v6s: support EEPROM-only boards alongside FRAM variants

docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-05-27 22:20:05 +08:00 · 2026-04-09 11:42:20 +02:00 · 2026-04-09 09:30:09 +00:00 · 2026-04-09 11:22:43 +02:00 · 2026-04-09 04:47:47 -04:00 · 2026-04-09 04:47:47 -04:00
37 changed files with 3188 additions and 343 deletions
@@ -21,6 +21,8 @@ jobs:
    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    outputs:
+      has_findings: ${{ steps.clang_tidy.outputs.has_findings }}
    steps:
    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
@@ -31,39 +33,110 @@ jobs:
    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 120M

-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+    - name: Build - px4_sitl_default (Clang)
+      run: make -j16 px4_sitl_default-clang

    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
+      id: clang_tidy
+      run: |
+        if [ "${{ github.event_name }}" != "pull_request" ]; then
+          make -j$(nproc) clang-tidy
+          echo "has_findings=false" >> $GITHUB_OUTPUT
+        else
+          output=$(python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }} 2>&1)
+          exit_code=$?
+          echo "$output"
+          # Helper prints this message on both early-exit paths
+          # (no changed C++ files, or no matching TUs in the compile DB)
+          if echo "$output" | grep -q "skipping clang-tidy"; then
+            echo "has_findings=false" >> $GITHUB_OUTPUT
+          else
+            echo "has_findings=true" >> $GITHUB_OUTPUT
+          fi
+          exit $exit_code
+        fi

-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
+    - name: Upload compile_commands.json
+      if: always() && github.event_name == 'pull_request'
+      uses: actions/upload-artifact@v4
      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        name: compile-commands
+        path: build/px4_sitl_default-clang/compile_commands.json
+        retention-days: 1
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+  post_clang_tidy_comments:
+    name: Clang-Tidy PR Annotations
+    needs: [clang_tidy]
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+      contents: read
+    if: >-
+      always()
+      && github.event.pull_request
+      && github.event.pull_request.head.repo.full_name == github.repository
+      && (needs.clang_tidy.result == 'success' || needs.clang_tidy.result == 'failure')
+      && needs.clang_tidy.outputs.has_findings == 'true'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install clang-tools (for clang-tidy-diff)
+        run: sudo apt-get install -y clang-tools
+
+      - name: Download compile_commands.json
+        uses: actions/download-artifact@v4
+        with:
+          name: compile-commands
+          path: build/px4_sitl_default-clang
+
+      - name: Run clang-tidy-diff and export fixes
+        run: |
+          # WHY WE REWRITE compile_commands.json PATHS
+          #
+          # The clang_tidy job runs on a RunsOn/AWS runner where the workspace
+          # root is "/__w/PX4-Autopilot/PX4-Autopilot". All absolute paths baked
+          # into compile_commands.json (the "file" and "directory" fields, and
+          # every -I include path in "command") use that prefix.
+          #
+          # This annotation job runs on a GitHub-hosted runner where the
+          # workspace root is "/home/runner/work/PX4-Autopilot/PX4-Autopilot".
+          # When clang-tidy-diff invokes clang-tidy, it reads the "directory"
+          # field from compile_commands.json and calls chdir() on it. Since
+          # the AWS-style path does not exist here, clang-tidy crashes with:
+          #   LLVM ERROR: Cannot chdir into "/__w/.../build/px4_sitl_default-clang"
+          # and silently produces an empty fixes.yml, so no annotations are posted.
+          #
+          # Fix: rewrite all occurrences of the AWS workspace prefix to the
+          # current runner workspace ($GITHUB_WORKSPACE) before invoking
+          # clang-tidy-diff. Safe because compile_commands.json is a local
+          # scratch file pulled from the artifact; no source file is modified.
+          sed -i "s|/__w/PX4-Autopilot/PX4-Autopilot|${GITHUB_WORKSPACE}|g" \
+            build/px4_sitl_default-clang/compile_commands.json
+
+          mkdir -p clang-tidy-result
+          git diff -U0 origin/${{ github.base_ref }}...HEAD \
+            | clang-tidy-diff-18.py -p1 \
+                -path build/px4_sitl_default-clang \
+                -export-fixes clang-tidy-result/fixes.yml \
+                -j0 || true
+
+      - name: Annotate PR with clang-tidy findings
+        uses: platisd/clang-tidy-pr-comments@v1
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          clang_tidy_fixes: clang-tidy-result/fixes.yml
+          request_changes: true
+          suggestions_per_comment: 10
@@ -213,7 +213,6 @@ jobs:
    if: always() && (github.event_name == 'pull_request')
    permissions:
      contents: read
-      pull-requests: write
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
@@ -281,12 +280,32 @@ jobs:
            > ./logs/link-check-results.md || true
          cat ./logs/link-check-results.md

-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
+      - name: Prepare pr-comment artifact
+        id: prepare-pr-comment
+        run: |
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No link-check results file; skipping pr-comment artifact."
+            echo "prepared=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+          mkdir -p pr-comment
+          cp ./logs/filtered-link-check-results.md pr-comment/body.md
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:docs-link-check -->",
+            "mode": "upsert"
+          }
+          EOF
+          echo "prepared=true" >> "$GITHUB_OUTPUT"
+
+      - name: Upload pr-comment artifact
+        if: steps.prepare-pr-comment.outputs.prepared == 'true'
+        uses: actions/upload-artifact@v4
        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1

      - name: Upload link check results
        uses: actions/upload-artifact@v4
@@ -93,9 +93,6 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -105,7 +102,7 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: github.event.pull_request
    steps:
      - name: Find Comment
        uses: peter-evans/find-comment@v3
@@ -113,14 +110,14 @@ jobs:
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+          body-includes: '<!-- pr-comment-poster:flash-analysis -->'

