register bits
+
+// GYRO_CONFIG_STATIC2
+enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
+	GYRO_AAF_DIS = Bit1,
+	GYRO_NF_DIS  = Bit0,
+};
+
+// GYRO_CONFIG_STATIC3
+enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
+	GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
+
+	// 213 Hz
+	// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
+	//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
+
+	// 42 Hz
+	// GYRO_AAF_DELT_SET = Bit0, //1
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// GYRO_CONFIG_STATIC4
+enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
+	GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
+	//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
+
+	// 42 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+};
+
+// GYRO_CONFIG_STATIC5
+enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
+	GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 126 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
+
+	// 42 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// GYRO_AAF_BITSHIFT_CLEAR = 0,
+
+
+};
+
+
+//---------------- BANK2 Register bits
+
+// ACCEL_CONFIG_STATIC2
+enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
+	ACCEL_AAF_DIS  = Bit0,
+	ACCEL_AAF_DELT = Bit3 | Bit1,
+
+	// 213 Hz
+	ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
+	ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
+
+	// 42 Hz
+	// ACCEL_AAF_DELT_SET = Bit1, //1
+	// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
+};
+
+// ACCEL_CONFIG_STATIC3
+enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
+	ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
+	// 213 Hz
+	ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 42 Hz
+	// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// ACCEL_CONFIG_STATIC4
+enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
+	ACCEL_AAF_BITSHIFT     = Bit7 | Bit5,
+	ACCEL_AAF_DELTSQR_HIGH = 0,
+	// 213 Hz
+	ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 42 Hz
+	// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// ACCEL_AAF_BITSHIFT_CLEAR = 0,
+
+	ACCEL_AAF_DELTSQR_HIGH_SET = 0,
+	ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+
+namespace FIFO
+{
+static constexpr size_t SIZE = 2048;
+
+// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
+
+// Packet 4
+struct DATA {
+	uint8_t FIFO_Header;
+	uint8_t ACCEL_DATA_X1; // Accel X [19:12]
+	uint8_t ACCEL_DATA_X0; // Accel X [11:4]
+	uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
+	uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
+	uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
+	uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
+	uint8_t GYRO_DATA_X1;  // Gyro X [19:12]
+	uint8_t GYRO_DATA_X0;  // Gyro X [11:4]
+	uint8_t GYRO_DATA_Y1;  // Gyro Y [19:12]
+	uint8_t GYRO_DATA_Y0;  // Gyro Y [11:4]
+	uint8_t GYRO_DATA_Z1;  // Gyro Z [19:12]
+	uint8_t GYRO_DATA_Z0;  // Gyro Z [11:4]
+	uint8_t TEMP_DATA1;    // Temperature[15:8]
+	uint8_t TEMP_DATA0;    // Temperature[7:0]
+	uint8_t TimeStamp_h;   // TimeStamp[15:8]
+	uint8_t TimeStamp_l;   // TimeStamp[7:0]
+	uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
+	uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
+	uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
+};
+
+// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+enum FIFO_HEADER_BIT : uint8_t {
+	HEADER_MSG             = Bit7, // 1: FIFO is empty
+	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
+	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
+	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
+	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
+	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
+	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
+};
+
+}
+} // namespace InvenSense_ICM42688P

boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM42688P.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <string>
+
+void ICM42688P::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+// 		int runtime_instance)
+// {
+// 	ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+// 					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+//
+// 	if (!instance) {
+// 		PX4_ERR("alloc failed");
+// 		return nullptr;
+// 	}
+//
+// 	if (OK != instance->init()) {
+// 		delete instance;
+// 		return nullptr;
+// 	}
+//
+// 	return instance;
+// }
+
+extern "C" int icm42688p_main(int argc, char *argv[])
+{
+
+	for (int i = 0; i <= argc - 1; i++) {
+		if (std::string(argv[i]) == "-h") {
+			argv[i] = 0;
+			hitl_mode = true;
+			break;
+		}
+	}
+
+	int ch;
+	using ThisDriver = ICM42688P;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = SPI_SPEED;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

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

@@ -1,11 +1,9 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -27,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -99,3 +96,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/mro/ctrl-zero-classic/init/rc.board_defaults

@@ -6,4 +6,4 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 17
 
-param set-default TEL_FRSKY_CONFIG 103
+safety_button start

boards/mro/ctrl-zero-classic/init/rc.board_sensors

@@ -16,5 +16,3 @@ icm20948 -s -b 1 -R 8 -M start
 
 # Interal DPS310 (barometer)
 dps310 -s -b 2 start
-
-safety_button start

boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig

@@ -15,7 +15,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H743II=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARMV7M_BASEPRI_WAR=y

boards/mro/ctrl-zero-classic/nuttx-config/include/board.h

@@ -222,9 +222,6 @@
 
 
 /* UART/USART */
-#define GPIO_USART1_TX	 GPIO_USART1_TX_3      /* PB6  */
-#define GPIO_USART1_RX	 GPIO_USART1_RX_3      /* PB7  */
-
 #define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
 #define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
@@ -238,6 +235,9 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
+#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
@@ -268,14 +268,13 @@
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13  */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12  */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14  */
-
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
 
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */

boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig

@@ -56,7 +56,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H743II=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARCH_STACKDUMP=y
@@ -192,6 +192,7 @@ CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C3=y
 CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
@@ -211,20 +212,17 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI5_DMA=y
 CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_TIM15=y
-CONFIG_STM32H7_TIM16=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -254,6 +252,9 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/mro/ctrl-zero-classic/src/board_config.h

@@ -45,111 +45,95 @@
 #include <stm32_gpio.h>
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED   /* PB4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_nLED_GREEN /* PB5  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 
-#define GPIO_LED_SAFETY /* PE6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
-
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 /* ADC channels */
 #define PX4_ADC_GPIO  \
-	/* PC4 */  GPIO_ADC12_INP4,   \
+	/* PA2 */  GPIO_ADC12_INP14,  \
 	/* PA3 */  GPIO_ADC12_INP15,  \
 	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC0 */  GPIO_ADC123_INP10, \
-	/* PC5 */  GPIO_ADC12_INP8,   \
-	/* PB0 */  GPIO_ADC12_INP9,   \
-	/* PB1 */  GPIO_ADC12_INP5
+	/* PC1 */  GPIO_ADC123_INP11
 
 /* Define Channel numbers must match above GPIO pins */
-#define ADC_BATTERY_VOLTAGE_CHANNEL       4 /* PC4 BATT_VOLT_SENS */
+#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
 #define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
 #define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RC_RSSI_CHANNEL               10 /* PC0 */
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL       8 /* PC5 */
-#define ADC_AUX1_VOLTAGE_CHANNEL       	   9 /* PB0 */
-#define ADC_AUX2_VOLTAGE_CHANNEL       	   5 /* PB1 */
+#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
 
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RC_RSSI_CHANNEL)		  | \
-	 (1 << ADC_AIRSPEED_VOLTAGE_CHANNEL)	  | \
-	 (1 << ADC_AUX1_VOLTAGE_CHANNEL)	  | \
-	 (1 << ADC_AUX2_VOLTAGE_CHANNEL))
+	 (1 << ADC_RC_RSSI_CHANNEL))
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
-#define GPIO_CAN2_SILENT_S0  /* PF12  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN12)
+#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  12
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
 
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 
-#define GPIO_LEVEL_SHIFTER_OE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-
 /* Define True logic Power Control in arch agnostic form */
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
 
 /* Tone alarm output */
-#define TONE_ALARM_TIMER        16  /* timer 16 */
-#define TONE_ALARM_CHANNEL      1  /* PF6 TIM16_CH1 */
+#define TONE_ALARM_TIMER        2  /* timer 2 */
+#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
 
-#define GPIO_BUZZER_1           /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN6)
+#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
 
 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM16_CH1OUT_2
+#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
 
 /* USB OTG FS */
 #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       2 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
 
-#define HRT_PPM_CHANNEL         /* T3C2 */  2  /* use capture/compare channel 2 */
-#define GPIO_PPM_IN             /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3
+#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
+#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
 
 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS5"
+#define RC_SERIAL_PORT          "/dev/ttyS3"
 
-#define GPIO_RSSI_IN            /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
+#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 
 /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_SAFETY_SWITCH_IN              /* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFETY_BUTTON() */
+#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
 #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
 
-/* No PX4IO processor present */
-#define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 0
-
 /* Power switch controls ******************************************************/
 #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
 
 /*
  * Board has a separate RC_IN
  *
- * GPIO PPM_IN on PC7 T3CH2
+ * GPIO PPM_IN on PB0 T3CH3
  * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
  *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
  */
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
+#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
 #define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
@@ -172,7 +156,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_NUM_IO_TIMERS 6
+#define BOARD_NUM_IO_TIMERS 5
 
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -187,12 +171,9 @@
 		GPIO_CAN2_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_LEVEL_SHIFTER_OE, 		  \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
-		GPIO_BTN_SAFETY,                  \
-		GPIO_LED_SAFETY,                  \
 	}
 
 __BEGIN_DECLS

boards/mro/ctrl-zero-classic/src/i2c.cpp

@@ -35,5 +35,6 @@
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
+	initI2CBusExternal(3),
 	initI2CBusExternal(4),
 };

boards/mro/ctrl-zero-classic/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortG, GPIO::Pin3}, SPI::DRDY{GPIO::PortG, GPIO::Pin2}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -46,10 +46,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin0}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}),
-	initSPIBusExternal(SPI::Bus::SPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
 	}),
 };
 

boards/mro/ctrl-zero-classic/src/timer_config.cpp

@@ -33,28 +33,6 @@
 
 #include <px4_arch/io_timer_hw_description.h>
 
-/* Timer allocation
- *
- * TIM1_CH4	T FMU_CH1
- * TIM1_CH3	T FMU_CH2
- * TIM1_CH2	T FMU_CH3
- * TIM1_CH1	T FMU_CH4
- *
- * TIM4_CH2	T FMU_CH5
- * TIM4_CH3	T FMU_CH6
- * TIM2_CH3	T FMU_CH7
- * TIM2_CH1	T FMU_CH8
- *
- * TIM2_CH4	T FMU_CH9
- * TIM15_CH1	T FMU_CH10
- *
- * TIM8_CH1	T FMU_CH11
- *
- * TIM4_CH4	T FMU_CH12
- *
- * TIM16_CH1	T BUZZER	- Driven by other driver
- */
-
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),

msg/CMakeLists.txt

@@ -99,7 +99,6 @@ set(msg_files
 	FollowTargetStatus.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
-	GeofenceStatus.msg
 	GimbalControls.msg
 	GimbalDeviceAttitudeStatus.msg
 	GimbalDeviceInformation.msg

msg/GeofenceStatus.msg

@@ -1,7 +0,0 @@
-uint64 timestamp                        # time since system start (microseconds)
-
-uint32 geofence_id 			# loaded geofence id
-uint8 status 				# Current geofence status
-
-uint8 GF_STATUS_LOADING = 0
-uint8 GF_STATUS_READY = 1

msg/MissionResult.msg

@@ -1,8 +1,8 @@
 uint64 timestamp		# time since system start (microseconds)
 
-uint32 mission_id   		# Id for the mission for which the result was generated
-uint32 geofence_id  		# Id for the corresponding geofence for which the result was generated (used for mission feasibility)
-uint32 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
+uint16 mission_id   		# Id for the mission for which the result was generated
+uint16 geofence_id  		# Id for the corresponding geofence for which the result was generated (used for mission feasibility)
+uint64 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
 
 int32 seq_reached		# Sequence of the mission item which has been reached, default -1
 uint16 seq_current		# Sequence of the current mission item

msg/OrbTestMedium.msg

@@ -4,6 +4,4 @@ int32 val
 
 uint8[64] junk
 
-uint8 ORB_QUEUE_LENGTH = 16
-
 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll

msg/TransponderReport.msg

@@ -47,4 +47,4 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
 uint16 ADSB_EMITTER_TYPE_ENUM_END=20
 
-uint8 ORB_QUEUE_LENGTH = 16
+uint8 ORB_QUEUE_LENGTH = 8

platforms/common/CMakeLists.txt

@@ -52,6 +52,7 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
+	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/Serial.cpp

@@ -0,0 +1,143 @@
+/****************************************************************************
+ *
+ *   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 <px4_platform_common/Serial.hpp>
+
+namespace device
+{
+
+Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+	       FlowControl flowcontrol) :
+	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
+{
+	// If no baudrate was specified then set it to a reasonable default value
+	if (baudrate == 0) {
+		(void) _impl.setBaudrate(9600);
+	}
+}
+
+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);
+}
+
+void Serial::flush()
+{
+	return _impl.flush();
+}
+
+uint32_t Serial::getBaudrate() const
+{
+	return _impl.getBaudrate();
+}
+
+bool Serial::setBaudrate(uint32_t baudrate)
+{
+	return _impl.setBaudrate(baudrate);
+}
+
+ByteSize Serial::getBytesize() const
+{
+	return _impl.getBytesize();
+}
+
+bool Serial::setBytesize(ByteSize bytesize)
+{
+	return _impl.setBytesize(bytesize);
+}
+
+Parity Serial::getParity() const
+{
+	return _impl.getParity();
+}
+
+bool Serial::setParity(Parity parity)
+{
+	return _impl.setParity(parity);
+}
+
+StopBits Serial::getStopbits() const
+{
+	return _impl.getStopbits();
+}
+
+bool Serial::setStopbits(StopBits stopbits)
+{
+	return _impl.setStopbits(stopbits);
+}
+
+FlowControl Serial::getFlowcontrol() const
+{
+	return _impl.getFlowcontrol();
+}
+
+bool Serial::setFlowcontrol(FlowControl flowcontrol)
+{
+	return _impl.setFlowcontrol(flowcontrol);
+}
+
+const char *Serial::getPort() const
+{
+	return _impl.getPort();
+}
+
+} // namespace device

platforms/common/include/px4_platform_common/Serial.hpp

@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   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 <SerialImpl.hpp>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device __EXPORT
+{
+
+class Serial
+{
+public:
+	Serial(const char *port, uint32_t baudrate = 57600,
+	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
+	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
+	virtual ~Serial();
+
+	// Open sets up the port and gets it configured based on desired configuration
+	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);
+
+	void flush();
+
+	// If port is already open then the following configuration functions
+	// will reconfigure the port. If the port is not yet open then they will
+	// simply store the configuration in preparation for the port to be opened.
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+	const char *getPort() const;
+
+private:
+	// Disable copy constructors
+	Serial(const Serial &);
+	Serial &operator=(const Serial &);
+
+	// platform implementation
+	SerialImpl _impl;
+};
+
+} // namespace device

platforms/common/include/px4_platform_common/SerialCommon.hpp

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   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
+
+namespace device
+{
+namespace SerialConfig
+{
+
+
+// ByteSize: number of data bits
+enum class ByteSize {
+	FiveBits  = 5,
+	SixBits   = 6,
+	SevenBits = 7,
+	EightBits = 8,
+};
+
+// Parity: enable parity checking
+enum class Parity {
+	None = 0,
+	Odd  = 1,
+	Even = 2,
+};
+
+// StopBits: number of stop bits
+enum class StopBits {
+	One = 1,
+	Two = 2
+};
+
+// FlowControl: enable flow control
+enum class FlowControl {
+	Disabled = 0,
+	Enabled  = 1,
+};
+
+} // namespace SerialConfig
+} // namespace device

platforms/common/include/px4_platform_common/time.h

@@ -13,11 +13,21 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
 
 __BEGIN_DECLS
 __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+__END_DECLS
 
+#else
+
+#define px4_clock_settime system_clock_settime
+
+#endif
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+
+__BEGIN_DECLS
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -27,7 +37,6 @@ __END_DECLS
 
 #else
 
-#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait

platforms/common/px4_log.cpp

@@ -74,7 +74,7 @@ void px4_log_initialize(void)
 	log_message.severity = 6; // info
 	strcpy((char *)log_message.text, "initialized uORB logging");
 	log_message.timestamp = hrt_absolute_time();
-	orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message);
+	orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);
 }
 
 __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)

platforms/common/uORB/Publication.hpp

@@ -48,6 +48,24 @@
 namespace uORB
 {
 
+template <typename U> class DefaultQueueSize
+{
+private:
+	template <typename T>
+	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
+	{
+		return T::ORB_QUEUE_LENGTH;
+	}
+
+	template <typename T> static constexpr uint8_t get_queue_size(...)
+	{
+		return 1;
+	}
+
+public:
+	static constexpr unsigned value = get_queue_size<U>(nullptr);
+};
+
 class PublicationBase
 {
 public:
@@ -79,7 +97,7 @@ protected:
 /**
  * uORB publication wrapper class
  */
-template<typename T>
+template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
 class Publication : public PublicationBase
 {
 public:
@@ -95,7 +113,7 @@ public:
 	bool advertise()
 	{
 		if (!advertised()) {
-			_handle = orb_advertise(get_topic(), nullptr);
+			_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
 		}
 
 		return advertised();

platforms/common/uORB/PublicationMulti.hpp

@@ -51,7 +51,7 @@ namespace uORB
 /**
  * Base publication multi wrapper class
  */
-template<typename T>
+template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
 class PublicationMulti : public PublicationBase
 {
 public:
@@ -73,7 +73,7 @@ public:
 	{
 		if (!advertised()) {
 			int instance = 0;
-			_handle = orb_advertise_multi(get_topic(), nullptr, &instance);
+			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
 		}
 
 		return advertised();

platforms/common/uORB/uORB.cpp

@@ -118,11 +118,22 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);
 }
 
+orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
+}
+
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
 }
 
+orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
+				       unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
+}
+
 int orb_unadvertise(orb_advert_t handle)
 {
 	return uORB::Manager::get_instance()->orb_unadvertise(handle);
@@ -216,14 +227,6 @@ const char *orb_get_c_type(unsigned char short_type)
 	return nullptr;
 }
 
-uint8_t orb_get_queue_size(const struct orb_metadata *meta)
-{
-	if (meta) {
-		return meta->o_queue;
-	}
-
-	return 0;
-}
 
 void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
 {

platforms/common/uORB/uORB.h

@@ -53,8 +53,6 @@ struct orb_metadata {
 	const uint16_t o_size_no_padding;   /**< object size w/o padding at the end (for logger) */
 	uint32_t message_hash;	/**< Hash over all fields for message compatibility checks */
 	orb_id_size_t  o_id;                /**< ORB_ID enum */
-	uint8_t o_queue;					/**< queue size */
-
 };
 
 typedef const struct orb_metadata *orb_id_t;
@@ -104,16 +102,14 @@ typedef const struct orb_metadata *orb_id_t;
  * @param _size_no_padding	Struct size w/o padding at the end
  * @param _message_hash	32 bit message hash over all fields
  * @param _orb_id_enum	ORB ID enum e.g.: ORB_ID::vehicle_status
- * @param _queue_size Queue size from topic definition
  */
-#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
-	const struct orb_metadata __orb_##_name = {     \
-		#_name,                                 \
-		sizeof(_struct),                \
-		_size_no_padding,                       \
-		_message_hash,                          \
-		_orb_id_enum,                           \
-		_queue_size                             \
+#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum)		\
+	const struct orb_metadata __orb_##_name = {	\
+		#_name,					\
+		sizeof(_struct),		\
+		_size_no_padding,			\
+		_message_hash,				\
+		_orb_id_enum				\
 	}; struct hack
 
 __BEGIN_DECLS
@@ -139,11 +135,23 @@ typedef void 	*orb_advert_t;
  */
 extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
 
+/**
+ * @see uORB::Manager::orb_advertise()
+ */
+extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
+					unsigned int queue_size) __EXPORT;
+
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
 
+/**
+ * @see uORB::Manager::orb_advertise_multi()
+ */
+extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size) __EXPORT;
+
 /**
  * @see uORB::Manager::orb_unadvertise()
  */
@@ -152,7 +160,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
 /**
  * @see uORB::Manager::orb_publish()
  */
-extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
 
 /**
  * Advertise as the publisher of a topic.
@@ -233,12 +241,6 @@ extern int	orb_get_interval(int handle, unsigned *interval) __EXPORT;
  */
 const char *orb_get_c_type(unsigned char short_type);
 
-/**
- * Returns the queue size of a topic
- * @param meta orb topic metadata
- */
-extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
-
 /**
  * Print a topic to console. Do not call this directly, use print_message() instead.
  * @param meta orb topic metadata

platforms/common/uORB/uORBDeviceNode.cpp

@@ -48,10 +48,37 @@
 
 static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
 
-uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) :
+// round up to nearest power of two
+// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128
+// Note: When the input value > 128, the output is always 128
+static inline uint8_t round_pow_of_two_8(uint8_t n)
+{
+	if (n == 0) {
+		return 1;
+	}
+
+	// Avoid is already a power of 2
+	uint8_t value = n - 1;
+
+	// Fill 1
+	value |= value >> 1U;
+	value |= value >> 2U;
+	value |= value >> 4U;
+
+	// Unable to round-up, take the value of round-down
+	if (value == UINT8_MAX) {
+		value >>= 1U;
+	}
+
+	return value + 1;
+}
+
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
+			     uint8_t queue_size) :
 	CDev(strdup(path)), // success is checked in CDev::init
 	_meta(meta),
-	_instance(instance)
+	_instance(instance),
+	_queue_size(round_pow_of_two_8(queue_size))
 {
 }
 
@@ -159,7 +186,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 
 			/* re-check size */
 			if (nullptr == _data) {
-				const size_t data_size = _meta->o_size * _meta->o_queue;
+				const size_t data_size = _meta->o_size * _queue_size;
 				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
 
 				if (_data) {
@@ -190,7 +217,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 	/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
 	unsigned generation = _generation.fetch_add(1);
 
-	memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
+	memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);
 
 	// callbacks
 	for (auto item : _callbacks) {
@@ -227,6 +254,13 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		*(uintptr_t *)arg = (uintptr_t)this;
 		return PX4_OK;
 
+	case ORBIOCSETQUEUESIZE: {
+			lock();
+			int ret = update_queue_size(arg);
+			unlock();
+			return ret;
+		}
+
 	case ORBIOCGETINTERVAL:
 		*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
 		return PX4_OK;
@@ -355,11 +389,12 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 
 	const uint8_t instance = get_instance();
 	const int8_t sub_count = subscriber_count();
+	const uint8_t queue_size = get_queue_size();
 
 	unlock();
 
 	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
-		     get_meta()->o_queue, get_meta()->o_size, get_devname());
+		     queue_size, get_meta()->o_size, get_devname());
 
 	return true;
 }
@@ -448,6 +483,21 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 #endif /* CONFIG_ORB_COMMUNICATOR */
 
+int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
+{
+	if (_queue_size == queue_size) {
+		return PX4_OK;
+	}
+
+	//queue size is limited to 255 for the single reason that we use uint8 to store it
+	if (_data || _queue_size > queue_size || queue_size > 255) {
+		return PX4_ERROR;
+	}
+
+	_queue_size = round_pow_of_two_8(queue_size);
+	return PX4_OK;
+}
+
 unsigned uORB::DeviceNode::get_initial_generation()
 {
 	ATOMIC_ENTER;

platforms/common/uORB/uORBDeviceNode.hpp

@@ -62,7 +62,7 @@ class UnitTest;
 class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path);
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
 	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
@@ -179,6 +179,15 @@ public:
 
 	void mark_as_advertised() { _advertised = true; }
 
+	/**
+	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
+	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
+	 * The queue size can only be increased.
+	 * @param queue_size new size of the queue
+	 * @return PX4_OK if queue size successfully set
+	 */
+	int update_queue_size(unsigned int queue_size);
+
 	/**
 	 * Print statistics
 	 * @param max_topic_length max topic name length for printing
@@ -186,7 +195,7 @@ public:
 	 */
 	bool print_statistics(int max_topic_length);
 
-	uint8_t get_queue_size() const { return _meta->o_queue; }
+	uint8_t get_queue_size() const { return _queue_size; }
 
 	int8_t subscriber_count() const { return _subscriber_count; }
 
@@ -225,7 +234,7 @@ public:
 	bool copy(void *dst, unsigned &generation)
 	{
 		if ((dst != nullptr) && (_data != nullptr)) {
-			if (_meta->o_queue == 1) {
+			if (_queue_size == 1) {
 				ATOMIC_ENTER;
 				memcpy(dst, _data, _meta->o_size);
 				generation = _generation.load();
@@ -244,12 +253,12 @@ public:
 				}
 
 				// Compatible with normal and overflow conditions
-				if (!is_in_range(current_generation - _meta->o_queue, generation, current_generation - 1)) {
+				if (!is_in_range(current_generation - _queue_size, generation, current_generation - 1)) {
 					// Reader is too far behind: some messages are lost
-					generation = current_generation - _meta->o_queue;
+					generation = current_generation - _queue_size;
 				}
 
-				memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size);
+				memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size);
 				ATOMIC_LEAVE;
 
 				++generation;
@@ -286,7 +295,7 @@ private:
 
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
-
+	uint8_t _queue_size; /**< maximum number of elements in the queue */
 	int8_t _subscriber_count{0};
 
 

platforms/common/uORB/uORBManager.cpp

@@ -265,7 +265,8 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size)
 {
 #ifdef ORB_USE_PUBLISHER_RULES
 
@@ -299,10 +300,19 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
+	/* Set the queue size. This must be done before the first publication; thus it fails if
+	 * this is not the first advertiser.
+	 */
+	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+
+	if (result < 0 && queue_size > 1) {
+		PX4_WARN("orb_advertise_multi: failed to set queue size");
+	}
+
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {
@@ -592,22 +602,6 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 {
 	PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);
 
-	// First make sure this is a valid topic
-	const struct orb_metadata *const *topic_list = orb_get_topics();
-	orb_id_t topic_ptr = nullptr;
-
-	for (size_t i = 0; i < orb_topics_count(); i++) {
-		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
-			topic_ptr = topic_list[i];
-			break;
-		}
-	}
-
-	if (! topic_ptr) {
-		PX4_ERR("process_remote_topic meta not found for %s\n", topic_name);
-		return -1;
-	}
-
 	// Look to see if we already have a node for this topic
 	char nodepath[orb_maxpath];
 	int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
@@ -619,7 +613,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 			uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
 
 			if (node) {
-				PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
+				PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
 				node->mark_as_advertised();
 				_remote_topics.insert(topic_name);
 				return 0;
@@ -628,9 +622,27 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 	}
 
 	// We didn't find a node so we need to create it via an advertisement
-	PX4_DEBUG("Advertising remote topic %s", topic_name);
-	_remote_topics.insert(topic_name);
-	orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue);
+	const struct orb_metadata *const *topic_list = orb_get_topics();
+	orb_id_t topic_ptr = nullptr;
+
+	for (size_t i = 0; i < orb_topics_count(); i++) {
+		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
+			topic_ptr = topic_list[i];
+			break;
+		}
+	}
+
+	if (topic_ptr) {
+		PX4_INFO("Advertising remote topic %s", topic_name);
+		_remote_topics.insert(topic_name);
+		// Add some queue depth when advertising remote topics. These
+		// topics may get aggregated and thus delivered in a batch that
+		// requires some buffering in a queue.
+		orb_advertise(topic_ptr, nullptr, 5);
+
+	} else {
+		PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
+	}
 
 	return 0;
 }
@@ -651,11 +663,8 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName)
 			PX4_DEBUG("DeviceNode(%s) not created yet", messageName);
 
 		} else {
-			// node is present. But don't send any data to it if it
-			// is a node advertised by the remote side
-			if (_remote_topics.find(messageName) == false) {
-				node->process_add_subscription();
-			}
+			// node is present.
+			node->process_add_subscription();
 		}
 
 	} else {

platforms/common/uORB/uORBManager.hpp

@@ -215,15 +215,17 @@ public:
 	 * @param data    A pointer to the initial data to be published.
 	 *      For topics updated by interrupt handlers, the advertisement
 	 *      must be performed from non-interrupt context.
+	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
+	 *      used.
 	 * @return    nullptr on error, otherwise returns an object pointer
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr)
+	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
 	{
-		return orb_advertise_multi(meta, data, nullptr);
+		return orb_advertise_multi(meta, data, nullptr, queue_size);
 	}
 
 	/**
@@ -248,13 +250,16 @@ public:
 	 * @param instance  Pointer to an integer which will yield the instance ID (0-based)
 	 *      of the publication. This is an output parameter and will be set to the newly
 	 *      created instance, ie. 0 for the first advertiser, 1 for the next and so on.
+	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
+	 *      used.
 	 * @return    nullptr on error, otherwise returns a handle
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance);
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+					 unsigned int queue_size = 1);
 
 	/**
 	 * Unadvertise a topic.

platforms/common/uORB/uORBManagerUsr.cpp

@@ -89,7 +89,8 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return data.ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
+		unsigned int queue_size)
 {
 	/* open the node as an advertiser */
 	int fd = node_open(meta, true, instance);
@@ -99,10 +100,19 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
+	/* Set the queue size. This must be done before the first publication; thus it fails if
+	 * this is not the first advertiser.
+	 */
+	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+
+	if (result < 0 && queue_size > 1) {
+		PX4_WARN("orb_advertise_multi: failed to set queue size");
+	}
+
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around()
 	bool updated{false};
 
 	// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
-	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around));
-	ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr);
+	const int queue_size = 16;
+	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue()
 		return test_fail("subscribe failed: %d", errno);
 	}
 
-	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue));
+	const int queue_size = 16;
 	orb_test_medium_s t{};
-	ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t);
+	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
 {
 	orb_test_medium_s t{};
 	orb_advert_t ptopic{nullptr};
-	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll));
+	const int queue_size = 50;
 
-	if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
+	if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
 		_thread_should_exit = true;
 		return test_fail("advertise failed: %d", errno);
 	}

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

@@ -0,0 +1,391 @@
+/****************************************************************************
+ *
+ *   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>
+
+#define MODULE_NAME "SerialImpl"
+
+namespace device
+{
+
+SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		       FlowControl flowcontrol) :
+	_baudrate(baudrate),
+	_bytesize(bytesize),
+	_parity(parity),
+	_stopbits(stopbits),
+	_flowcontrol(flowcontrol)
+{
+	if (port) {
+		strncpy(_port, port, sizeof(_port) - 1);
+		_port[sizeof(_port) - 1] = '\0';
+
+	} else {
+		_port[0] = 0;
+	}
+}
+
+SerialImpl::~SerialImpl()
+{
+	if (isOpen()) {
+		close();
+	}
+}
+
+bool SerialImpl::validateBaudrate(uint32_t baudrate)
+{
+	return ((baudrate == 9600) ||
+		(baudrate == 19200) ||
+		(baudrate == 38400) ||
+		(baudrate == 57600) ||
+		(baudrate == 115200) ||
+		(baudrate == 230400) ||
+		(baudrate == 460800) ||
+		(baudrate == 921600));
+}
+
+bool SerialImpl::configure()
+{
+	/* process baud rate */
+	int speed;
+
+	if (! validateBaudrate(_baudrate)) {
+		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
+		return false;
+	}
+
+	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;
+	}
+
+	struct termios uart_config;
+
+	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);
+		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;
+}
+
+void SerialImpl::flush()
+{
+	if (_open) {
+		tcflush(_serial_fd, TCIOFLUSH);
+	}
+}
+
+const char *SerialImpl::getPort() const
+{
+	return _port;
+}
+
+uint32_t SerialImpl::getBaudrate() const
+{
+	return _baudrate;
+}
+
+bool SerialImpl::setBaudrate(uint32_t baudrate)
+{
+	if (! validateBaudrate(baudrate)) {
+		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
+		return false;
+	}
+
+	// check if already configured
+	if ((baudrate == _baudrate) && _open) {
+		return true;
+	}
+
+	_baudrate = baudrate;
+
+	// process baud rate change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
+}
+
+ByteSize SerialImpl::getBytesize() const
+{
+	return _bytesize;
+}
+
+bool SerialImpl::setBytesize(ByteSize bytesize)
+{
+	return bytesize == ByteSize::EightBits;
+}
+
+Parity SerialImpl::getParity() const
+{
+	return _parity;
+}
+
+bool SerialImpl::setParity(Parity parity)
+{
+	return parity == Parity::None;
+}
+
+StopBits SerialImpl::getStopbits() const
+{
+	return _stopbits;
+}
+
+bool SerialImpl::setStopbits(StopBits stopbits)
+{
+	return stopbits == StopBits::One;
+}
+
+FlowControl SerialImpl::getFlowcontrol() const
+{
+	return _flowcontrol;
+}
+
+bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
+{
+	return flowcontrol == FlowControl::Disabled;
+}
+
+} // namespace device