      - name: Set Build Time
        id: bt
        run: |
          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Create or update comment
+      - name: Write pr-comment artifact
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -128,27 +125,46 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
+        run: |
+          mkdir -p pr-comment
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:flash-analysis -->",
+            "mode": "upsert"
+          }
+          EOF
+          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
+          <!-- pr-comment-poster:flash-analysis -->
+          ## 🔎 FLASH Analysis
+          <details>
+            <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+            ```
+            ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+            ```
+          </details>
+
+          <details>
+            <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+            ```
+            ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+            ```
+          </details>
+
+          **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          PR_COMMENT_BODY_EOF
+
+      - name: Upload pr-comment artifact
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: actions/upload-artifact@v4
        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1
@@ -0,0 +1,147 @@
+name: PR Comment Poster
+
+# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
+# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
+# workflow will post or update a sticky PR comment with its contents. Designed
+# so that analysis jobs running on untrusted fork PRs can still get their
+# results posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
+#      and both are treated as opaque data (JSON parsed by the poster script
+#      and markdown posted verbatim via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use. Validation
+#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
+#      the base branch, not from the artifact.
+#
+#   3. The comment body is passed to the GitHub API as a JSON field, never
+#      interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-comment` artifact.
+#      That is intended.
+#
+#   5. The artifact-name filter (`pr-comment`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-comment` is trusted to have written the
+#      manifest and body itself, NOT copied fork-controlled content into
+#      them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v4` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND uses
+#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py. The
+#      rest of the repo never touches the workspace. This is safe: the only
+#      file the job executes is a base-repo Python script that was reviewed
+#      through normal code review, never anything from the PR.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-comment` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number": 12345,                                      // required, int > 0
+#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
+#       "mode": "upsert"                                         // optional, default "upsert"
+#     }
+#
+#   body.md: the markdown content of the comment. Posted verbatim.
+#
+# The `marker` string is used to find an existing comment to update. It MUST
+# be unique per producer (e.g. include the producer name). If no existing
+# comment contains the marker, a new one is created. If the marker is found
+# in an existing comment, that comment is edited in place.
+#
+# Producers MUST write `pr_number` from their own workflow context
+# (`github.event.pull_request.number`) and MUST NOT read it from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-comment` artifact. When a new producer
+    # is wired up, add its workflow name here. Runs of workflows not in this
+    # list will never trigger the poster. Every run of a listed workflow will
+    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
+    workflows:
+      - "FLASH usage analysis"
+      - "Docs - Orchestrator"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Comment
+    runs-on: ubuntu-latest
+    if: github.event.workflow_run.conclusion != 'cancelled'
+    steps:
+      # Checkout runs first so the poster script is available AND so that
+      # actions/checkout@v4's default clean step does not delete the artifact
+      # zip that the next step writes into the workspace. Sparse-checkout
+      # restricts the materialized tree to just the poster script.
+      - name: Checkout poster script only
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-comment-poster.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-comment artifact
+        id: download
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
+            if (!match) {
+              core.info('No pr-comment artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-comment
+          unzip -q pr-comment.zip -d pr-comment
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
+
+      - name: Upsert sticky comment
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -229,6 +229,28 @@ endif()
 #
 project(px4 CXX C ASM)

+# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
+# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
+# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
+# libraries carry a dummy.cpp placeholder, all of which legitimately produce
+# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
+#
+# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
+# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
+# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
+# -no_warning_for_no_symbols flag to add it quietly.
+if(APPLE)
+	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -193,6 +193,7 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
+	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -31,11 +31,20 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
+set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+# Fine-grained feature gates.
+set USE_HARDFAULT_LOG no
+set USE_EXTERNAL_AIRFRAMES no
+set USE_PARAM_BACKUPS no
+set USE_PARAM_IMPORT_DEBUG no
+set USE_TASK_WATCHDOG no
+set USE_ALT_UPDATE_DIRS no
+
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
@@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
 ver all

 #
-# Try to mount the microSD card.
+# Optional early board init: rc.board_early
+# Can be used for setting env vars for rcS.
 #
-if [ -b "/dev/mmcsd0" ]
+set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
+if [ -f $BOARD_RC_EARLY ]
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
-	then
-		if [ -f "/fs/microsd/.format" ]
-		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
+	. $BOARD_RC_EARLY
+fi
+unset BOARD_RC_EARLY

-		else
+#
+# Try to mount/check storage (rc.board_early can disable this).
+#
+if [ $STORAGE_CHECK = yes ]
+then
+	#
+	# Try to mount the microSD card.
+	#
+	if [ -b "/dev/mmcsd0" ]
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			if [ -f "/fs/microsd/.format" ]
+			then
+				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+				set SDCARD_FORMAT yes
+				rm /fs/microsd/.format
+				umount /fs/microsd
+
+			else
+				set STORAGE_AVAILABLE yes
+			fi
+		fi
+
+		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+		then
+			echo "INFO [init] formatting /dev/mmcsd0"
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+			if mkfatfs -F 32 /dev/mmcsd0
+			then
+				echo "INFO [init] card formatted"
+
+				if mount -t vfat /dev/mmcsd0 /fs/microsd
+				then
+					set STORAGE_AVAILABLE yes
+					set STARTUP_TUNE 14 # tune 14 = SD_INIT
+				else
+					echo "ERROR [init] card mount failed"
+				fi
+			else
+				echo "ERROR [init] format failed"
+			fi
+		fi
+	else
+		# Is there a device mounted for storage
+		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+		then
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
-
-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
-		then
-			echo "INFO [init] card formatted"
-
-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set STORAGE_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
-		else
-			echo "ERROR [init] format failed"
-		fi
-	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
 fi

 if [ $STORAGE_AVAILABLE = yes ]
+then
+	set USE_HARDFAULT_LOG yes
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_PARAM_BACKUPS yes
+	set USE_PARAM_IMPORT_DEBUG yes
+	set USE_ALT_UPDATE_DIRS yes
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
+fi
+
+if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,7 +141,15 @@ then
 			hardfault_log reset
 		fi
 	fi
+fi