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

@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   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 <unistd.h>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device
+{
+
+class SerialImpl
+{
+public:
+
+	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		   FlowControl flowcontrol);
+	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);
+
+	void flush();
+
+	const char *getPort() const;
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+private:
+
+	int _serial_fd{-1};
+
+	bool _open{false};
+
+	char _port[32] {};
+
+	uint32_t _baudrate{0};
+
+	ByteSize _bytesize{ByteSize::EightBits};
+	Parity _parity{Parity::None};
+	StopBits _stopbits{StopBits::One};
+	FlowControl _flowcontrol{FlowControl::Disabled};
+
+	bool validateBaudrate(uint32_t baudrate);
+	bool configure();
+
+};
+
+} // namespace device

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -3,6 +3,8 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		cdc_acm_check.cpp
+		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
+		SerialImpl.cpp
 	)
 
 target_link_libraries(px4_layer

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -15,6 +15,8 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
+	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
+	SerialImpl.cpp
 )
 
 target_link_libraries(px4_layer

platforms/posix/include/SerialImpl.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   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 <unistd.h>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device
+{
+
+class SerialImpl
+{
+public:
+
+	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		   FlowControl flowcontrol);
+	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);
+
+	void flush();
+
+	const char *getPort() const;
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+private:
+
+	int _serial_fd{-1};
+
+	bool _open{false};
+
+	char _port[32] {};
+
+	uint32_t _baudrate{0};
+
+	ByteSize _bytesize{ByteSize::EightBits};
+	Parity _parity{Parity::None};
+	StopBits _stopbits{StopBits::One};
+	FlowControl _flowcontrol{FlowControl::Disabled};
+
+	bool validateBaudrate(uint32_t baudrate);
+	bool configure();
+};
+
+} // namespace device

platforms/posix/src/px4/common/CMakeLists.txt

@@ -46,6 +46,8 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
+	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
+	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

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

@@ -0,0 +1,391 @@
+/****************************************************************************
+ *
+ *   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>
+
+namespace device
+{
+
+SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		       FlowControl flowcontrol) :
+	_baudrate(baudrate),
+	_bytesize(bytesize),
+	_parity(parity),
+	_stopbits(stopbits),
+	_flowcontrol(flowcontrol)
+{
+	if (port) {
+		strncpy(_port, port, sizeof(_port) - 1);
+		_port[sizeof(_port) - 1] = '\0';
+
+	} else {
+		_port[0] = 0;
+	}
+}
+
+SerialImpl::~SerialImpl()
+{
+	if (isOpen()) {
+		close();
+	}
+}
+
+bool SerialImpl::validateBaudrate(uint32_t baudrate)
+{
+	return ((baudrate == 9600) ||
+		(baudrate == 19200) ||
+		(baudrate == 38400) ||
+		(baudrate == 57600) ||
+		(baudrate == 115200) ||
+		(baudrate == 230400) ||
+		(baudrate == 460800) ||
+		(baudrate == 921600));
+}
+
+bool SerialImpl::configure()
+{
+	/* process baud rate */
+	int speed;
+
+	if (! validateBaudrate(_baudrate)) {
+		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
+		return false;
+	}
+
+	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: %d", _baudrate);
+		return false;
+	}
+
+	struct termios uart_config;
+
+	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);
+		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;
+}
+
+void SerialImpl::flush()
+{
+	if (_open) {
+		tcflush(_serial_fd, TCIOFLUSH);
+	}
+}
+
+const char *SerialImpl::getPort() const
+{
+	return _port;
+}
+
+uint32_t SerialImpl::getBaudrate() const
+{
+	return _baudrate;
+}
+
+bool SerialImpl::setBaudrate(uint32_t baudrate)
+{
+	if (! validateBaudrate(baudrate)) {
+		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
+		return false;
+	}
+
+	// check if already configured
+	if ((baudrate == _baudrate) && _open) {
+		return true;
+	}
+
+	_baudrate = baudrate;
+
+	// process baud rate change now if port is already open
+	if (_open) {
+		return configure();
+	}
+
+	return true;
+}
+
+ByteSize SerialImpl::getBytesize() const
+{
+	return _bytesize;
+}
+
+bool SerialImpl::setBytesize(ByteSize bytesize)
+{
+	return bytesize == ByteSize::EightBits;
+}
+
+Parity SerialImpl::getParity() const
+{
+	return _parity;
+}
+
+bool SerialImpl::setParity(Parity parity)
+{
+	return parity == Parity::None;
+}
+
+StopBits SerialImpl::getStopbits() const
+{
+	return _stopbits;
+}
+
+bool SerialImpl::setStopbits(StopBits stopbits)
+{
+	return stopbits == StopBits::One;
+}
+
+FlowControl SerialImpl::getFlowcontrol() const
+{
+	return _flowcontrol;
+}
+
+bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
+{
+	return flowcontrol == FlowControl::Disabled;
+}
+
+} // namespace device

platforms/qurt/CMakeLists.txt

@@ -50,5 +50,4 @@ add_library(px4 SHARED
 target_link_libraries(px4
 	modules__muorb__slpi
 	${module_libraries}
-	px4_layer
 	)

platforms/qurt/include/SerialImpl.hpp

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   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 <unistd.h>
+
+#include <px4_platform_common/SerialCommon.hpp>
+
+using device::SerialConfig::ByteSize;
+using device::SerialConfig::Parity;
+using device::SerialConfig::StopBits;
+using device::SerialConfig::FlowControl;
+
+namespace device
+{
+
+class SerialImpl
+{
+public:
+
+	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
+		   FlowControl flowcontrol);
+	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);
+
+	void flush();
+
+	const char *getPort() const;
+	bool setPort(const char *port);
+
+	uint32_t getBaudrate() const;
+	bool setBaudrate(uint32_t baudrate);
+
+	ByteSize getBytesize() const;
+	bool setBytesize(ByteSize bytesize);
+
+	Parity getParity() const;
+	bool setParity(Parity parity);
+
+	StopBits getStopbits() const;
+	bool setStopbits(StopBits stopbits);
+
+	FlowControl getFlowcontrol() const;
+	bool setFlowcontrol(FlowControl flowcontrol);
+
+private:
+
+	int _serial_fd{-1};
+
+	bool _open{false};
+
+	char _port[32] {};
+
+	uint32_t _baudrate{0};
+
+	ByteSize _bytesize{ByteSize::EightBits};
+	Parity _parity{Parity::None};
+	StopBits _stopbits{StopBits::One};
+	FlowControl _flowcontrol{FlowControl::Disabled};
+
+	bool validateBaudrate(uint32_t baudrate);
+
+	// Mutex used to lock the read functions
+	//pthread_mutex_t read_mutex;
+
+	// Mutex used to lock the write functions
+	//pthread_mutex_t write_mutex;
+};
+
+} // namespace device

platforms/qurt/src/px4/CMakeLists.txt

@@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp
+	SerialImpl.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/SerialImpl.cpp

@@ -0,0 +1,335 @@
+/****************************************************************************
+ *
+ *   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, ByteSize bytesize, Parity parity, StopBits stopbits,
+		       FlowControl flowcontrol) :
+	_baudrate(baudrate),
+	_bytesize(bytesize),
+	_parity(parity),
+	_stopbits(stopbits),
+	_flowcontrol(flowcontrol)
+{
+	if (port) {
+		strncpy(_port, port, sizeof(_port) - 1);
+		_port[sizeof(_port) - 1] = '\0';
+
+	} else {
+		_port[0] = 0;
+	}
+}
+
+SerialImpl::~SerialImpl()
+{
+	if (isOpen()) {
+		close();
+	}
+}
+
+bool SerialImpl::validateBaudrate(uint32_t baudrate)
+{
+	if ((baudrate != 9600)   &&
+	    (baudrate != 38400)  &&
+	    (baudrate != 57600)  &&
+	    (baudrate != 115200) &&
+	    (baudrate != 230400) &&
+	    (baudrate != 250000) &&
+	    (baudrate != 420000) &&
+	    (baudrate != 460800) &&
+	    (baudrate != 921600) &&
+	    (baudrate != 1000000) &&
+	    (baudrate != 1843200) &&
+	    (baudrate != 2000000)) {
+		return false;
+	}
+
+	return true;
+}
+
+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;
+
+	if (! validateBaudrate(_baudrate)) {
+		PX4_ERR("Invalid baudrate: %u", _baudrate);
+		return false;
+	}
+
+	if (_bytesize != ByteSize::EightBits) {
+		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
+		return false;
+	}
+
+	if (_parity != Parity::None) {
+		PX4_ERR("Qurt platform only supports Parity::None");
+		return false;
+	}
+
+	if (_stopbits != StopBits::One) {
+		PX4_ERR("Qurt platform only supports StopBits::One");
+		return false;
+	}
+
+	if (_flowcontrol != FlowControl::Disabled) {
+		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
+		return false;
+	}
+
+	// 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, fd returned: %d", _port, serial_fd);
+		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;
+}
+
+void SerialImpl::flush()
+{
+	if (_open) {
+		uint8_t buffer[4];
+		// A read clears out all current data
+		read(buffer, 4);
+	}
+}
+
+const char *SerialImpl::getPort() const
+{
+	return _port;
+}
+
+uint32_t SerialImpl::getBaudrate() const
+{
+	return _baudrate;
+}
+
+bool SerialImpl::setBaudrate(uint32_t baudrate)
+{
+	if (! validateBaudrate(baudrate)) {
+		PX4_ERR("Invalid baudrate: %u", baudrate);
+		return false;
+	}
+
+	// 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;
+}
+
+ByteSize SerialImpl::getBytesize() const
+{
+	return _bytesize;
+}
+
+bool SerialImpl::setBytesize(ByteSize bytesize)
+{
+	return bytesize == ByteSize::EightBits;
+}
+
+Parity SerialImpl::getParity() const
+{
+	return _parity;
+}
+
+bool SerialImpl::setParity(Parity parity)
+{
+	return parity == Parity::None;
+}
+
+StopBits SerialImpl::getStopbits() const
+{
+	return _stopbits;
+}
+
+bool SerialImpl::setStopbits(StopBits stopbits)
+{
+	return stopbits == StopBits::One;
+}
+
+FlowControl SerialImpl::getFlowcontrol() const
+{
+	return _flowcontrol;
+}
+
+bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
+{
+	return flowcontrol == FlowControl::Disabled;
+}
+
+} // namespace device

platforms/qurt/src/px4/drv_hrt.cpp

@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }
 
-int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
 {
 	return 0;
 }

platforms/ros2/include/uORB/Publication.hpp

@@ -45,10 +45,28 @@
 namespace uORB
 {
 
+template <typename U> class DefaultQueueSize
+{
+private:
+	template <typename T>
+	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
+	{
+		return T::ORB_QUEUE_LENGTH;
+	}
+
+	template <typename T> static constexpr uint8_t get_queue_size(...)
+	{
+		return 1;
+	}
+
+public:
+	static constexpr unsigned value = get_queue_size<U>(nullptr);
+};
+
 /**
  * uORB publication wrapper class
  */
-template<typename T>
+template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
 class Publication
 {
 public:

src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp

@@ -251,7 +251,7 @@ ICP201XX::RunImpl()
 	case STATE::CONFIG: {
 			if (configure()) {
 				_state = STATE::WAIT_READ;
-				ScheduleDelayed(50_ms);
+				ScheduleDelayed(30_ms);
 
 			} else {
 				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {

src/drivers/camera_trigger/camera_trigger.cpp

@@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};
 
-	_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
 }
 
 CameraTrigger::~CameraTrigger()

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h

@@ -160,11 +160,6 @@ status_t Argus_InitMode(argus_hnd_t *hnd, s2pi_slave_t spi_slave, argus_mode_t m
  *          Also refer to #Argus_ReinitMode, which uses a specified measurement
  *          mode instead of the currently active measurement mode.
  *
- * @note    If a full re-initialization is not desired, refer to the
- *          #Argus_RestoreDeviceState function that will only re-write the
- *          register map to the device to restore its state after an power
- *          cycle.
- *
  * @param   hnd The API handle; contains all internal states and data.
  *
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
@@ -187,11 +182,6 @@ status_t Argus_Reinit(argus_hnd_t *hnd);
  *          Also refer to #Argus_Reinit, which re-uses the currently active
  *          measurement mode instead of an user specified measurement mode.
  *
- * @note    If a full re-initialization is not desired, refer to the
- *          #Argus_RestoreDeviceState function that will only re-write the
- *          register map to the device to restore its state after an power
- *          cycle.
- *
  * @param   hnd The API handle; contains all internal states and data.
  *
  * @param   mode The specified measurement mode to be initialized.
@@ -284,69 +274,6 @@ argus_hnd_t *Argus_CreateHandle(void);
  *****************************************************************************/
 status_t Argus_DestroyHandle(argus_hnd_t *hnd);
 
-/*!***************************************************************************
- * @brief   Restores the device state with a re-write of all register values.
- *
- * @details The function invalidates and restores the device state by executing
- *          a re-write of the full register map.
- *
- *          The purpose of this function is to recover from known external
- *          events like power cycles, for example due to sleep / wake-up
- *          functionality. This can be implemented by cutting off the external
- *          power supply of the device (e.g. via a MOSFET switch controlled by
- *          a GPIB pin). By calling this function, the expected state of the
- *          API is written to the device without the need to fully re-initialize
- *          the device. Thus, the API can resume where it has stopped as if
- *          there has never been a power cycle.
- *
- *          The internal state machines like the dynamic configuration adaption
- *          (DCA) algorithm will not be reseted. The API/sensor will immediately
- *          resume at the last state that was optimized for the given
- *          environmental conditions.
- *
- *          The use case of sleep / wake-up can be implemented as follows:
- *
- *          1. In case of ongoing measurements, stop the measurements via
- *             the #Argus_StopMeasurementTimer function (if started by the
- *             #Argus_StartMeasurementTimer function).
- *
- *          2. Shut down the device by removing the 5V power supply, e.g.
- *             via a GPIO pin that switches a MOSFET circuit.
- *
- *          3. After the desired sleep period, power the device by switching
- *             the 5V power supply on again. Wait until the power-on-reset
- *             (POR) is finished (approx. 1 ms) or just repeat step 4 until
- *             it succeeds.
- *
- *          4. Call the #Argus_RestoreDeviceState function to trigger the
- *             restoration of the device state in the API. Note that the
- *             function will return an error code if it fails. One can repeat
- *             the execution of that function a few times until it succeeds.
- *
- *          6. Continue with measurements via #Argus_StartMeasurementTimer
- *             of #Argus_TriggerMeasurement functions as desired.
- *
- * @note    If a complete re-initialization (= soft-reset) is desired, see
- *          the #Argus_Reinit functionality.
- *
- * @note    Changing a configuration or calibration parameter will always
- *          invalidate the device state as well as the state machine of the
- *          dynamic configuration adaption (DCA) algorithm. In that case, the
- *          device/API needs a few measurements to adopt to the present
- *          environmental conditions before the first valid measurement result
- *          can be obtained. This is almost similar to re-initializing the
- *          device (see #Argus_Reinit) which would also re-read the EEPROM.
- *          On the other hand, the #Argus_RestoreDeviceState does not reset
- *          or re-initialize anything. It just makes sure that the device
- *          register map (which has changed to its reset values after the
- *          power cycle) is what the API expects upon the next measurement.
- *
- * @param   hnd The device handle object to be invalidated.
- *
- * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
- *****************************************************************************/
-status_t Argus_RestoreDeviceState(argus_hnd_t *hnd);
-
 /*!**************************************************************************
  * Generic API
  ****************************************************************************/
@@ -799,7 +726,7 @@ status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd);
  *          After calibration has finished successfully, the obtained data is
  *          applied immediately and can be read from the API using the
  *          #Argus_GetCalibrationPixelRangeOffsets or
- *          #Argus_GetCalibrationGlobalRangeOffsets function.
+ *          #Argus_GetCalibrationGlobalRangeOffset function.
  *
  * @param   hnd The API handle; contains all internal states and data.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
@@ -848,7 +775,7 @@ status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd);
  *          After calibration has finished successfully, the obtained data is
  *          applied immediately and can be read from the API using the
  *          #Argus_GetCalibrationPixelRangeOffsets or
- *          #Argus_GetCalibrationGlobalRangeOffsets function.
+ *          #Argus_GetCalibrationGlobalRangeOffset function.
  *
  * @param   hnd The API handle; contains all internal states and data.
  * @param   targetRange The absolute range between the reference plane and the
@@ -1116,40 +1043,28 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd,
  ****************************************************************************/
 
 /*!***************************************************************************
- * @brief   Sets the global range offset values to a specified device.
+ * @brief   Sets the global range offset value to a specified device.
  *
- * @details The global range offsets are subtracted from the raw range values.
- *          There are two distinct values that are applied in low or high
- *          power stage setting respectively.
+ * @details The global range offset is subtracted from the raw range values.
  *
  * @param   hnd The API handle; contains all internal states and data.
- * @param   offset_low The new global range offset for the low power stage in
- *                     meter and Q0.15 format.
- * @param   offset_high The new global range offset for the high power stage in
- *                      meter and Q0.15 format.
+ * @param   value The new global range offset in meter and Q0.15 format.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
  *****************************************************************************/
-status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
-		q0_15_t offset_low,
-		q0_15_t offset_high);
+status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
+		q0_15_t value);
 
 /*!***************************************************************************
- * @brief   Gets the global range offset values from a specified device.
+ * @brief   Gets the global range offset value from a specified device.
  *
- * @details The global range offsets are subtracted from the raw range values.
- *          There are two distinct values that are applied in low or high
- *          power stage setting respectively.
+ * @details The global range offset is subtracted from the raw range values.
  *
  * @param   hnd The API handle; contains all internal states and data.
- * @param   offset_low The current range offset for the low power stage in
- *                     meter and Q0.15 format.
- * @param   offset_high The current global range offset for the high power stage
- *                      in meter and Q0.15 format.
+ * @param   value The current global range offset in meter and Q0.15 format.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
  *****************************************************************************/
-status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
-		q0_15_t *offset_low,
-		q0_15_t *offset_high);
+status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
+		q0_15_t *value);
 
 /*!***************************************************************************
  * @brief   Sets the relative pixel offset table to a specified device.

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h

@@ -210,13 +210,9 @@ typedef enum argus_dca_gain_t {
  *          - [9]: #ARGUS_STATE_LASER_ERROR
  *          - [10]: #ARGUS_STATE_HAS_DATA
  *          - [11]: #ARGUS_STATE_HAS_AUX_DATA
- *          - [12]: #ARGUS_STATE_SATURATED_PIXELS
+ *          - [12]: #ARGUS_STATE_DCA_MAX
  *          - [13]: DCA Power Stage
  *          - [14-15]: DCA Gain Stages
- *          - [16]: #ARGUS_STATE_DCA_MIN
- *          - [17]: #ARGUS_STATE_DCA_MAX
- *          - [18]: #ARGUS_STATE_DCA_RESET
- *          - [18-31]: not used
  *          .
  *****************************************************************************/
 typedef enum argus_state_t {
@@ -233,35 +229,36 @@ typedef enum argus_state_t {
 	 *          - 1: Enabled: measurement with detuned frequency. */
 	ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U,
 
-	/*! 0x0004: Measurement Frequency for Dual Frequency Mode \n
+	/*! 0x0004: Measurement Frequency for Dual Frequency Mode
 	 *          (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set).
 	 *          - 0: A-Frame w/ detuned frequency,
 	 *          - 1: B-Frame w/ detuned frequency */
 	ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U,
 
-	/*! 0x0008: Debug Mode. \n
-	 *          If set, the range value of erroneous pixels
+	/*! 0x0008: Debug Mode. If set, the range value of erroneous pixels
 	 *          are not cleared or reset.
 	 *          - 0: Disabled (default).
 	 *          - 1: Enabled. */
 	ARGUS_STATE_DEBUG_MODE = 1U << 3U,
 
-	/*! 0x0010: Weak Signal Flag. \n
+	/*! 0x0010: Weak Signal Flag.
 	 *          Set whenever the Pixel Binning Algorithm is detecting a
 	 *          weak signal, i.e. if the amplitude dies not reach its
-	 *          (absolute) threshold.
+	 *          (absolute) threshold. If the Golden Pixel is enabled,
+	 *          this also indicates that the Pixel Binning Algorithm
+	 *          falls back to the Golden Pixel.
 	 *          - 0: Normal Signal.
-	 *          - 1: Weak Signal. */
+	 *          - 1: Weak Signal or Golden Pixel Mode. */
 	ARGUS_STATE_WEAK_SIGNAL = 1U << 4U,
 
-	/*! 0x0020: Background Light Warning Flag. \n
+	/*! 0x0020: Background Light Warning Flag.
 	 *          Set whenever the background light is very high and the
 	 *          measurement data might be unreliable.
 	 *          - 0: No Warning: Background Light is within valid range.
 	 *          - 1: Warning: Background Light is very high. */
 	ARGUS_STATE_BGL_WARNING = 1U << 5U,
 
-	/*! 0x0040: Background Light Error Flag. \n
+	/*! 0x0040: Background Light Error Flag.
 	 *          Set whenever the background light is too high and the
 	 *          measurement data is unreliable or invalid.
 	 *          - 0: No Error: Background Light is within valid range.
@@ -273,7 +270,7 @@ typedef enum argus_state_t {
 	 *          - 1: PLL locked at start of integration. */
 	ARGUS_STATE_PLL_LOCKED = 1U << 7U,
 
-	/*! 0x0100: Laser Failure Warning Flag. \n
+	/*! 0x0100: Laser Failure Warning Flag.
 	 *          Set whenever the an invalid system condition is detected.
 	 *          (i.e. DCA at max state but no amplitude on any (incl. reference)
 	 *          pixel, not amplitude but any saturated pixel).
@@ -282,7 +279,7 @@ typedef enum argus_state_t {
 	 *               condition stays, a laser malfunction error is raised. */
 	ARGUS_STATE_LASER_WARNING = 1U << 8U,
 
-	/*! 0x0200: Laser Failure Error Flag. \n
+	/*! 0x0200: Laser Failure Error Flag.
 	 *          Set whenever a laser malfunction error is raised and the
 	 *          system is put into a safe state.
 	 *          - 0: No Error: Laser is operating properly.
@@ -300,12 +297,13 @@ typedef enum argus_state_t {
 	 *          - 1: Auxiliary data is available and correctly evaluated. */
 	ARGUS_STATE_HAS_AUX_DATA = 1U << 11U,
 
-	/*! 0x0100: Pixel Saturation Flag. \n
-	 *          Set whenever any pixel is saturated, i.e. its pixel state is
-	 *          #PIXEL_SAT
-	 *          - 0: No saturated pixels.
-	 *          - 1: Any saturated pixels. */
-	ARGUS_STATE_SATURATED_PIXELS = 1U << 12U,
+	/*! 0x1000: DCA Maximum State Flag.
+	 *          Set whenever the DCA has extended all its parameters to their
+	 *          maximum values and can not increase the integration energy any
+	 *          further.
+	 *          - 0: DCA has not yet reached its maximum state.
+	 *          - 1: DCA has reached its maximum state and can not increase any further. */
+	ARGUS_STATE_DCA_MAX = 1U << 12U,
 
 	/*! 0x2000: DCA is in high Optical Output Power stage. */
 	ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
@@ -322,31 +320,6 @@ typedef enum argus_state_t {
 	/*! 0xC000: DCA is in high Pixel Input Gain stage. */
 	ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
 
-	/*! 0x10000: DCA Minimum State Flag. \n
-	 *           Set whenever the DCA has reduced all its parameters to their
-	 *           minimum values and it can not decrease the integration energy
-	 *           any further.
-	 *           - 0: DCA has not yet reached its minimum state.
-	 *           - 1: DCA has reached its minimum state and can not decrease
-	 *                its parameters any further. */
-	ARGUS_STATE_DCA_MIN = 1U << 16U,
-
-	/*! 0x20000: DCA Maximum State Flag. \n
-	 *           Set whenever the DCA has extended all its parameters to their
-	 *           maximum values and it can not increase the integration energy
-	 *           any further.
-	 *           - 0: DCA has not yet reached its maximum state.
-	 *           - 1: DCA has reached its maximum state and can not increase
-	 *                its parameters any further. */
-	ARGUS_STATE_DCA_MAX = 1U << 17U,
-
-	/*! 0x20000: DCA Reset State Flag. \n
-	 *           Set whenever the DCA is resetting all its parameters to their
-	 *           minimum values because it has detected too many saturated pixels.
-	 *           - 0: DCA is operating in normal mode.
-	 *           - 1: DCA is performing a reset. */
-	ARGUS_STATE_DCA_RESET = 1U << 18U,
-
 } argus_state_t;
 
 /*!***************************************************************************

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h

@@ -58,7 +58,6 @@ extern "C" {
  *****************************************************************************/
 
 #include "utility/int_math.h"
-#include <stdbool.h>
 #include <assert.h>
 
 
@@ -139,13 +138,6 @@ extern "C" {
 #define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U))
 
 
-/*!*****************************************************************************
- * @brief   Macro to create a pixel mask given by the pixels n-index.
- * @param   n n-index of the pixel.
- * @return  The pixel mask with only n-index pixel set.
- ******************************************************************************/
-#define PIXELN_MASK(n) (0x01U << (n))
-
 /*!*****************************************************************************
  * @brief   Macro to determine if a pixel given by the n-index is enabled in a pixel mask.
  * @param   msk 32-bit pixel mask
@@ -159,23 +151,16 @@ extern "C" {
  * @param   msk 32-bit pixel mask
  * @param   n n-index of the pixel to enable.
  ******************************************************************************/
-#define PIXELN_ENABLE(msk, n) ((msk) |= (PIXELN_MASK(n)))
+#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n)))
 
 /*!*****************************************************************************
  * @brief   Macro disable a pixel given by the n-index in a pixel mask.
  * @param   msk 32-bit pixel mask
  * @param   n n-index of the pixel to disable.
  ******************************************************************************/
-#define PIXELN_DISABLE(msk, n) ((msk) &= (~PIXELN_MASK(n)))
+#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n))))
 
 
-/*!*****************************************************************************
- * @brief   Macro to create a pixel mask given by the pixels ADC channel number.
- * @param   c The ADC channel number of the pixel.
- * @return  The 32-bit pixel mask with only pixel ADC channel set.
- ******************************************************************************/
-#define PIXELCH_MASK(c) (0x01U << (PIXEL_CH2N(c)))
-
 /*!*****************************************************************************
  * @brief   Macro to determine if an ADC pixel channel is enabled from a pixel mask.
  * @param   msk The 32-bit pixel mask
@@ -199,14 +184,6 @@ extern "C" {
 #define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c)))
 
 
-/*!*****************************************************************************
- * @brief   Macro to create a pixel mask given by the pixel x-y-indices.
- * @param   x x-index of the pixel.
- * @param   y y-index of the pixel.
- * @return  The 32-bit pixel mask with only pixel ADC channel set.
- ******************************************************************************/
-#define PIXELXY_MASK(x, y) (0x01U << (PIXEL_XY2N(x, y)))
-
 /*!*****************************************************************************
  * @brief   Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask.
  * @param   msk 32-bit pixel mask
@@ -360,10 +337,10 @@ static inline uint32_t ShiftSelectedPixels(const uint32_t pixel_mask,
 
 	uint32_t shifted_mask = 0;
 
-	for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
-		for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
-			int8_t x_src = (int8_t)(x - dx);
-			int8_t y_src = (int8_t)(y - dy);
+	for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
+		for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
+			int8_t x_src = x - dx;
+			int8_t y_src = y - dy;
 
 			if (dy & 0x1) {
 				/* Compensate for hexagonal pixel shape. */
@@ -432,8 +409,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 		int8_t min_y = -1;
 
 		/* Find nearest not selected pixel. */
-		for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
-			for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
+		for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
+			for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
 				if (!PIXELXY_ISENABLED(pixel_mask, x, y)) {
 					int32_t distx = (x - center_x) << 1;
 
@@ -446,8 +423,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 
 					if (dist < min_dist) {
 						min_dist = dist;
-						min_x = (int8_t)x;
-						min_y = (int8_t)y;
+						min_x = x;
+						min_y = y;
 					}
 				}
 			}
@@ -461,64 +438,6 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 
 	return pixel_mask;
 }
-
-/*!*****************************************************************************
- * @brief   Fills a pixel mask with the direct neighboring pixels around a pixel.
- *
- * @details The pixel mask is iteratively filled with the direct neighbors of the
- *          specified center pixel.
- *
- *          Note that the function is able to handle corner and edge pixels and
- *          also to handle odd/even lines (which have different layouts)
- *
- * @param   x The selected pixel x-index.
- * @param   y The selected pixel y-index.
- * @return  The filled pixel mask with all direct neighbors of the selected pixel.
- ******************************************************************************/
-static inline uint32_t GetAdjacentPixelsMask(const uint_fast8_t x,
-		const uint_fast8_t y)
-{
-	assert(x < ARGUS_PIXELS_X);
-	assert(y < ARGUS_PIXELS_Y);
-
-	uint32_t mask = 0u;
-
-	bool isXEdgeLow = (x == 0);
-	bool isXEdgeHigh = (x == (ARGUS_PIXELS_X - 1));
-	bool isYEdgeLow = (y == 0);
-	bool isYEdgeHigh = (y == (ARGUS_PIXELS_Y - 1));
-
-	if (y % 2 == 0) {
-		if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x,     y - 1); }
-
-		if ((!isXEdgeHigh) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x + 1, y - 1); }
-
-		if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
-
-		if ((!isXEdgeHigh) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x + 1, y + 1); }
-
-		if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x,     y + 1); }
-
-		if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
-
-	} else {
-		if ((!isXEdgeLow) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x - 1, y - 1); }
-
-		if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x,     y - 1); }
-
-		if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
-
-		if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x,     y + 1); }
-
-		if ((!isXEdgeLow) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x - 1, y + 1); }
-
-		if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
-	}
-
-	return mask;
-}
-
-
 /*! @} */
 #ifdef __cplusplus
 } // extern "C"