+if [ $USE_TASK_WATCHDOG = yes ]
+then
+	task_watchdog start
+fi
+
+if [ $USE_ALT_UPDATE_DIRS = yes ]
+then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -112,9 +157,6 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
-
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -155,8 +197,11 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				# save copy of the failed param file for debugging
+				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			fi

 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -174,11 +219,14 @@ else

 			param status

-			dmesg >> /fs/microsd/param_import_fail.txt &
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				dmesg >> /fs/microsd/param_import_fail.txt &
+			fi
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $USE_PARAM_BACKUPS = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -234,12 +282,12 @@ else

 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# Run external airframe script on SD card or EEPROM-backed storage
+		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			echo "ERROR [init] no external airframe storage, skipping"
 		fi
 	fi

@@ -679,9 +727,16 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
+unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
+unset USE_HARDFAULT_LOG
+unset USE_EXTERNAL_AIRFRAMES
+unset USE_PARAM_BACKUPS
+unset USE_PARAM_IMPORT_DEBUG
+unset USE_TASK_WATCHDOG
+unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,405 @@
+#!/usr/bin/env python3
+"""
+PR comment poster for analysis workflows.
+
+This script is invoked from the `PR Comment Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-comment`
+artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
+etc.) and posts or updates a sticky PR comment via the GitHub REST API.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number": 12345,                                     (required, int > 0)
+      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
+      "mode":      "upsert"                                    (optional, default "upsert")
+    }
+
+  body.md
+    Markdown comment body, posted verbatim. Must be non-empty and
+    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and body.md are treated as
+opaque data. The marker is validated to printable ASCII only before use.
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest + body.
+  post <dir>       Validate, then upsert a sticky comment on the target PR.
+                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import sys
+import typing
+import urllib.error
+import urllib.request
+
+
+# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
+# the appended marker line and any future wrapping.
+MAX_BODY_BYTES = 60000
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-comment-poster:flash-analysis -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+ACCEPTED_MODES = ('upsert',)
+
+GITHUB_API = 'https://api.github.com'
+USER_AGENT = 'px4-pr-comment-poster'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _fail(msg: str) -> typing.NoReturn:
+    print('error: {}'.format(msg), file=sys.stderr)
+    sys.exit(1)
+
+
+def _is_printable_ascii(s):
+    # Space (0x20) through tilde (0x7E) inclusive.
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string.
+
+    The marker is printable ASCII only and bounded in length. The original
+    shell implementation also rejected quotes, backticks, and backslashes
+    because the value flowed through jq and shell contexts. Now that Python
+    owns the handling (the value is only ever used as a substring match in
+    comment bodies and as a literal string in JSON request payloads that
+    urllib serialises for us) those characters are safe. We keep the
+    printable-ASCII and length rules as a belt-and-braces sanity check.
+    """
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/body.md.
+
+    Returns a dict with keys: pr_number (int), marker (str), mode (str),
+    body (str, verbatim contents of body.md).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    body_path = os.path.join(directory, 'body.md')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(body_path):
+        _fail('body.md missing at {}'.format(body_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    # bool is a subclass of int in Python, so isinstance(True, int) is True.
+    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
+    # validate as 1/0 and then either fail upstream or poke the wrong PR.
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    mode = manifest.get('mode', 'upsert')
+    if mode not in ACCEPTED_MODES:
+        _fail('unsupported mode {!r} (accepted: {})'.format(
+            mode, ', '.join(ACCEPTED_MODES)))
+
+    # Read as bytes first so the size check is an honest byte count (matching
+    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
+    try:
+        with open(body_path, 'rb') as f:
+            body_bytes = f.read()
+    except OSError as e:
+        _fail('could not read body.md: {}'.format(e))
+
+    if len(body_bytes) == 0:
+        _fail('body.md is empty')
+    if len(body_bytes) > MAX_BODY_BYTES:
+        _fail('body.md too large: {} bytes (max {})'.format(
+            len(body_bytes), MAX_BODY_BYTES))
+
+    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
+    # here rather than later inside json.dumps with a less obvious traceback.
+    try:
+        body = body_bytes.decode('utf-8')
+    except UnicodeDecodeError as e:
+        _fail('body.md is not valid UTF-8: {}'.format(e))
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'mode': mode,
+        'body': body,
+    }
+
+
+# ---------------------------------------------------------------------------
+# GitHub HTTP helpers
+# ---------------------------------------------------------------------------
+
+def _github_request(method, url, token, json_body=None):
+    """Perform a single GitHub REST request.
+
+    Returns a tuple (parsed_json_or_none, headers_dict). Raises RuntimeError
+    with the server response body on HTTP errors so CI logs show what
+    GitHub complained about.
+    """
+    data = None
+    headers = {
+        'Authorization': 'Bearer {}'.format(token),
+        'Accept': 'application/vnd.github+json',
+        # Pin the API version so GitHub deprecations don't silently change
+        # the response shape under us.
+        'X-GitHub-Api-Version': '2022-11-28',
+        'User-Agent': USER_AGENT,
+    }
+    if json_body is not None:
+        data = json.dumps(json_body).encode('utf-8')
+        headers['Content-Type'] = 'application/json; charset=utf-8'
+
+    req = urllib.request.Request(url, data=data, method=method, headers=headers)
+    try:
+        with urllib.request.urlopen(req) as resp:
+            raw = resp.read()
+            # HTTPMessage is case-insensitive on lookup but its items() preserves
+            # the original case. GitHub sends "Link" with a capital L, which is
+            # what _parse_next_link expects.
+            resp_headers = dict(resp.headers.items())
+            if not raw:
+                return None, resp_headers
+            return json.loads(raw.decode('utf-8')), resp_headers
+    except urllib.error.HTTPError as e:
+        # GitHub error bodies are JSON with a "message" field and often a
+        # "documentation_url". Dump the raw body into the exception so the CI
+        # log shows exactly what the API objected to. A bare "HTTP 422"
+        # tells us nothing useful.
+        try:
+            err_body = e.read().decode('utf-8', errors='replace')
+        except Exception:
+            err_body = '(no body)'
+        raise RuntimeError(
+            'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
+                method, url, e.code, e.reason, err_body))
+    except urllib.error.URLError as e:
+        # Network layer failure (DNS, TLS, connection reset). No HTTP response
+        # to parse; just surface the transport reason.
+        raise RuntimeError(
+            'GitHub API {} {} failed: {}'.format(method, url, e.reason))
+
+
+def _parse_next_link(link_header):
+    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
+
+    The Link header is comma-separated entries of the form:
+      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
+    We walk each entry and return the URL of the one whose rel attribute is
+    "next". Accept single-quoted rel values for robustness even though GitHub
+    always emits double quotes.
+    """
+    if not link_header:
+        return None
+    for part in link_header.split(','):
+        segs = part.strip().split(';')
+        if len(segs) < 2:
+            continue
+        url_seg = segs[0].strip()
+        if not (url_seg.startswith('<') and url_seg.endswith('>')):
+            continue
+        url = url_seg[1:-1]
+        for attr in segs[1:]:
+            attr = attr.strip()
+            if attr == 'rel="next"' or attr == "rel='next'":
+                return url
+    return None
+
+
+def github_api(method, path, token, json_body=None):
+    """GET/POST/PATCH a single GitHub API path. Non-paginated."""
+    url = '{}/{}'.format(GITHUB_API.rstrip('/'), path.lstrip('/'))
+    body, _ = _github_request(method, url, token, json_body=json_body)
+    return body
+
+
+def github_api_paginated(path, token):
+    """GET a GitHub API path and follow rel="next" Link headers.
+
+    Yields items from each page's JSON array.
+    """
+    url = '{}/{}'.format(GITHUB_API.rstrip('/'), path.lstrip('/'))
+    # GitHub defaults to per_page=30. Bump to 100 (the max) so a PR with a
+    # few hundred comments fetches in 3 or 4 round-trips instead of 10+.
+    sep = '&' if '?' in url else '?'
+    url = '{}{}per_page=100'.format(url, sep)
+    while url is not None:
+        body, headers = _github_request('GET', url, token)
+        if body is None:
+            return
+        if not isinstance(body, list):
+            raise RuntimeError(
+                'expected JSON array from {}, got {}'.format(
+                    url, type(body).__name__))
+        for item in body:
+            yield item
+        url = _parse_next_link(headers.get('Link'))
+
+
+# ---------------------------------------------------------------------------
+# Comment upsert
+# ---------------------------------------------------------------------------
+
+def find_existing_comment_id(token, repo, pr_number, marker):
+    """Return the id of the first PR comment whose body contains marker, or None.
+
+    PR comments are issue comments in GitHub's data model, so we hit
+    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
+    returns review comments tied to specific code lines, which is not what
+    we want). The match is a plain substring check against the comment body;
+    the marker is expected to be an HTML comment that will not accidentally
+    appear in user-written prose.
+    """
+    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
+    for comment in github_api_paginated(path, token):
+        body = comment.get('body') or ''
+        if marker in body:
+            return comment.get('id')
+    return None
+
+
+def build_final_body(body, marker):
+    """Append the marker to body if not already present.
+
+    If the caller already embedded the marker (e.g. inside a hidden HTML
+    comment anywhere in their body) we leave the body alone; otherwise we
+    rstrip trailing newlines and append the marker on its own line after a
+    blank-line separator. Trailing-newline stripping keeps the output from
+    accumulating extra blank lines every time an existing comment is
+    re-rendered and re-posted.
+    """
+    if marker in body:
+        return body
+    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
+
+
+def upsert_comment(token, repo, pr_number, marker, body):
+    final_body = build_final_body(body, marker)
+    existing_id = find_existing_comment_id(token, repo, pr_number, marker)
+
+    if existing_id is not None:
+        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
+        github_api(
+            'PATCH',
+            'repos/{}/issues/comments/{}'.format(repo, existing_id),
+            token,
+            json_body={'body': final_body},
+        )
+    else:
+        print('Creating new comment on PR #{}'.format(pr_number))
+        github_api(
+            'POST',
+            'repos/{}/issues/{}/comments'.format(repo, pr_number),
+            token,
+            json_body={'body': final_body},
+        )
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
+        result['pr_number'],
+        len(result['marker']),
+        result['mode'],
+        len(result['body'].encode('utf-8')),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
+    # auto-set on every Actions runner. Both are required here because a local
+    # developer running the script directly won't have either unless they
+    # export them, and we want a clear error in that case.
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    # Minimal shape check. If "owner/name" is malformed the subsequent API
+    # calls would 404 with an unhelpful URL. Fail fast here instead.
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        upsert_comment(
+            token=token,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            body=result['body'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post sticky PR comments from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and body.md in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then upsert a sticky PR comment. Requires env '
+             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start

-# Start the task_watchdog as we do not have the logger watchdog
-task_watchdog start
-
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Board early init.
+#
+# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
+# enable required for task watchdog as this is not a generally used feature.
+# On EEPROM boards: Only airframes and params are needed.
+#
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+then
+	# Start the task_watchdog as we do not have the logger watchdog
+	set USE_TASK_WATCHDOG yes
+else
+	set PARAM_FILE /fs/microsd/params
+	set STORAGE_CHECK no
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_ALT_UPDATE_DIRS yes
+fi
@@ -202,6 +202,9 @@ extern void stm32_spiinitialize(void);

 extern void board_peripheral_reset(int ms);

+/* Initialise the FRAM MTD. */
+extern void board_configure_fram(void);
+
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -55,10 +55,12 @@

 #include <nuttx/config.h>
 #include <nuttx/board.h>
+#include <nuttx/i2c/i2c_master.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
+#include <nuttx/mtd/mtd.h>
 #include <nuttx/mm/gran.h>
 #include <chip.h>
 #include <stm32_uart.h>
@@ -70,10 +72,14 @@
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/micro_hal.h>
 #include <px4_platform_common/px4_manifest.h>
-#include <px4_platform/gpio.h>
+#include <px4_platform_common/px4_mtd.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/board_hw_eeprom_rev_ver.h>
+#include <px4_platform/gpio.h>
+#include <lib/crc/crc.h>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -158,6 +164,80 @@ stm32_boardinitialize(void)
 	px4_gpio_init(gpio, arraySize(gpio));
 }