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h

@@ -0,0 +1,170 @@
+/*************************************************************************//**
+ * @file
+ * @brief    	This file is part of the AFBR-S50 API.
+ * @details		Defines macros to work with pixel and ADC channel masks.
+ *
+ * @copyright
+ *
+ * Copyright (c) 2021, Broadcom Inc
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder 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 HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef ARGUS_MSK_H
+#define ARGUS_MSK_H
+
+/*!***************************************************************************
+ * @defgroup	argusmap ADC Channel Mapping
+ * @ingroup		argusres
+ *
+ * @brief		Pixel ADC Channel (n) to x-y-Index Mapping
+ *
+ * @details		The ADC Channels of each pixel or auxiliary channel on the device
+ * 				is numbered in a way that is convenient on the chip. The macros
+ * 				in this module are defined in order to obtain the x-y-indices of
+ * 				each channel and vice versa.
+ *
+ * @addtogroup 	argusmap
+ * @{
+ *****************************************************************************/
+
+#include "api/argus_def.h"
+#include "utility/int_math.h"
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the channel number of an specified Pixel.
+ * @param	x The x index of the pixel.
+ * @param	y The y index of the pixel.
+ * @return	The channel number n of the pixel.
+ ******************************************************************************/
+#define PIXEL_XY2N(x, y) ((((x) ^ 7) << 1) | ((y) & 2) << 3 | ((y) & 1))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the x index of an specified Pixel channel.
+ * @param	n The channel number of the pixel.
+ * @return	The x index number of the pixel.
+ ******************************************************************************/
+#define PIXEL_N2X(n) ((((n) >> 1U) & 7) ^ 7)
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the y index of an specified Pixel channel.
+ * @param	n The channel number of the pixel.
+ * @return	The y index number of the pixel.
+ ******************************************************************************/
+#define PIXEL_N2Y(n) (((n) & 1U) | (((n) >> 3) & 2U))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC Pixel channel was enabled from a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ * @return 	True if the pixel channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define PIXELN_ISENABLED(msk, ch) (((msk) >> (ch)) & 0x01U)
+
+/*!*****************************************************************************
+ * @brief	Macro enables an ADC Pixel channel in a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ ******************************************************************************/
+#define PIXELN_ENABLE(msk, ch) ((msk) |= (0x01U << (ch)))
+
+/*!*****************************************************************************
+ * @brief	Macro disables an ADC Pixel channel in a pixel mask.
+ * @param	msk The 32-bit pixel mask
+ * @param	ch The channel number of the pixel.
+ ******************************************************************************/
+#define PIXELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << (ch))))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if an ADC Pixel channel was enabled from a pixel mask.
+ * @param	msk 32-bit pixel mask
+ * @param	x x index of the pixel.
+ * @param	y y index of the pixel.
+ * @return 	True if the pixel (x,y) was enabled, false elsewise.
+ ******************************************************************************/
+#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro enables an ADC Pixel channel in a pixel mask.
+ * @param	msk 32-bit pixel mask
+ * @param	x x index of the pixel.
+ * @param	y y index of the pixel.
+ ******************************************************************************/
+#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro disables an ADC Pixel channel in a pixel mask.
+ * @param	msk 32-bit pixel mask
+ * @param	x x index of the pixel.
+ * @param	y y index of the pixel.
+ ******************************************************************************/
+#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y)))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U)
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U)))
+
+/*!*****************************************************************************
+ * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
+ * @param	msk 32-bit channel mask
+ * @param	ch channel number of the ADC channel.
+ * @return 	True if the ADC channel n was enabled, false elsewise.
+ ******************************************************************************/
+#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U))))
+
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the number of enabled pixel channels via a popcount
+ * 			algorithm.
+ * @param	pxmsk 32-bit pixel mask
+ * @return 	The count of enabled pixel channels.
+ ******************************************************************************/
+#define PIXEL_COUNT(pxmsk) popcount(pxmsk)
+
+/*!*****************************************************************************
+ * @brief	Macro to determine the number of enabled channels via a popcount
+ * 			algorithm.
+ * @param	pxmsk 32-bit pixel mask
+ * @param	chmsk 32-bit channel mask
+ * @return 	The count of enabled ADC channels.
+ ******************************************************************************/
+#define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk))
+
+/*! @} */
+#endif /* ARGUS_MSK_H */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h

@@ -36,9 +36,6 @@
 
 #ifndef ARGUS_OFFSET_H
 #define ARGUS_OFFSET_H
-#ifdef __cplusplus
-extern "C" {
-#endif
 
 /*!***************************************************************************
  * @addtogroup  argus_cal
@@ -51,26 +48,12 @@ extern "C" {
  * @brief   Pixel Range Offset Table.
  * @details Contains pixel range offset values for all 32 active pixels.
  *****************************************************************************/
-typedef union argus_cal_offset_table_t {
-	struct {
-		/*! The offset values table for Low Power Stage of all 32 pixels.
-		 *  Unit: meter; Format: Q0.15 */
-		q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
-
-		/*! The offset values table for High Power Stage of all 32 pixels.
-		 *  Unit: meter; Format: Q0.15 */
-		q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
-	};
-
-	/*! The offset values table for Low/High Power Stages of all 32 pixels.
-	 *  Unit: meter; Format: Q0.15 */
-	q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+typedef struct argus_cal_offset_table_t {
+	/*! The offset values per pixel in meter and Q0.15 format. */
+	q0_15_t Table[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
 } argus_cal_offset_table_t;
 
 
 /*! @} */
-#ifdef __cplusplus
-} // extern "C"
-#endif
 #endif /* ARGUS_OFFSET_T */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h

@@ -55,11 +55,11 @@ extern "C" {
  *              information from the filtered pixels by averaging them in a
  *              specified way.
  *
- *              Basically, the Pixel Binning Algorithm is a multi-stage filter:
+ *              The Pixel Binning Algorithm is a three-stage filter with a
+ *              fallback value:
  *
  *              -# A fixed pre-filter mask is applied to statically disable
  *                  specified pixels.
- *
  *              -# A relative and absolute amplitude filter is applied in the
  *                  second stage. The relative filter is determined by a ratio
  *                  of the maximum amplitude off all available (i.e. not filtered
@@ -75,28 +75,12 @@ extern "C" {
  *                  selected and considered for the final 1D distance. The
  *                  absolute threshold is used to dismiss pixels that are below
  *                  the noise level. The latter would be considered for the 1D
- *                  result if the maximum amplitude is already very low.\n
- *                  Those threshold are implemented using a hysteresis behavior.
- *                  For its configuration, see the following parameters:
- *                  - #argus_cfg_pba_t::RelativeAmplitudeInclusion
- *                  - #argus_cfg_pba_t::RelativeAmplitudeExclusion
- *                  - #argus_cfg_pba_t::AbsoluteAmplitudeInclusion
- *                  - #argus_cfg_pba_t::AbsoluteAmplitudeExclusion
- *                  .
- *
+ *                  result if the maximum amplitude is already very low.
  *              -# An absolute minimum distance filter is applied in addition
  *                  to the amplitude filter. This removes all pixel that have
  *                  a lower distance than the specified threshold. This is used
  *                  to remove invalid pixels that can be detected by a physically
- *                  not correct negative distance.\n
- *                  For its configuration, see the following parameters:
- *                  - #PBA_ENABLE_MIN_DIST_SCOPE
- *                  - #argus_cfg_pba_t::AbsoluteDistanceScopeInclusion
- *                  - #argus_cfg_pba_t::AbsoluteDistanceScopeExclusion
- *                  - #argus_cfg_pba_t::RelativeDistanceScopeInclusion
- *                  - #argus_cfg_pba_t::RelativeDistanceScopeExclusion
- *                  .
- *
+ *                  not correct negative distance.
  *              -# A distance filter is used to distinguish pixels that target
  *                  the actual object from pixels that see the brighter background,
  *                  e.g. white walls. Thus, the pixel with the minimum distance
@@ -106,31 +90,11 @@ extern "C" {
  *                  determined by an relative (to the current minimum distance)
  *                  and an absolute value. The larger scope value is the
  *                  relevant one, i.e. the relative distance scope can be used
- *                  to heed the increasing noise at larger distances.\n
- *                  For its configuration, see the following parameters:
- *                  - #argus_cfg_pba_t::AbsoluteMinimumDistanceThreshold
- *                  .
- *
+ *                  to heed the increasing noise at larger distances.
  *              -# If all of the above filters fail to determine a single valid
  *                  pixel, the Golden Pixel is used as a fallback value. The
  *                  Golden Pixel is the pixel that sits right at the focus point
- *                  of the optics at large distances. Thus, it is expected to
- *                  have the best signal at large distances.\n
- *                  For its configuration, see the following parameters:
- *                  - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
- *                  .
- *
- *              -# In order to avoid unwanted effects from "out-of-focus" pixels
- *                  in application that require a smaller focus, the Golden Pixel
- *                  Priority Mode prioritizes a valid signal on the central
- *                  Golden Pixel over other pixels. That is, while the Golden
- *                  Pixel has a reasonable signal strength, it is the only pixel
- *                  considered for the 1D result.\n
- *                  For its configuration, see the following parameters:
- *                  - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
- *                  - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeInclusion
- *                  - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeExclusion
- *                  .
+ *                  of the optics at large distances.
  *              .
  *
  *              After filtering is done, there may be more than a single pixel
@@ -149,17 +113,14 @@ extern "C" {
  * @brief   Enable flags for the pixel binning algorithm.
  *
  * @details Determines the pixel binning algorithm feature enable status.
- *
  *          - [0]: #PBA_ENABLE: Enables the pixel binning feature.
  *          - [1]: reserved
  *          - [2]: reserved
  *          - [3]: reserved
- *          - [4]: #PBA_ENABLE_GOLDPX_PRIORITY_MODE: Enables the Golden Pixel
- *                                                   priority mode feature.
- *          - [5]: #PBA_ENABLE_GOLDPX_FALLBACK_MODE: Enables the Golden Pixel
- *                                                   fallback mode feature.
- *          - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance
- *                                             scope feature.
+ *          - [4]: reserved
+ *          - [5]: #PBA_ENABLE_GOLDPX: Enables the Golden Pixel feature.
+ *          - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope
+ *                   feature.
  *          - [7]: reserved
  *          .
  *****************************************************************************/
@@ -167,17 +128,8 @@ typedef enum argus_pba_flags_t {
 	/*! Enables the pixel binning feature. */
 	PBA_ENABLE = 1U << 0U,
 
-	/*! Enables the Golden Pixel Priority Mode.
-	 *  If enabled, the Golden Pixel is prioritized over other Pixels as long
-	 *  as it has a good signal (determined by # */
-	PBA_ENABLE_GOLDPX_PRIORITY_MODE = 1U << 4U,
-
-	/*! Enables the Golden Pixel Fallback Mode.
-	 *  If enabled, the Golden Pixel is used as a last fallback pixel to obtain
-	 *  a valid signal from. This is recommended for all non-multi pixel
-	 *  devices whose TX field-of-view is aligned to target the Golden Pixel in
-	 *  factory calibration. */
-	PBA_ENABLE_GOLDPX_FALLBACK_MODE = 1U << 5U,
+	/*! Enables the Golden Pixel. */
+	PBA_ENABLE_GOLDPX = 1U << 5U,
 
 	/*! Enables the minimum distance scope filter. */
 	PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U,
@@ -216,297 +168,65 @@ typedef struct {
 	 *  about the individual evaluation modes. */
 	argus_pba_averaging_mode_t AveragingMode;
 
-	/*! The relative amplitude inclusion threshold (in %) of the max. amplitude.
+	/*! The Relative amplitude threshold value (in %) of the max. amplitude.
 	 *
-	 *  Pixels, whose amplitudes raise above this inclusion threshold, are
-	 *  added to the pixel binning. The amplitude must fall below the
-	 *  exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
-	 *  the pixel binning again.
+	 *  Pixels with amplitude below this threshold value are dismissed.
 	 *
 	 *  All available values from the 8-bit representation are valid.
 	 *  The actual percentage value is determined by 100%/256*x.
 	 *
-	 *  Note: in addition to the relative criteria, there is also the absolute
-	 *  criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
-	 *  The pixels are added to the pixel binning if their respective amplitude
-	 *  is larger than the absolute AND relative inclusion values. On the other
-	 *  hand, they are removed if their amplitude falls below the absolute OR
-	 *  relative exclusion threshold.
-	 *
-	 *  Must be greater than or equal to the #RelativeAmplitudeExclusion.
-	 *
-	 *  Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only.
-	 *
-	 *  Use 0 (for both, #RelativeAmplitudeExclusion and
-	 *  #RelativeAmplitudeInclusion) to disable the relative amplitude
-	 *  hysteresis. */
-	uq0_8_t RelativeAmplitudeInclusion;
+	 *  Use 0 to disable the relative amplitude threshold. */
+	uq0_8_t RelAmplThreshold;
 
-	/*! The relative amplitude exclusion threshold (in %) of the max. amplitude.
+	/*! The relative minimum distance scope value in %.
 	 *
-	 *  Pixels, whose amplitudes fall below this exclusion threshold, are
-	 *  removed from the pixel binning. The amplitude must raise above the
-	 *  inclusion (#RelativeAmplitudeInclusion) threshold to be added back
-	 *  to be pixel binning again.
+	 *  Pixels that have a range value within [x0, x0 + dx] are considered
+	 *  for the pixel binning, where x0 is the minimum distance of all
+	 *  amplitude picked pixels and dx is the minimum distance scope value.
+	 *  The minimum distance scope value will be the maximum of relative
+	 *  and absolute value.
 	 *
 	 *  All available values from the 8-bit representation are valid.
 	 *  The actual percentage value is determined by 100%/256*x.
 	 *
-	 *  Note: in addition to the relative criteria, there is also the absolute
-	 *  criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
-	 *  The pixels are added to the pixel binning if their respective amplitude
-	 *  is larger than the absolute AND relative inclusion values. On the other
-	 *  hand, they are removed if their amplitude falls below the absolute OR
-	 *  relative exclusion threshold.
-	 *
-	 *  Must be less than or equal to #RelativeAmplitudeInclusion.
-	 *
-	 *  Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only.
-	 *
-	 *  Use 0 (for both, #RelativeAmplitudeExclusion and
-	 *  #RelativeAmplitudeInclusion) to disable the relative amplitude
-	 *  hysteresis. */
-	uq0_8_t RelativeAmplitudeExclusion;
+	 *  Special values:
+	 *  - 0: Use 0 for absolute value only or to choose the pixel with the
+	 *       minimum distance only (of also the absolute value is 0)! */
+	uq0_8_t RelMinDistanceScope;
 
-	/*! The absolute amplitude inclusion threshold in LSB.
+	/*! The absolute amplitude threshold value in LSB.
 	 *
-	 *  Pixels, whose amplitudes raise above this inclusion threshold, are
-	 *  added to the pixel binning. The amplitude must fall below the
-	 *  exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
-	 *  the pixel binning again.
+	 *  Pixels with amplitude below this threshold value are dismissed.
 	 *
-	 *  The absolute amplitude hysteresis is only valid if the Golden Pixel
-	 *  mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
-	 *  which disables the absolute criteria.
+	 *  The absolute amplitude threshold is only valid if the Golden Pixel
+	 *  mode is enabled. Otherwise, the threshold is set to 0 LSB internally.
 	 *
 	 *  All available values from the 16-bit representation are valid.
 	 *  The actual LSB value is determined by x/16.
 	 *
-	 *  Note: in addition to the absolute criteria, there is also the relative
-	 *  criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
-	 *  The pixels are added to the pixel binning if their respective amplitude
-	 *  is larger than the absolute AND relative inclusion values. On the other
-	 *  hand, they are removed if their amplitude falls below the absolute OR
-	 *  relative exclusion threshold.
-	 *
-	 *  Must be greater than or equal to #AbsoluteAmplitudeExclusion.
-	 *
-	 *  Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only.
-	 *
-	 *  Use 0 (for both, #AbsoluteAmplitudeExclusion and
-	 *  #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
-	 *  hysteresis. */
-	uq12_4_t AbsoluteAmplitudeInclusion;
+	 *  Use 0 to disable the absolute amplitude threshold. */
+	uq12_4_t AbsAmplThreshold;
 
-	/*! The absolute amplitude exclusion threshold in LSB.
+	/*! The absolute minimum distance scope value in m.
 	 *
-	 *  Pixels, whose amplitudes fall below this exclusion threshold, are
-	 *  removed from the pixel binning. The amplitude must raise above the
-	 *  inclusion (#RelativeAmplitudeInclusion) threshold to be added back
-	 *  to be pixel binning again.
-	 *
-	 *  The absolute amplitude hysteresis is only valid if the Golden Pixel
-	 *  mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
-	 *  which disables the absolute criteria.
-	 *
-	 *  All available values from the 16-bit representation are valid.
-	 *  The actual LSB value is determined by x/16.
-	 *
-	 *  Note: in addition to the absolute criteria, there is also the relative
-	 *  criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
-	 *  The pixels are added to the pixel binning if their respective amplitude
-	 *  is larger than the absolute AND relative inclusion values. On the other
-	 *  hand, they are removed if their amplitude falls below the absolute OR
-	 *  relative exclusion threshold.
-	 *
-	 *  Must be less than or equal to #AbsoluteAmplitudeInclusion.
-	 *
-	 *  Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only.
-	 *
-	 *  Use 0 (for both, #AbsoluteAmplitudeExclusion and
-	 *  #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
-	 *  hysteresis. */
-	uq12_4_t AbsoluteAmplitudeExclusion;
-
-	/*! The Golden Pixel Priority Mode inclusion threshold in LSB.
-	 *
-	 *  The Golden Pixel Priority Mode prioritizes a valid signal on the
-	 *  Golden Pixel over other pixel to avoid unwanted effects from
-	 *  "out-of-focus" pixels in application that require a smaller focus.
-	 *
-	 *  If the Golden Pixel priority mode is enabled (see
-	 *  #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid signal
-	 *  with amplitude higher than this inclusion threshold, its priority state
-	 *  is enabled and the binning exits early by dismissing all other pixels
-	 *  regardless of their respective amplitude or state. The Golden Pixel
-	 *  priority state is disabled if the Golden Pixel amplitude falls below
-	 *  the exclusion threshold (#GoldenPixelPriorityAmplitudeExclusion) or its
-	 *  state becomes invalid (e.g. #PIXEL_SAT).
-	 *
-	 *  All available values from the 16-bit representation are valid.
-	 *  The actual LSB value is determined by x/16.
-	 *
-	 *  Use 0 to disable the Golden Pixel priority mode hysteresis. */
-	uq12_4_t GoldenPixelPriorityAmplitudeInclusion;
-
-	/*! The Golden Pixel Priority Mode exclusion threshold in LSB.
-	 *
-	 *  The Golden Pixel Priority Mode prioritizes a valid signal on the
-	 *  Golden Pixel over other pixel to avoid unwanted effects from
-	 *  "out-of-focus" pixels in application that require a smaller focus.
-	 *
-	 *  If the Golden Pixel priority mode is enabled (see
-	 *  #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid
-	 *  signal with amplitude higher than the exclusion threshold
-	 *  (#GoldenPixelPriorityAmplitudeInclusion), its priority state is enabled
-	 *  and the binning exits early by dismissing all other pixels regardless
-	 *  of their respective amplitude or state. The Golden Pixel priority state
-	 *  is disabled if the Golden Pixel amplitude falls below this exclusion
-	 *  threshold or its state becomes invalid (e.g. #PIXEL_SAT).
-	 *
-	 *  All available values from the 16-bit representation are valid.
-	 *  The actual LSB value is determined by x/16.
-	 *
-	 *  Use 0 to disable the Golden Pixel priority mode hysteresis. */
-	uq12_4_t GoldenPixelPriorityAmplitudeExclusion;
-
-	/*! The relative minimum distance scope inclusion threshold (in %).
-	 *
-	 *  Pixels, whose range is smaller than the minimum distance inclusion
-	 *  threshold (x_min + dx_incl) are added to the pixel binning. The
-	 *  range must raise above the exclusion
-	 *  (#RelativeDistanceScopeExclusion) threshold to be removed
-	 *  from the pixel binning again. The relative value is determined
-	 *  by multiplying the percentage with the minimum distance.
-	 *
-	 *  The distance scope determines an interval within that pixels
-	 *  are considered valid, originating at the minimum distance (x_min).
-	 *  The width of the interval is specified by the relative and absolute
-	 *  minimum distance scope thresholds. The actual values it the
-	 *  maximum of both, the relative and absolute inclusion values
-	 *  (#AbsoluteDistanceScopeInclusion).
-	 *
-	 *  All available values from the 8-bit representation are valid.
-	 *  The actual percentage value is determined by 100%/256*x.
-	 *
-	 *  Must be smaller than or equal to the #RelativeDistanceScopeExclusion.
-	 *
-	 *  Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only. */
-	uq0_8_t RelativeDistanceScopeInclusion;
-
-	/*! The relative distance scope exclusion threshold (in %).
-	 *
-	 *  Pixels, whose range is larger than the minimum distance exclusion
-	 *  threshold (x_min + dx_excl) are removed from the pixel binning. The
-	 *  range must fall below the inclusion
-	 *  (#RelativeDistanceScopeInclusion) threshold to be added
-	 *  to the pixel binning again. The relative value is determined
-	 *  by multiplying the percentage with the minimum distance.
-	 *
-	 *  The distance scope determines an interval within that pixels
-	 *  are considered valid, originating at the minimum distance (x_min).
-	 *  The width of the interval is specified by the relative and absolute
-	 *  minimum distance scope thresholds. The actual values it the
-	 *  maximum of both, the relative and absolute exclusion values
-	 *  (#AbsoluteDistanceScopeExclusion).
-	 *
-	 *  All available values from the 8-bit representation are valid.
-	 *  The actual percentage value is determined by 100%/256*x.
-	 *
-	 *  Must be larger than or equal to the #RelativeDistanceScopeInclusion.
-	 *
-	 *  Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only. */
-	uq0_8_t RelativeDistanceScopeExclusion;
-
-	/*! The absolute minimum distance scope inclusion threshold (in m).
-	 *
-	 *  Pixels, whose range is smaller than the minimum distance inclusion
-	 *  threshold (x_min + dx_incl) are added to the pixel binning. The
-	 *  range must raise above the exclusion
-	 *  (#AbsoluteDistanceScopeExclusion) threshold to be added
-	 *  to the pixel binning again.
-	 *
-	 *  The distance scope determines an interval within that pixels
-	 *  are considered valid, originating at the minimum distance (x_min).
-	 *  The width of the interval is specified by the relative and absolute
-	 *  minimum distance scope thresholds. The actual values it the
-	 *  maximum of both, the relative and absolute exclusion values
-	 *  (#RelativeDistanceScopeInclusion).
+	 *  Pixels that have a range value within [x0, x0 + dx] are considered
+	 *  for the pixel binning, where x0 is the minimum distance of all
+	 *  amplitude picked pixels and dx is the minimum distance scope value.
+	 *  The minimum distance scope value will be the maximum of relative
+	 *  and absolute value.
 	 *
 	 *  All available values from the 16-bit representation are valid.
 	 *  The actual LSB value is determined by x/2^15.
 	 *
-	 *  Must be smaller than or equal to the #AbsoluteDistanceScopeExclusion.
-	 *
-	 *  Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only. */
-	uq1_15_t AbsoluteDistanceScopeInclusion;
-
-	/*! The absolute minimum distance scope exclusion threshold (in m).
-	 *
-	 *  Pixels, whose range is larger than the minimum distance exclusion
-	 *  threshold (x_min + dx_excl) are removed from the pixel binning. The
-	 *  range must fall below the inclusion
-	 *  (#AbsoluteDistanceScopeInclusion) threshold to be added
-	 *  to the pixel binning again.
-	 *
-	 *  The distance scope determines an interval within that pixels
-	 *  are considered valid, originating at the minimum distance (x_min).
-	 *  The width of the interval is specified by the relative and absolute
-	 *  minimum distance scope thresholds. The actual values it the
-	 *  maximum of both, the relative and absolute exclusion values
-	 *  (#RelativeDistanceScopeExclusion).
-	 *
-	 *  All available values from the 16-bit representation are valid.
-	 *  The actual LSB value is determined by x/2^15.
-	 *
-	 *  Must be larger than or equal to the #AbsoluteDistanceScopeInclusion.
-	 *
-	 *  Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
-	 *  disable the hysteresis behavior and use it as a threshold only. */
-	uq1_15_t AbsoluteDistanceScopeExclusion;
-
-	/*! The Golden Pixel Saturation Filter Pixel Threshold.
-	 *
-	 *  The Golden Pixel Saturation Filter will evaluate the status of the
-	 *  Golden Pixel to #PIXEL_INVALID if a certain number of active pixels,
-	 *  i.e. pixels that are not removed by the static pre-filter mask
-	 *  (#PrefilterMask), are saturated (#PIXEL_SAT).
-	 *
-	 *  The purpose of this filter is to avoid erroneous situations with highly
-	 *  reflective targets (e.g. retro-reflectors) that can invalidate the
-	 *  Golden Pixel such that it would not show the correct saturation state.
-	 *  In order to avoid using the Golden Pixel in that scenario, this filter
-	 *  mechanism can be used to remove the Golden Pixel if a specified number
-	 *  of other pixels show saturation state.
-	 *
-	 *  Use 0 to disable the Golden Pixel Saturation Filter. */
-	uint8_t GoldenPixelSaturationFilterPixelThreshold;
-
-	/*! The Golden Pixel out-of-sync age limit for the GPPM.
-	 *
-	 *  The Golden Pixel out-of-sync age is the number of consecutive frames
-	 *  where the Golden Pixel is out-of-sync. This parameters is the threshold
-	 *  to distinguish between temporary and permanent out-of-sync states.
-	 *
-	 *  Temporary out-of-sync states happen when the target rapidly changes. In
-	 *  this case, the Golden Pixel Priority Mode (GPPM) is not exited. Only if
-	 *  the out-of-sync age exceeds the specified threshold, the Golden Pixel is
-	 *  considered erroneous and the GPPM is exited.
-	 *
-	 *  Use 0 to disable the Golden Pixel out-of-sync aging (= infinity). */
-	uint8_t GoldenPixelOutOfSyncAgeThreshold;
+	 *  Special values:
+	 *  - 0: Use 0 for relative value only or to choose the pixel with the
+	 *       minimum distance only (of also the relative value is 0)! */
+	uq1_15_t AbsMinDistanceScope;
 
 	/*! The absolute minimum distance threshold value in m.
 	 *
 	 *  Pixels with distance below this threshold value are dismissed. */
-	q9_22_t AbsoluteMinimumDistanceThreshold;
+	q9_22_t AbsMinDistanceThreshold;
 
 	/*! The pre-filter pixel mask determines the pixel channels that are
 	 *  statically excluded from the pixel binning (i.e. 1D distance) result.

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h

@@ -55,9 +55,6 @@ extern "C" {
  * Also used as a special value to determine no object detected or infinity range. */
 #define ARGUS_RANGE_MAX (Q9_22_MAX)
 
-/*! Minimum range value in Q9.22 format. */
-#define ARGUS_RANGE_MIN (Q9_22_MIN)
-
 /*!***************************************************************************
  * @brief   Status flags for the evaluated pixel structure.
  *

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h

@@ -227,19 +227,12 @@ enum Status {
 
 	/*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected
 	 *  power-on-reset cycle or invalid write cycle of SPI. System tries to
-	 *  reset the values.
-	 *
-	 *  @note If this error occurs after intentionally cycling the power supply
-	 *  of the device, use the #Argus_RestoreDeviceState API function to properly
-	 *  recover the current API state into the device to avoid that issue. */
+	 *  reset the values. */
 	ERROR_ARGUS_DATA_INTEGRITY_LOST = -114,
 
 	/*! -115: AFBR-S50 Error: The range offsets calibration failed! */
 	ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115,
 
-	/*! -116: AFBR-S50 Error: The VSUB calibration failed! */
-	ERROR_ARGUS_VSUB_CALIBRATION_FAILED = -116,
-
 	/*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the
 	 *  requested command. */
 	ERROR_ARGUS_BUSY = -191,

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h

@@ -56,13 +56,13 @@ extern "C" {
 #define ARGUS_API_VERSION_MAJOR    1
 
 /*! Minor version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_MINOR    5
+#define ARGUS_API_VERSION_MINOR    4
 
 /*! Bugfix version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_BUGFIX   6
+#define ARGUS_API_VERSION_BUGFIX   4
 
 /*! Build version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_BUILD    "20240208081753"
+#define ARGUS_API_VERSION_BUILD    "20230327150535"
 
 /*****************************************************************************/
 

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h

@@ -72,28 +72,30 @@ typedef struct xtalk_t {
  * @details Contains crosstalk vector values for all 32 active pixels,
  *          separated for A/B-Frames.
  *****************************************************************************/
-typedef union argus_cal_xtalk_table_t {
-	struct {
-		/*! The crosstalk vector table for A-Frames. */
-		xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+typedef struct argus_cal_xtalk_table_t {
+	union {
+		struct {
+			/*! The crosstalk vector table for A-Frames. */
+			xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
-		/*! The crosstalk vector table for B-Frames. */
-		xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+			/*! The crosstalk vector table for B-Frames. */
+			xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+		};
+
+		/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
+		xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 	};
 
-	/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
-	xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
-
 } argus_cal_xtalk_table_t;
 
 
 /*!***************************************************************************
- * @brief   Electrical Pixel-To-Pixel Crosstalk Compensation Parameters.
- * @details Contains calibration data that belongs to the electrical
- *          pixel-to-pixel crosstalk compensation feature.
+ * @brief   Pixel-To-Pixel Crosstalk Compensation Parameters.
+ * @details Contains calibration data that belongs to the pixel-to-pixel
+ *          crosstalk compensation feature.
  *****************************************************************************/
-typedef struct argus_cal_electrical_p2pxtalk_t {
-	/*! Electrical Pixel-To-Pixel Compensation on/off. */
+typedef struct argus_cal_p2pxtalk_t {
+	/*! Pixel-To-Pixel Compensation on/off. */
 	bool Enabled;
 
 	/*! The relative threshold determines when the compensation is active for
@@ -132,40 +134,9 @@ typedef struct argus_cal_electrical_p2pxtalk_t {
 	 *  Higher values determine more influence on the reference pixel signal. */
 	q3_12_t KcFactorCRefPx;
 
-} argus_cal_electrical_p2pxtalk_t;
-
-/*!***************************************************************************
- * @brief   Optical Pixel-To-Pixel Crosstalk Compensation Parameters.
- * @details Contains calibration data that belongs to the optical
- *          pixel-to-pixel crosstalk compensation feature.
- *****************************************************************************/
-typedef struct argus_cal_optical_p2pxtalk_t {
-	/*! Optical Pixel-To-Pixel Compensation on/off. */
-	bool Enabled;
-
-	/*! The sine component of the coupling coefficient that determines the amount
-	 *  of a neighbour pixel signal that influences the raw signal of certain pixel.
-	 *  Higher values determine more influence on the individual pixel signal. */
-	q3_12_t CouplingCoeffS;
-
-	/*! The cosine component of the coupling coefficient that determines the amount
-	 *  of a neighbour pixel signal that influences the raw signal of a certain pixel.
-	 *  Higher values determine more influence on the individual pixel signal. */
-	q3_12_t CouplingCoeffC;
-
-} argus_cal_optical_p2pxtalk_t;
-
-/*!***************************************************************************
- * @brief   Pixel-To-Pixel Crosstalk Compensation Parameters.
- * @details Contains combined calibration data for electrical and
- *          optical pixel-to-pixel crosstalk compensation feature.
- *****************************************************************************/
-typedef struct argus_cal_p2pxtalk_t {
-	argus_cal_electrical_p2pxtalk_t Electrical;
-
-	argus_cal_optical_p2pxtalk_t Optical;
 } argus_cal_p2pxtalk_t;
 