+#if !defined(BOOTLOADER)
+/****************************************************************************
+ * Name: eeprom_read_and_check_mft
+ *
+ * Description:
+ *   Read an mtd_mft_v0_t from the EEPROM at the given byte offset and
+ *   validate its CRC.  Returns true if the record has a recognised version
+ *   field and a matching CRC16.
+ ****************************************************************************/
+
+static bool eeprom_read_and_check_mft(struct i2c_master_s *i2c, uint16_t address)
+{
+	uint8_t addr_write[2] = { (uint8_t)(address >> 8), (uint8_t)(address & 0xFF) };
+	mtd_mft_v0_t mft = {};
+	struct i2c_msg_s msgs[2] = {
+		{ .frequency = 400000, .addr = 0x50, .flags = 0, .buffer = addr_write, .length = sizeof(addr_write) },
+		{ .frequency = 400000, .addr = 0x50, .flags = I2C_M_READ, .buffer = (uint8_t *) &mft, .length = sizeof(mft) },
+	};
+
+	int retries = 5;
+
+	while (I2C_TRANSFER(i2c, msgs, 2) != OK) {
+		if (--retries == 0) {
+			syslog(LOG_WARNING, "[boot] EEPROM I2C comm failed\n");
+			return false;
+		}
+	}
+
+	if (mft.version.id != MTD_MFT_v0) { return false; }
+
+	uint16_t computed = crc16_signature(CRC16_INITIAL, sizeof(mft) - sizeof(mft.crc), (const uint8_t *)&mft);
+	return computed == mft.crc;
+}
+
+/****************************************************************************
+ * Name: detect_layout_is_fram
+ *
+ * Description:
+ *   Determine which EEPROM layout is present by reading MTD_MFT_VER from
+ *   the two possible byte offsets and validating its CRC.
+ ****************************************************************************/
+
+static bool detect_layout_is_fram(void)
+{
+	struct i2c_master_s *i2c = px4_i2cbus_initialize(4);
+	bool ret;
+
+	if (!i2c) {
+		syslog(LOG_WARNING, "[boot] EEPROM I2C init failed, defaulting to FRAM layout\n");
+		ret = true;
+		goto out;
+	}
+
+	/* FRAM-variant: MTD_MFT_VER after MTD_CALDATA (224 blocks x 32 B). */
+	if (eeprom_read_and_check_mft(i2c, 224u * 32u)) {
+		ret = true;
+		goto out;
+	}
+
+	/* EEPROM-only: MTD_MFT_VER is the first partition (0 blocks x 32 B)*/
+	if (eeprom_read_and_check_mft(i2c, 0u)) {
+		ret = false;
+		goto out;
+	}
+
+	/* Neither offset contains a valid record, default to FRAM layout. */
+	ret = true;
+
+out:
+	px4_i2cbus_uninitialize(i2c);
+	return ret;
+}
+#endif /* !defined(BOOTLOADER) */
+
 /****************************************************************************
 * Name: board_app_initialize
 *
@@ -187,15 +267,19 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)
 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
-
+	/* First SPI init. HW version is not enabled yet, so only always-enabled
+	 * buses/devices can be used. */
 	stm32_spiinitialize();

-	/* Configure the HW based on the manifest */
+	bool fram_available = detect_layout_is_fram();

+	if (fram_available) {
+		board_configure_fram();
+	}
+
+	/* Configure the HW based on the manifest */
 	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
@@ -206,14 +290,24 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

-	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+	/* EEPROM-only boards use a 128Kbit chip: 512 pages × 32 B = 16 KB.
+	 * FRAM boards use a 64Kbit EEPROM: 256 pages × 32 B = 8 KB.
+	 * Always use 32-byte page writes (safe for 64-byte page chips too). */
+	unsigned int mtd_count = 0;
+	mtd_instance_s **instances = px4_mtd_get_instances(&mtd_count);
+	uint16_t eeprom_npages = fram_available ? 256 : 512;

+	/* instances[0] is always EEPROM on both board variants. */
+	if (mtd_count > 0 && instances[0]->mtd_dev != NULL) {
+		px4_at24c_set_npages(instances[0]->mtd_dev, eeprom_npages);
+	}
+
+	/* Second SPI init. Now HW version is determined and complete init can be done. */
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

 	/* Configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -234,7 +328,33 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

-	if (nx_mount("/dev/mtdblock0", "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+	/* Mount LittleFS as /fs/microsd:
+	 * FRAM boards:  EEPROM->mtdblock0-4, FRAM->mtdblock5 (LittleFS).
+	 * EEPROM-only: EEPROM->mtdblock0-2, FTL on free EEPROM region mtdblock3 (LittleFS). */
+	const char *lfs_dev;
+
+	if (fram_available) {
+		lfs_dev = "/dev/mtdblock5";
+
+	} else {
+		if (mtd_count > 0 && instances[0]->mtd_dev != NULL) {
+			FAR struct mtd_dev_s *eeprom_fs = mtd_partition(instances[0]->mtd_dev, 3, eeprom_npages - 3);
+
+			if (!eeprom_fs || ftl_initialize(3, eeprom_fs) != 0) {
+				syslog(LOG_ERR, "[boot] EEPROM: FTL init failed\n");
+				led_on(LED_RED);
+			}
+
+		} else {
+			syslog(LOG_ERR, "[boot] EEPROM not found\n");
+			led_on(LED_RED);
+		}
+
+		lfs_dev = "/dev/mtdblock3";
+	}
+
+	if (nx_mount(lfs_dev, "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+		syslog(LOG_ERR, "[boot] failed to mount /fs/microsd\n");
 		led_on(LED_RED);
 	}