+
 /*! @} */
 #ifdef __cplusplus
 } // extern "C"

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h

@@ -61,7 +61,7 @@ extern "C" {
  * @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit
  *          architecture with maximum precision.
  *          The result is correctly rounded and given as the input format.
- *          Division by 0 yields max. values determined by signs of numerator.
+ *          Division by 0 yields max. values determined by signa of numerator.
  *          Too high/low results are truncated to max/min values.
  *
  *          Depending on the architecture, the division is implemented with a 64-bit
@@ -89,14 +89,14 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
 
 		if (c > 0x80000000U) { return INT32_MIN; }
 
-		return (int32_t) - c;
+		return -c;
 
 	} else {
 		c = ((c / b) + (1 << 13U)) >> 14U;
 
 		if (c > (int64_t)INT32_MAX) { return INT32_MAX; }
 
-		return (int32_t)c;
+		return c;
 	}
 
 #else
@@ -159,16 +159,10 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
 
 	/* Figure out the sign of result */
 	if ((uint32_t)(a ^ b) & 0x80000000U) {
-		return (int32_t) - result;
-
-	} else {
-		// fix 05.10.2023; the corner case, when result == INT32_MAX + 1:
-		// Catch the wraparound (to INT32_MIN) and truncate instead.
-		if (quotient > INT32_MAX) { return INT32_MAX; }
-
-		return (int32_t)result;
+		result = -result;
 	}
 
+	return (int32_t)result;
 #endif
 }
 

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h

@@ -118,7 +118,7 @@ inline uint32_t fp_mulu(uint32_t u, uint32_t v, uint_fast8_t shift)
 	assert(shift <= 32);
 #if USE_64BIT_MUL
 	const uint64_t w = (uint64_t)u * (uint64_t)v;
-	return (uint32_t)((w >> shift) + ((w >> (shift - 1)) & 1U));
+	return (w >> shift) + ((w >> (shift - 1)) & 1U);
 #else
 	uint32_t tmp[2] = { 0 };
 	muldwu(tmp, u, v);
@@ -158,15 +158,15 @@ inline int32_t fp_muls(int32_t u, int32_t v, uint_fast8_t shift)
 
 	uint32_t u2, v2;
 
-	if (u < 0) { u2 = (uint32_t) - u; sign = -sign; } else { u2 = (uint32_t)u; }
+	if (u < 0) { u2 = -u; sign = -sign; } else { u2 = u; }
 
-	if (v < 0) { v2 = (uint32_t) - v; sign = -sign; } else { v2 = (uint32_t)v; }
+	if (v < 0) { v2 = -v; sign = -sign; } else { v2 = v; }
 
 	const uint32_t res = fp_mulu(u2, v2, shift);
 
 	assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U);
 
-	return sign > 0 ? (int32_t)res : -(int32_t)res;
+	return sign > 0 ? res : -res;
 }
 
 
@@ -225,9 +225,7 @@ inline uint32_t fp_mul_u32_u16(uint32_t u, uint16_t v, uint_fast8_t shift)
  *****************************************************************************/
 inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift)
 {
-	return u >= 0 ?
-	       (int32_t)fp_mul_u32_u16((uint32_t)u, v, shift) :
-	       -(int32_t)fp_mul_u32_u16((uint32_t) - u, v, shift);
+	return u >= 0 ? fp_mul_u32_u16(u, v, shift) : - fp_mul_u32_u16(-u, v, shift);
 }
 
 /*! @} */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h

@@ -80,7 +80,7 @@ inline uint32_t fp_rndu(uint32_t Q, uint_fast8_t n)
  *****************************************************************************/
 inline int32_t fp_rnds(int32_t Q, uint_fast8_t n)
 {
-	return (Q < 0) ? -(int32_t)fp_rndu((uint32_t)(-Q), n) : (int32_t)fp_rndu((uint32_t)Q, n);
+	return (Q < 0) ? -fp_rndu(-Q, n) : fp_rndu(Q, n);
 }
 
 /*!***************************************************************************
@@ -108,7 +108,7 @@ inline uint32_t fp_truncu(uint32_t Q, uint_fast8_t n)
  *****************************************************************************/
 inline int32_t fp_truncs(int32_t Q, uint_fast8_t n)
 {
-	return (Q < 0) ? -(int32_t)fp_truncu((uint32_t)(-Q), n) : (int32_t)fp_truncu((uint32_t)Q, n);
+	return (Q < 0) ? -fp_truncu(-Q, n) : fp_truncu(Q, n);
 }
 
 /*! @} */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h

@@ -66,7 +66,7 @@ inline uint32_t log2i(uint32_t x)
 {
 	assert(x != 0);
 #if 1
-	return (uint32_t)(31 - __builtin_clz(x));
+	return 31 - __builtin_clz(x);
 #else
 #define S(k) if (x >= (1 << k)) { i += k; x >>= k; }
 	int i = 0; S(16); S(8); S(4); S(2); S(1); return i;

src/drivers/drv_orb_dev.h

@@ -64,10 +64,13 @@
 /** Get the priority for the topic */
 #define ORBIOCGPRIORITY		_ORBIOC(14)
 
+/** Set the queue size of the topic */
+#define ORBIOCSETQUEUESIZE	_ORBIOC(15)
+
 /** Get the minimum interval at which the topic can be seen to be updated for this subscription */
-#define ORBIOCGETINTERVAL	_ORBIOC(15)
+#define ORBIOCGETINTERVAL	_ORBIOC(16)
 
 /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
-#define ORBIOCISADVERTISED	_ORBIOC(16)
+#define ORBIOCISADVERTISED	_ORBIOC(17)
 
 #endif /* _DRV_UORB_H */

src/drivers/gps/gps.cpp

@@ -45,7 +45,6 @@
 #include <poll.h>
 #endif
 
-#include <termios.h>
 #include <cstring>
 
 #include <drivers/drv_sensor.h>
@@ -57,6 +56,8 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -81,6 +82,7 @@
 #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
@@ -169,7 +171,10 @@ public:
 	void reset_if_scheduled();
 
 private:
-	int				_serial_fd{-1};					///< serial interface to GPS
+#ifdef __PX4_LINUX
+	int				_spi_fd {-1};					///< SPI interface to GPS
+#endif
+	Serial 			*_uart = nullptr;				///< UART 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
@@ -329,8 +334,11 @@ 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) {
@@ -403,10 +411,23 @@ 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);
 
-		return ::write(gps->_serial_fd, data1, (size_t)data2);
+			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;
+		}
 
 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -449,72 +470,64 @@ 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 !defined(__PX4_QURT)
+	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
+		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
 
-	/* For non QURT, use the usual polling. */
+// SPI is only supported on LInux
+#if defined(__PX4_LINUX)
 
-	//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;
+	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
 
-	pollfd fds[1];
-	fds[0].fd = _serial_fd;
-	fds[0].events = POLLIN;
+		//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
 
-	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
+		pollfd fds[1];
+		fds[0].fd = _spi_fd;
+		fds[0].events = POLLIN;
 
-	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);
+		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
 
-#ifdef __PX4_NUTTX
-			int err = 0;
-			int bytes_available = 0;
-			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
+		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);
 
-			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;
 		}
+
+#endif
 	}
 
 	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()
@@ -583,105 +596,38 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
 
-	size_t written = ::write(_serial_fd, data, len);
-	::fsync(_serial_fd);
+	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
+	}
+
 	return written == len;
 }
 
 int GPS::setBaudrate(unsigned baud)
 {
-	/* process baud rate */
-	int speed;
+	if (_interface == GPSHelper::Interface::UART) {
+		if ((_uart) && (_uart->setBaudrate(baud))) {
+			return 0;
+		}
 
-	switch (baud) {
-	case 9600:   speed = B9600;   break;
+#ifdef __PX4_LINUX
 
-	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
+	} else if (_interface == GPSHelper::Interface::SPI) {
+		// Can't set the baudrate on a SPI port but just return a success
+		return 0;
 #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;
 	}
 
-	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;
+	return -1;
 }
 
 void GPS::initializeCommunicationDump()
@@ -840,31 +786,58 @@ GPS::run()
 			_helper = nullptr;
 		}
 
-		if (_serial_fd < 0) {
-			/* open the serial port */
-			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
 
-			if (_serial_fd < 0) {
-				PX4_ERR("failed to open %s err: %d", _port, errno);
+			// Create the UART port instance
+			_uart = new Serial(_port);
+
+			if (_uart == nullptr) {
+				PX4_ERR("Error creating serial device %s", _port);
+				px4_sleep(1);
+				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_sleep(1);
+					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_sleep(1);
 				continue;
 			}
 
 #ifdef __PX4_LINUX
 
-			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);
+		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
+			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
 
-				if (status_value < 0) {
-					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-				}
+			if (_spi_fd < 0) {
+				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
+				px4_sleep(1);
+				continue;
+			}
 
-				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
+			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);
 
-				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_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);
 			}
 
 #endif /* __PX4_LINUX */
@@ -1056,9 +1029,17 @@ GPS::run()
 			}
 		}
 
-		if (_serial_fd >= 0) {
-			::close(_serial_fd);
-			_serial_fd = -1;
+		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 (_mode_auto) {
@@ -1477,12 +1458,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'i':
-			if (!strcmp(myoptarg, "spi")) {
-				interface = GPSHelper::Interface::SPI;
-
-			} else if (!strcmp(myoptarg, "uart")) {
+			if (!strcmp(myoptarg, "uart")) {
 				interface = GPSHelper::Interface::UART;
-
+#ifdef __PX4_LINUX
+			} else if (!strcmp(myoptarg, "spi")) {
+				interface = GPSHelper::Interface::SPI;
+#endif
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1490,12 +1471,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'j':
-			if (!strcmp(myoptarg, "spi")) {
-				interface_secondary = GPSHelper::Interface::SPI;
-
-			} else if (!strcmp(myoptarg, "uart")) {
+			if (!strcmp(myoptarg, "uart")) {
 				interface_secondary = GPSHelper::Interface::UART;
-
+#ifdef __PX4_LINUX
+			} else if (!strcmp(myoptarg, "spi")) {
+				interface_secondary = GPSHelper::Interface::SPI;
+#endif
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -88,7 +88,7 @@ private:
 		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
 	};
 	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size");
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;

src/drivers/rc/crsf_rc/CMakeLists.txt

@@ -46,6 +46,4 @@ px4_add_module(
 
 	MODULE_CONFIG
 		module.yaml
-	DEPENDS
-		rc
 	)

src/drivers/rc/crsf_rc/CrsfParser.cpp

@@ -43,6 +43,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <string.h>
+#include <px4_log.h>
 #include "QueueBuffer.hpp"
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
@@ -161,6 +162,8 @@ static float MapF(const float x, const float in_min, const float in_max, const f
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
+#define CONSTRAIN_CHAN(x) ConstrainF(x, CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX)
+
 static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet)
 {
 	uint32_t raw_channels[CRSF_CHANNEL_COUNT];
@@ -169,25 +172,24 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac
 	new_packet->message_type = CRSF_MESSAGE_TYPE_RC_CHANNELS;
 
 	// Decode channel data
-	raw_channels[0] = (data[0] | data[1] << 8) & 0x07FF;
-	raw_channels[1] = (data[1]  >> 3 | data[2] << 5) & 0x07FF;
-	raw_channels[2] = (data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF;
-	raw_channels[3] = (data[4] >> 1 | data[5] << 7) & 0x07FF;
-	raw_channels[4] = (data[5] >> 4 | data[6] << 4) & 0x07FF;
-	raw_channels[5] = (data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF;
-	raw_channels[6] = (data[8] >> 2 | data[9] << 6) & 0x07FF;
-	raw_channels[7] = (data[9] >> 5 | data[10] << 3) & 0x07FF;
-	raw_channels[8] = (data[11] | data[12] << 8) & 0x07FF;
-	raw_channels[9] = (data[12] >> 3 | data[13] << 5) & 0x07FF;
-	raw_channels[10] = (data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF;
-	raw_channels[11] = (data[15] >> 1 | data[16] << 7) & 0x07FF;
-	raw_channels[12] = (data[16] >> 4 | data[17] << 4) & 0x07FF;
-	raw_channels[13] = (data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF;
-	raw_channels[14] = (data[19] >> 2 | data[20] << 6) & 0x07FF;
-	raw_channels[15] = (data[20] >> 5 | data[21] << 3) & 0x07FF;
+	raw_channels[0] = CONSTRAIN_CHAN((data[0] | data[1] << 8) & 0x07FF);
+	raw_channels[1] = CONSTRAIN_CHAN((data[1]  >> 3 | data[2] << 5) & 0x07FF);
+	raw_channels[2] = CONSTRAIN_CHAN((data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF);
+	raw_channels[3] = CONSTRAIN_CHAN((data[4] >> 1 | data[5] << 7) & 0x07FF);
+	raw_channels[4] = CONSTRAIN_CHAN((data[5] >> 4 | data[6] << 4) & 0x07FF);
+	raw_channels[5] = CONSTRAIN_CHAN((data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF);
+	raw_channels[6] = CONSTRAIN_CHAN((data[8] >> 2 | data[9] << 6) & 0x07FF);
+	raw_channels[7] = CONSTRAIN_CHAN((data[9] >> 5 | data[10] << 3) & 0x07FF);
+	raw_channels[8] = CONSTRAIN_CHAN((data[11] | data[12] << 8) & 0x07FF);
+	raw_channels[9] = CONSTRAIN_CHAN((data[12] >> 3 | data[13] << 5) & 0x07FF);
+	raw_channels[10] = CONSTRAIN_CHAN((data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF);
+	raw_channels[11] = CONSTRAIN_CHAN((data[15] >> 1 | data[16] << 7) & 0x07FF);
+	raw_channels[12] = CONSTRAIN_CHAN((data[16] >> 4 | data[17] << 4) & 0x07FF);
+	raw_channels[13] = CONSTRAIN_CHAN((data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF);
+	raw_channels[14] = CONSTRAIN_CHAN((data[19] >> 2 | data[20] << 6) & 0x07FF);
+	raw_channels[15] = CONSTRAIN_CHAN((data[20] >> 5 | data[21] << 3) & 0x07FF);
 
 	for (i = 0; i < CRSF_CHANNEL_COUNT; i++) {
-		raw_channels[i] = ConstrainF(raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX);
 		new_packet->channel_data.channels[i] = MapF((float)raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX,
 						       1000.0f, 2000.0f);
 	}

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -35,8 +35,6 @@
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
 
-#include <poll.h>
-#include <termios.h>
 #include <fcntl.h>
 
 #include <uORB/topics/battery_status.h>
@@ -118,76 +116,78 @@ void CrsfRc::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		::close(_rc_fd);
-		_rc_fd = -1;
+
+		if (_uart) {
+			(void) _uart->close();
+			delete _uart;
+			_uart = nullptr;
+		}
+
 		exit_and_cleanup();
 		return;
 	}
 
-	if (_rc_fd < 0) {
-		_rc_fd = ::open(_device, O_RDWR | O_NONBLOCK);
+	if (_uart == nullptr) {
+		// Create the UART port instance
+		_uart = new Serial(_device);
 