@@ -37,16 +37,15 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>

-static const px4_mft_device_t spi4 = {             // FM25V02A on FMUM native: 128K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi4 = {             // MB85RS1MT on FMUM native: 1Mbit, emulated as (1024 Blocks of 32)
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256
+static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256 or 16K for EEPROM only boards
 	.bus_type =  px4_mft_device_t::I2C,
 	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
 };

-
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi4,
 	.npart = 1,
@@ -59,7 +58,36 @@ static const px4_mtd_entry_t fmum_fram = {
 	},
 };

+/* EEPROM layout for EEPROM-only boards (128Kbit, 512 pages x 32B = 16KB). */
+static constexpr uint32_t kEepromParts = 3;
+
 static const px4_mtd_entry_t fmum_eeprom = {
+	.device = &i2c4,
+	.npart = kEepromParts,
+	.partd = {
+		{
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
+			.nblocks = 1
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 1
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 1
+		}
+	},
+};
+static_assert(kEepromParts == 3,
+	      "EEPROM partition count changed: update init.c accordingly");
+
+/* EEPROM layout for FRAM boards (64Kbit, 256 pages x 32B = 8KB).
+ * Matches existing layout for backwards compatibility reasons. */
+static const px4_mtd_entry_t fmum_eeprom_fram = {
 	.device = &i2c4,
 	.npart = 5,
 	.partd = {
@@ -81,22 +109,24 @@ static const px4_mtd_entry_t fmum_eeprom = {
 		{
 			.type = MTD_ID,
 			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
+			.nblocks = 8
 		},
 		{
 			.type = MTD_NET,
 			.path = "/fs/mtd_net",
-			.nblocks = 8 // 256 = 32 * 8
+			.nblocks = 8
 		}
 	},
 };

 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&fmum_eeprom
-	}
+	.nconfigs = 1,
+	.entries = { &fmum_eeprom }
+};
+
+static const px4_mtd_manifest_t board_mtd_config_fram = {
+	.nconfigs = 2,
+	.entries = { &fmum_eeprom_fram, &fmum_fram }
 };

 static const px4_mft_entry_s mtd_mft = {
@@ -104,20 +134,36 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };

+static const px4_mft_entry_s mtd_mft_fram = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config_fram,
+};
+
 static const px4_mft_entry_s mft_mft = {
 	.type = MFT,
 	.pmft = (void *) system_query_manifest,
 };

+/* Manifest for EEPROM only boards */
 static const px4_mft_s mft = {
 	.nmft = 2,
-	.mfts = {
-		&mtd_mft,
-		&mft_mft,
-	}
+	.mfts = { &mtd_mft, &mft_mft }
 };

+/* Manifest for EEPROM + FRAM boards */
+static const px4_mft_s mft_fram = {
+	.nmft = 2,
+	.mfts = { &mtd_mft_fram, &mft_mft }
+};
+
+static const px4_mft_s *g_manifest = &mft;
+
 const px4_mft_s *board_get_manifest(void)
 {
-	return &mft;
+	return g_manifest;
+}
+
+void board_configure_fram(void)
+{
+	g_manifest = &mft_fram;
 }
@@ -0,0 +1,107 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_INPUT=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_BOARD_VENDOR="saam"
+CONFIG_BOARD_MODEL="saampixv1_1"
+CONFIG_BOARD_NAME="SaamPixV1_1"
@@ -0,0 +1,13 @@
+{
+    "board_id": 1,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SaamPixV1_1 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "SaamPixV1_1",      
+    "version": "1.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17.0
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# SaamPixV1_1 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# external I2C compasses, if present
+hmc5883 -X start
+qmc5883l -X start
+
+# internal SPI sensors
+ms5611 -s start
+icm20602 -s start
+mpu9250 -s start
+lis3mdl -s start
@@ -0,0 +1,271 @@
+/************************************************************************************
+ * boards/saam/saampixv1_1/nuttx-config/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 8           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
+ */
+
+#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
+
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
+
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+
+/* UART8 has no alternate pin config */
+
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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
+
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
+#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+//      AVAILABLE                             // DMA2, Stream 3
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 5, Channel 6
+#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
@@ -0,0 +1,255 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/saam/saampixv1_1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F427V=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x008E
+CONFIG_CDCACM_PRODUCTSTR="SaamPixV1_1 Flight Controller"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Saam Drones"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDIO_BLOCKSETUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_I=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SDIO_CARD=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMATHRESHOLD=8
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=300
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,51 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+add_library(drivers_board
+	can.c
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * SaamPixV1_1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+
+/* SaamPixV1_1 GPIOs ***********************************************************************************/
+/* LEDs */
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define BOARD_OVERLOAD_LED     LED_RED
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_BATTERY_CURRENT_CHANNEL	10
+#define ADC_BATTERY_VOLTAGE_CHANNEL	12
+#define ADC_RC_RSSI_CHANNEL		11
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
+
+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	14	/* timer 14 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
+
+/* AUX PWMs
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
+
+#define HRT_PPM_CHANNEL		1
+#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
+#define PWMIN_TIMER		4
+#define PWMIN_TIMER_CHANNEL	1
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
+
+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
+// #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
+
+#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
+
+/* Power switch controls */
+#define SPEKTRUM_POWER(_on_true)      do { } while (0)
+
+/*
+ * SaamPixV1_1 has one RC_IN
+ *
+ * GPIO PPM_IN on PC6 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
+ * Inversion is possible via the 74LVC2G86 controlled by the FMU
+ * The FMU can drive GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+
+#define board_peripheral_reset(ms)
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+};
@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * SaamPixV1_1-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <px4_arch/io_timer.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	/* configure the GPIO pins to outputs and keep them low */
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+
+	board_on_reset(-1);
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+
+	/* configure power supply control/sense pins */
+
+	stm32_configgpio(GPIO_SBUS_INV);
+	stm32_configgpio(GPIO_FRSKY_INV);
+
+	/* configure CAN interface */
+
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_configgpio(GPIO_I2C2_SCL);
+	stm32_configgpio(GPIO_I2C2_SDA);
+
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_AMBER);
+	}
+
+	/* Configure SPI-based devices */
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	up_udelay(20);
+
+	/* Get the SPI port for the FRAM */
+
+	spi1 = stm32_spibus_initialize(1);
+
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
+	SPI_SETBITS(spi1, 8);
+
+
+	spi2 = px4_spibus_initialize(2);
+
+	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+
+
+#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdio) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * SaamPixV1_1 LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	stm32_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+	if (led == 1) {
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void led_off(int led)
+{
+	if (led == 1) {
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (led == 1) {
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED1, true);
+		}
+	}
+}
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the SaamPixV1_1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -17,10 +17,7 @@ then
 fi

 # baro
-if ! dps310 -I start -a 0x76
-then
-	spl06 -I  start -a 0x76
-fi
+spl06 -I  start -a 0x76

 # internal mag
 qmc5883p -I -R 4 start
@@ -243,7 +243,6 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
@@ -49,8 +49,6 @@ uint16_t board_get_can_interfaces(void)
 {
 	uint16_t enabled_interfaces = 0x3;

-	enabled_interfaces &= ~(1 << 1);
-
 	return enabled_interfaces;
 }

@@ -26,7 +26,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
  - Mag: QMC5883P
-  - Barometer: DPS310(Version1),SPL06(Version2)
+  - Barometer: SPL06

 ### Interfaces

@@ -95,207 +95,207 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Gripper](../msg_docs/Gripper.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [Ping](../msg_docs/Ping.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [Event](../msg_docs/Event.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EscReport](../msg_docs/EscReport.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [InputRc](../msg_docs/InputRc.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [Vtx](../msg_docs/Vtx.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
 - [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
 - [Mission](../msg_docs/Mission.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [TuneControl](../msg_docs/TuneControl.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
 - [CameraStatus](../msg_docs/CameraStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [SystemPower](../msg_docs/SystemPower.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
 - [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
 - [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
 - [QshellRetval](../msg_docs/QshellRetval.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [Event](../msg_docs/Event.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [RangingBeacon](../msg_docs/RangingBeacon.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
 - [SensorAccel](../msg_docs/SensorAccel.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
  :::
@@ -225,6 +225,12 @@ function(px4_os_add_flags)
 		if(UNIX AND APPLE)
 			add_definitions(-D__PX4_DARWIN)