-		if (_rc_fd >= 0) {
-			struct termios t;
-
-			tcgetattr(_rc_fd, &t);
-			cfsetspeed(&t, CRSF_BAUDRATE);
-			t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-			t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-			t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
-			t.c_oflag = 0;
-			tcsetattr(_rc_fd, TCSANOW, &t);
-
-			if (board_rc_swap_rxtx(_device)) {
-#if defined(TIOCSSWAP)
-				ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
-#endif // TIOCSSWAP
-			}
-
-			if (board_rc_singlewire(_device)) {
-				_is_singlewire = true;
-#if defined(TIOCSSINGLEWIRE)
-				ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-#endif // TIOCSSINGLEWIRE
-			}
-
-			PX4_INFO("Crsf serial opened sucessfully");
-
-			if (_is_singlewire) {
-				PX4_INFO("Crsf serial is single wire. Telemetry disabled");
-			}
-
-			tcflush(_rc_fd, TCIOFLUSH);
-
-			Crc8Init(0xd5);
+		if (_uart == nullptr) {
+			PX4_ERR("Error creating serial device %s", _device);
+			px4_sleep(1);
+			return;
 		}
+	}
+
+	if (! _uart->isOpen()) {
+		// Configure the desired baudrate if one was specified by the user.
+		// Otherwise the default baudrate will be used.
+		if (! _uart->setBaudrate(CRSF_BAUDRATE)) {
+			PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device);
+			px4_sleep(1);
+			return;
+		}
+
+		// Open the UART. If this is successful then the UART is ready to use.
+		if (! _uart->open()) {
+			PX4_ERR("Error opening serial device  %s", _device);
+			px4_sleep(1);
+			return;
+		}
+
+		if (board_rc_swap_rxtx(_device)) {
+#if defined(TIOCSSWAP)
+			ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+#endif // TIOCSSWAP
+		}
+
+		if (board_rc_singlewire(_device)) {
+			_is_singlewire = true;
+#if defined(TIOCSSINGLEWIRE)
+			ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+#endif // TIOCSSINGLEWIRE
+		}
+
+		PX4_INFO("Crsf serial opened sucessfully");
+
+		if (_is_singlewire) {
+			PX4_INFO("Crsf serial is single wire. Telemetry disabled");
+		}
+
+		_uart->flush();
+
+		Crc8Init(0xd5);
 
 		_input_rc.rssi_dbm = NAN;
 		_input_rc.link_quality = -1;
 
 		CrsfParser_Init();
-
-
-	}
-
-	// poll with 100mS timeout
-	pollfd fds[1];
-	fds[0].fd = _rc_fd;
-	fds[0].events = POLLIN;
-	int ret = ::poll(fds, 1, 100);
-
-	if (ret < 0) {
-		PX4_ERR("poll error");
-		// try again with delay
-		ScheduleDelayed(100_ms);
-		return;
 	}
 
 	const hrt_abstime time_now_us = hrt_absolute_time();
 	perf_count_interval(_cycle_interval_perf, time_now_us);
 
 	// Read all available data from the serial RC input UART
-	int new_bytes = ::read(_rc_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE);
+	int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
 
 	if (new_bytes > 0) {
 		_bytes_rx += new_bytes;
@@ -433,7 +433,8 @@ bool CrsfRc::SendTelemetryBattery(const uint16_t voltage, const uint16_t current
 	write_uint24_t(buf, offset, fuel);
 	write_uint8_t(buf, offset, remaining);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return write(_rc_fd, buf, offset) == offset;
+	return _uart->write((void *) buf, (size_t) offset);
+
 }
 
 bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed,
@@ -449,7 +450,7 @@ bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, c
 	write_uint16_t(buf, offset, altitude);
 	write_uint8_t(buf, offset, num_satellites);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return write(_rc_fd, buf, offset) == offset;
+	return _uart->write((void *) buf, (size_t) offset);
 }
 
 bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw)
@@ -461,7 +462,7 @@ bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, cons
 	write_uint16_t(buf, offset, roll);
 	write_uint16_t(buf, offset, yaw);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return write(_rc_fd, buf, offset) == offset;
+	return _uart->write((void *) buf, (size_t) offset);
 }
 
 bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
@@ -480,7 +481,7 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
 	offset += length;
 	buf[offset - 1] = 0; // ensure null-terminated string
 	WriteFrameCrc(buf, offset, length + 4);
-	return write(_rc_fd, buf, offset) == offset;
+	return _uart->write((void *) buf, (size_t) offset);
 }
 
 int CrsfRc::print_status()

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -40,6 +40,7 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
+#include <px4_platform_common/Serial.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
@@ -53,6 +54,8 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_status.h>
 
+using namespace device;
+
 class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -87,7 +90,8 @@ private:
 
 	bool SendTelemetryFlightMode(const char *flight_mode);
 
-	int _rc_fd{-1};
+	Serial *_uart = nullptr; ///< UART interface to RC
+
 	char _device[20] {}; ///< device / serial port path
 	bool _is_singlewire{false};
 

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -45,6 +45,8 @@ using namespace time_literals;
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
+	// ensure ORB_ID(tune_control) is advertised with correct queue depth
+	orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH);
 }
 
 ToneAlarm::~ToneAlarm()

src/lib/adsb/AdsbConflict.h

@@ -151,7 +151,7 @@ private:
 
 	transponder_report_s tr{};
 
-	orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
+	orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20);
 
 	TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};
 

src/lib/events/events.cpp

@@ -61,7 +61,7 @@ void send(EventType &event)
 		orb_publish(ORB_ID(event), orb_event_pub, &event);
 
 	} else {
-		orb_event_pub = orb_advertise(ORB_ID(event), &event);
+		orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
 	}
 
 	pthread_mutex_unlock(&publish_event_mutex);

src/lib/matrix/matrix/Matrix.hpp

@@ -162,24 +162,6 @@ public:
 		return res;
 	}
 
-	// Using this function reduces the number of temporary variables needed to compute A * B.T
-	template<size_t P>
-	Matrix<Type, M, M> multiplyByTranspose(const Matrix<Type, P, N> &other) const
-	{
-		Matrix<Type, M, P> res;
-		const Matrix<Type, M, N> &self = *this;
-
-		for (size_t i = 0; i < M; i++) {
-			for (size_t k = 0; k < P; k++) {
-				for (size_t j = 0; j < N; j++) {
-					res(i, k) += self(i, j) * other(k, j);
-				}
-			}
-		}
-
-		return res;
-	}
-
 	// Element-wise multiplication
 	Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
 	{

src/lib/systemlib/mavlink_log.cpp

@@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
 
 	} else {
-		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
+		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
 	}
 }

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -55,7 +55,7 @@ public:
 	void SetUp() override
 	{
 		// ensure topic exists, otherwise we might lose first queued events
-		orb_advertise(ORB_ID(event), nullptr);
+		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
 	}
 
 };

src/modules/commander/commander_helper.cpp

@@ -153,7 +153,7 @@ int buzzer_init()
 	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
 	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;
 
-	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
 
 	return PX4_OK;
 }
@@ -330,7 +330,7 @@ int led_init()
 	led_control.mode = led_control_s::MODE_OFF;
 	led_control.priority = 0;
 	led_control.timestamp = hrt_absolute_time();
-	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);
+	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);
 
 	/* first open normal LEDs */
 	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);

src/modules/differential_drive/module.yaml

@@ -52,7 +52,7 @@ parameters:
         max: 100
         increment: 0.01
         decimal: 2
-        default: 50.0
+        default: 0.3
       RDD_P_HEADING:
         description:
           short: Proportional gain for heading controller

src/modules/ekf2/EKF/EKFGSF_yaw.h

@@ -67,11 +67,11 @@ public:
 
 	void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; }
 
-	void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false)
+	void setGyroBias(const Vector3f &imu_gyro_bias)
 	{
 		// Initialise to gyro bias estimate from main filter because there could be a large
 		// uncorrected rate gyro bias error about the gravity vector
-		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) {
+		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) {
 			// init gyro bias for each model
 			for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) {
 				_ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias;

src/modules/ekf2/EKF/covariance.cpp

@@ -166,21 +166,11 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.mag) {
 		// mag_I: add process noise
 		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		float mag_I_process_noise = sq(mag_I_sig);
-
-		for (unsigned index = 0; index < State::mag_I.dof; index++) {
-			const unsigned i = State::mag_I.idx + index;
-			P(i, i) += mag_I_process_noise;
-		}
+		P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);
 
 		// mag_B: add process noise
 		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		float mag_B_process_noise = sq(mag_B_sig);
-
-		for (unsigned index = 0; index < State::mag_B.dof; index++) {
-			const unsigned i = State::mag_B.idx + index;
-			P(i, i) += mag_B_process_noise;
-		}
+		P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
@@ -189,12 +179,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.wind) {
 		// wind vel: add process noise
 		float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
-		float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
-
-		for (unsigned index = 0; index < State::wind_vel.dof; index++) {
-			const unsigned i = State::wind_vel.idx + index;
-			P(i, i) += wind_vel_process_noise;
-		}
+		P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
 	}
 #endif // CONFIG_EKF2_WIND
 

src/modules/ekf2/EKF/ekf.h

@@ -472,17 +472,6 @@ public:
 	{
 		clearInhibitedStateKalmanGains(K);
 
-#if false
-		// Matrix implementation of the Joseph stabilized covariance update
-		// This is extremely expensive to compute. Use for debugging purposes only.
-		auto A = matrix::eye<float, State::size>();
-		A -= K.multiplyByTranspose(H);
-		P = A * P;
-		P = P.multiplyByTranspose(A);
-
-		const VectorState KR = K * R;
-		P += KR.multiplyByTranspose(K);
-#else
 		// Efficient implementation of the Joseph stabilized covariance update
 		// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
 
@@ -490,8 +479,9 @@ public:
 		VectorState PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
-			for (unsigned j = 0; j < State::size; j++) {
-				P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
+			for (unsigned j = 0; j <= i; j++) {
+				P(i, j) = P(i, j) - K(i) * PH(j);
+				P(j, i) = P(i, j);
 			}
 		}
 
@@ -500,11 +490,11 @@ public:
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j <= i; j++) {
-				P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
+				float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
+				P(i, j) = s + K(i) * R * K(j);
 				P(j, i) = P(i, j);
 			}
 		}
-#endif
 
 		constrainStateVariances();
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -850,19 +850,6 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 
 	clearInhibitedStateKalmanGains(K);
 
-#if false
-	// Matrix implementation of the Joseph stabilized covariance update
-	// This is extremely expensive to compute. Use for debugging purposes only.
-	auto A = matrix::eye<float, State::size>();
-	VectorState H;
-	H(state_index) = 1.f;
-	A -= K.multiplyByTranspose(H);
-	P = A * P;
-	P = P.multiplyByTranspose(A);
-
-	const VectorState KR = K * R;
-	P += KR.multiplyByTranspose(K);
-#else
 	// Efficient implementation of the Joseph stabilized covariance update
 	// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
 
@@ -870,8 +857,9 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 	VectorState PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
-		for (unsigned j = 0; j < State::size; j++) {
-			P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
+		for (unsigned j = 0; j <= i; j++) {
+			P(i, j) = P(i, j) - K(i) * PH(j);
+			P(j, i) = P(i, j);
 		}
 	}
 
@@ -880,11 +868,11 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j <= i; j++) {
-			P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
+			float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
+			P(i, j) = s + K(i) * R * K(j);
 			P(j, i) = P(i, j);
 		}
 	}
-#endif
 
 	constrainStateVariances();
 

src/modules/ekf2/EKF/gps_control.cpp

@@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	}
 
 	if (!gyro_bias_inhibited()) {
-		_yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest);
+		_yawEstimator.setGyroBias(getGyroBias());
 	}
 
 	// run EKF-GSF yaw estimator once per imu_delayed update

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -512,27 +512,25 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint()
 	float new_roll_setpoint(_npfg.getRollSetpoint());
 	const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f));
 
+	// If the npfg was not running before, reset the user warning variables.
 	hrt_abstime now{hrt_absolute_time()};
 
-	// Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition)
-
-	// If the npfg was not running before, reset the user warning variables.
-	if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) {
+	if ((now - _time_since_last_npfg_call) > 2_s) {
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 	}
 
-	if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) {
-		// NPFG reports a good condition or we are in transition, reset the user warning variables.
+	// Warn the user when the scale is less than 90% for at least 2 seconds.
+	if ((1.f - can_run_factor) < 0.1f) {
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 
 	} else if (_need_report_npfg_uncertain_condition) {
 		if (_time_since_first_reduced_roll == 0U) {
-			_time_since_first_reduced_roll = now;
+			_time_since_first_reduced_roll = hrt_absolute_time();
 		}
 
-		if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) {
+		if ((now - _time_since_first_reduced_roll) > 2_s) {
 			_need_report_npfg_uncertain_condition = false;
 			events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning,
 				     "Roll command reduced due to uncertain velocity/wind estimates!");
@@ -2201,6 +2199,7 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
 }
 
 void FixedwingPositionControl::control_backtransition(const float control_interval, const Vector2f &ground_speed,
+		const position_setpoint_s &pos_sp_prev,
 		const position_setpoint_s &pos_sp_curr)
 {
 	float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
@@ -2212,13 +2211,21 @@ void FixedwingPositionControl::control_backtransition(const float control_interv
 	_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 	_npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas);
 
-	// Set the position where the backtransition started the first ime we pass through here.
-	// Will get reset if not in transition anymore.
-	if (!_lpos_where_backtrans_started.isAllFinite()) {
-		_lpos_where_backtrans_started = curr_pos_local;
-	}
 
-	navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+	if (_position_setpoint_previous_valid) {
+		Vector2f prev_wp_local = _global_local_proj_ref.project(pos_sp_prev.lat, pos_sp_prev.lon);
+		navigateLine(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+
+	} else {
+
+		// if we don't have a previous waypoint for line following, then create one using the current position at the
+		// start of the transition
+		if (!_lpos_where_backtrans_started.isAllFinite()) {
+			_lpos_where_backtrans_started = curr_pos_local;
+		}
+
+		navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+	}
 
 	_att_sp.roll_body = getCorrectedNpfgRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -2443,7 +2450,6 @@ FixedwingPositionControl::Run()
 
 		if (_vehicle_status_sub.update(&_vehicle_status)) {
 			if (!_vehicle_status.in_transition_mode) {
-				// reset position of backtransition start if not in transition
 				_lpos_where_backtrans_started = Vector2f(NAN, NAN);
 			}
 		}
@@ -2543,7 +2549,8 @@ FixedwingPositionControl::Run()
 			}
 
 		case FW_POSCTRL_MODE_TRANSITON: {
-				control_backtransition(control_interval, ground_speed, _pos_sp_triplet.current);
+				control_backtransition(control_interval, ground_speed, _pos_sp_triplet.previous,
+						       _pos_sp_triplet.current);
 				break;
 			}
 		}

src/modules/fw_pos_control/FixedwingPositionControl.hpp

@@ -169,13 +169,6 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 // [m/s] maximum reference altitude rate threshhold
 static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
 
-// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered
-static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s;
-
-// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning
-static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f;
-
-
 class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -710,9 +703,11 @@ private:
 	 *
 	 * @param control_interval Time since last position control call [s]
 	 * @param ground_speed Local 2D ground speed of vehicle [m/s]
+	 * @param pos_sp_prev previous position setpoint
 	 * @param pos_sp_curr current position setpoint
 	 */
 	void control_backtransition(const float control_interval, const Vector2f &ground_speed,
+				    const position_setpoint_s &pos_sp_prev,
 				    const position_setpoint_s &pos_sp_curr);
 
 	float get_tecs_pitch();

src/modules/mag_bias_estimator/MagBiasEstimator.cpp

@@ -157,11 +157,10 @@ void MagBiasEstimator::Run()
 		bool updated = false;
 
 		for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) {
-			int sensor_mag_updates = 0;
 			sensor_mag_s sensor_mag;
 
-			while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_mag_subs[mag_index].update(&sensor_mag)) {
-				sensor_mag_updates++;
+			while (_sensor_mag_subs[mag_index].update(&sensor_mag)) {
+
 				updated = true;
 
 				// apply existing mag calibration

src/modules/mavlink/mavlink_main.cpp

@@ -124,13 +124,13 @@ Mavlink::Mavlink() :
 
 	// ensure topic exists, otherwise we might lose first queued commands
 	if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) {
-		orb_advertise(ORB_ID(vehicle_command), nullptr);
+		orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
 	}
 
 	_vehicle_command_sub.subscribe();
 
 	if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) {
-		orb_advertise(ORB_ID(event), nullptr);
+		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
 	}
 
 	_event_sub.subscribe();