+			# Silence Apple ld warning about duplicate static libs. CMake intentionally
+			# re-emits them to resolve circular deps (px4_layer, px4_work_queue,
+			# px4_daemon, lockstep_scheduler). See also CMAKE_*_ARCHIVE_FINISH override
+			# at the top of the root CMakeLists.txt for the matching ranlib silence.
+			add_link_options(LINKER:-no_warn_duplicate_libraries)
+
 		elseif(CYGWIN)
 			add_definitions(
 				-D__PX4_CYGWIN
Author	SHA1	Message	Date
alexcekay	07053ab823	v6s: support EEPROM-only boards alongside FRAM variants	2026-04-09 11:42:20 +02:00
PX4BuildBot	c4abeed3a4	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 09:30:09 +00:00
alexcekay	20cad48707	rcS: fine-grained storage settings	2026-04-09 11:22:43 +02:00
Ashwani Sihag	0954e43708	fix(saampixv1_1): use board vendor USB string	2026-04-09 04:47:47 -04:00
Ashwani Sihag	b53036c2d7	fix(pr26902): scope cleanup and copyright attribution	2026-04-09 04:47:47 -04:00
Ashwani Sihag	fffd434068	fix(boards/saampixv1_1): update bootloader artifact board identity	2026-04-09 04:47:47 -04:00
Ashwani Sihag	a74076e539	fix: update stale file path comment in board.h to correct saampixv1_1 path	2026-04-09 04:47:47 -04:00
Ashwani Sihag	00d3c4badc	fix: assign unique USB product ID 0x008E for saampixv1_1 board	2026-04-09 04:47:47 -04:00
Ashwani Sihag	397a54abc1	fix: correct USB vendor string to PX4 for saampixv1_1 board	2026-04-09 04:47:47 -04:00
Ashwani Sihag	bd5cdd3276	fix: update copyright years to 2020-2026 for all SaamPixV1_1 board files	2026-04-09 04:47:47 -04:00
Ashwani Sihag	ff31d5a04f	boards: fix reviewer feedback for saampixv1_1 board - Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1 - Update Airmind Development Team to Saam Drones Development Team in copyright headers - Update PX4 copyright year range to 2020-2026 on all C/C++ files - Rename bootloader binary to match board version (v1_1) - Remove untracked backup files	2026-04-09 04:47:47 -04:00
Ashwani Sihag	fc11c207b9	boards: add saampixv1_1 target for firmware release	2026-04-09 04:47:47 -04:00
PX4BuildBot	104e7f2a9c	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 06:26:14 +00:00
tompsontan	a3d51a62a2	boards:x-mav:ap-h743r1:Switch to SPL06 Only Due to Indistinguishable DPS310 and SPL06 IDs. (#26791 )	2026-04-09 16:18:56 +10:00
PX4BuildBot	d09b3abcf9	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 05:56:38 +00:00
Ramon Roche	8c4b703103	ci(pr-comment-poster): add generic PR comment poster and migrate producers Adds a stand-alone workflow that posts or updates sticky PR comments on behalf of any analysis workflow, including those triggered by fork PRs. The poster runs on `workflow_run` in the base repo context, which is the standard GitHub-sanctioned way to get a write token on events that originate from untrusted forks without ever checking out fork code. All validation, GitHub API interaction, and upsert logic lives in Tools/ci/pr-comment-poster.py (Python 3 stdlib only, two subcommands: `validate` and `post`). The workflow file itself is a thin orchestrator: sparse-checkout the script, download the pr-comment artifact via github-script, unzip, then invoke the script twice. No inline jq, no inline bash validation, no shell-interpolated marker strings. The sparse-checkout ensures only Tools/ci/pr-comment-poster.py lands in the workspace, never the rest of the repo. Artifact contract: a producer uploads an artifact named exactly `pr-comment` containing `manifest.json` (with `pr_number`, `marker`, and optional `mode`) and `body.md`. The script validates the manifest (positive integer pr_number, printable-ASCII marker bounded 1..200 chars, UTF-8 body under 60000 bytes, mode in an allowlist), finds any existing comment containing the marker via the comments REST API, and either edits it in place or creates a new one. The workflow file header documents six security invariants that any future change MUST preserve, most importantly: NEVER check out PR code, NEVER execute anything from the artifact, and treat all artifact contents as opaque data. Why a generic poster and not `pull_request_target`: `pull_request_target` is the tool people reach for first and the one that most often turns into a supply-chain vulnerability, because it hands a write token to a workflow that is then tempted to check out the PR head. `workflow_run` gives the same write token without any check-out temptation, because the only input is a pre-produced artifact treated as opaque data. Producer migrations =================== flash_analysis.yml: - Drop the fork gate on the `post_pr_comment` job. - Drop the obsolete TODO pointing at issue #24408 (the fork-comment workflow does not error anymore; it just no-ops). - Keep the existing "comment only if threshold crossed or previous comment exists" behaviour verbatim. peter-evans/find-comment@v3 stays as a read-only probe (forks can read issue comments just fine); its body-includes is updated to search for the new marker `<!-- pr-comment-poster:flash-analysis -->` instead of the old "FLASH Analysis" heading substring. - Replace the peter-evans/create-or-update-comment@v4 step with two new steps that write pr-comment/manifest.json and pr-comment/body.md and then upload them as artifact pr-comment. The body markdown is byte-for-byte identical to the previous heredoc, with the marker prepended as the first line so subsequent runs can find it. - The threshold-or-existing-comment gate is preserved on both new steps. When the gate does not fire no artifact is uploaded and the poster no-ops. docs-orchestrator.yml (link-check job): - Drop the fork gate on the sticky-comment step. - Replace marocchino/sticky-pull-request-comment@v2 with two new steps that copy logs/filtered-link-check-results.md into pr-comment/body.md, write a pr-comment/manifest.json with the marker `<!-- pr-comment-poster:docs-link-check -->`, and upload the directory as artifact pr-comment. - The prepare step checks `test -s` on the results file and emits a prepared step output; the upload step is gated on that output. In practice the existing link-check step always writes a placeholder ("No broken links found in changed files.") into the file when empty, so the guard is defensive but not load-bearing today. - Tighten the link-check job's permissions from `pull-requests: write` down to `contents: read`; writing PR comments now happens in the poster workflow. The poster's workflows allowlist is seeded with the two active producers: "FLASH usage analysis" and "Docs - Orchestrator". clang-tidy (workflow name "Static Analysis") is not in the list because platisd/clang-tidy-pr-comments posts line-level review comments, a different REST API from issue comments that the poster script does not handle. Extending the poster to cover review comments is a follow-up. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 23:49:56 -06:00
Ramon Roche	c9f1d2ab0f	build(cmake): silence benign macOS ranlib and ld warnings POSIX/SITL builds on macOS produce two classes of benign warnings that clutter output and obscure real issues: ranlib: warning: 'lib.a(foo.o)' has no symbols ld: warning: ignoring duplicate libraries: ... The ranlib warnings come from sources wrapped in #if defined(CONFIG_) guards (i2c.cpp, spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and dummy.cpp placeholders, which legitimately compile to empty object files on POSIX. GNU ranlib ignores this; Apple's warns. The warning is emitted by 'ar qc' (which implicitly builds a symbol table), not by ranlib itself, so overriding only ARCHIVE_FINISH is insufficient. Use 'ar qcS' to skip the implicit symbol table, then let ranlib -no_warning_for_no_symbols build it quietly via ARCHIVE_FINISH. The duplicate-library warnings come from CMake intentionally re-emitting static libraries on the link line to resolve circular dependencies between px4_layer, px4_work_queue, px4_daemon and lockstep_scheduler. GNU ld silently dedupes; Apple's ld-prime (Xcode 15+) warns. Pass -no_warn_duplicate_libraries to the linker. Both fixes are Darwin-only and have no effect on Linux CI or NuttX builds. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 22:45:28 -06:00
Ramon Roche	4c8c9a1e0f	ci(clang-tidy): run incrementally on PRs and post inline annotations Switch the Static Analysis workflow to two modes: - Push to main: run the full "make clang-tidy" target as before. - Pull request: build the clang compile database with "make px4_sitl_default-clang", then call Tools/ci/run-clang-tidy-pr.py (already in-tree) to compute the translation units actually affected by the PR diff and run clang-tidy only on that subset. PRs that touch no C++ files exit silently; the large majority of PRs will skip the slow full analysis entirely. Replace the inline ccache restore/config/save steps with the composite actions from .github/actions/setup-ccache and .github/actions/save-ccache, which use content-hash cache keys (prefix-ref-sha with ref and base_ref fallbacks), compression, and compiler_check=content. Same 120M cap. Add a second job, post_clang_tidy_comments, that runs on a GitHub-hosted runner when the analysis job reports has_findings=true. It downloads the compile_commands.json artifact produced by the analysis job, rewrites the AWS RunsOn workspace prefix (/__w/PX4-Autopilot/PX4-Autopilot) to the GitHub-hosted runner workspace so clang-tidy can chdir into the build directory, runs clang-tidy-diff-18 to export fixes, and posts inline review annotations via platisd/clang-tidy-pr-comments@v1. Annotations are set to request changes (request_changes: true), so a PR with new clang-tidy findings will be blocked until they are addressed or waived. suggestions_per_comment is capped at 10. Annotations are gated to same-repo PRs only; forks skip the annotation job because GITHUB_TOKEN has no write access there. The post_clang_tidy_comments job uses if: always() && ... so it runs whether the analysis job succeeded or failed (findings still need to be surfaced when the analysis exits non-zero). Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 22:45:03 -06:00