WIP: afbrs50 try SPI_LOCK

drivers/distance_sensor/broadcom/afbrs50: minimize IRQ_LOCK()/IRQ_UNLOCK() calls
battery: use local instead of global member battery_status message
2026-05-25 01:47:34 +08:00 · 2021-07-01 10:59:51 -04:00 · 2021-07-01 10:47:53 -04:00 · 2021-07-01 14:24:38 +02:00 · 2021-07-01 14:24:38 +02:00 · 2021-07-01 14:24:38 +02:00
796 changed files with 27122 additions and 5413 deletions
@@ -48,6 +48,8 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
@@ -55,6 +57,7 @@ pipeline {
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -155,7 +158,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -73,13 +73,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -149,13 +146,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -225,13 +219,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -301,13 +292,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -377,13 +365,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -453,13 +438,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -533,13 +515,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -609,13 +588,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -689,13 +665,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -769,9 +742,6 @@ pipeline {
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -842,13 +812,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -918,13 +885,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -937,8 +901,8 @@ pipeline {
    CI = true
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 120, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }
@@ -23,6 +23,7 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -19,6 +19,9 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_debug,
          ark_can-flow_default,
+          ark_can-gps_canbootloader,
+          ark_can-gps_debug,
+          ark_can-gps_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
@@ -32,6 +35,8 @@ jobs:
          cubepilot_cubeyellow_default,
          cubepilot_cubeyellow_test,
          cubepilot_io-v2_default,
+          freefly_can-rtk-gps_canbootloader,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
@@ -40,6 +45,7 @@ jobs:
          holybro_pix32v5_default,
          modalai_fc-v1_default,
          modalai_fc-v1_rtps,
+          modalai_fc-v2_default,
          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
@@ -17,6 +17,7 @@ jobs:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,10 +15,11 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+
    container:
      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -65,5 +65,8 @@
 	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/px4/public_regulated_data_types/
+	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
+[submodule "src/lib/crypto/monocypher"]
+	path = src/lib/crypto/monocypher
+	url = https://github.com/PX4/Monocypher.git
@@ -66,6 +66,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -106,6 +116,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -126,6 +146,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -374,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
  }
 }
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -165,6 +165,11 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -468,26 +473,27 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@rm -rf "$(SRC_DIR)"/build
-	@git submodule foreach git clean -df
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4

 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

 # Help / Error
 # --------------------------------------------------------------------
@@ -115,6 +115,7 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -14,7 +14,8 @@

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+
+param set-default FW_AIRSPD_STALL 8

 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0
@@ -46,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -225,6 +225,12 @@ sensors start
 commander start
 navigator start

+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -71,7 +71,6 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
+# @url https://www.aionrobotics.com/r1
 #
 # @type Rover
 # @class Rover
@@ -26,6 +26,12 @@ then
 	batt_smbus start -X
 fi

+# Start batmon driver if enabled using BATMON_DRIVER_EN
+if param compare -s BATMON_DRIVER_EN 1
+then
+	batmon start -X  #start on external bus
+fi
+
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -111,7 +117,14 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	adis16448 -S start
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
 fi

 # probe for optional external I2C devices
@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF  14
+set LOGGER_BUF 8
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -81,33 +81,6 @@ then
 			hardfault_log reset
 		fi
 	fi
-
-	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
-
-	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
-	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
-		cat > /fs/microsd/.metadata_never_index
-	fi
-
-	# block MacOS trashes
-	if [ ! -f "/fs/microsd/.Trashes" ]; then
-		cat > /fs/microsd/.Trashes
-	fi
-
-	# block MacOS logging of filesystem events
-	if [ ! -d "/fs/microsd/.fseventsd" ]; then
-		mkdir /fs/microsd/.fseventsd
-	fi
-
-	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
-		cat > /fs/microsd/.fseventsd/no_log
-	fi
-
-	# block Ubuntu trash
-	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
-		cat > /fs/microsd/.Trash-1000
-	fi
-
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -404,21 +377,30 @@ else

 	if param greater -s TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-		if param compare TRIG_PINS 56
+		if param compare TRIG_PINS_EX 0
 		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			if param compare TRIG_PINS 78
+			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+			if param compare TRIG_PINS 56
 			then
-				# clear pins 7 and 8
-				set FMU_MODE pwm6
-				set AUX_MODE pwm6
+				# clear pins 5 and 6
+				set FMU_MODE pwm4
+				set AUX_MODE pwm4
 			else
-				set FMU_MODE none
-				set AUX_MODE none
+				if param compare TRIG_PINS 78
+				then
+					# clear pins 7 and 8
+					set FMU_MODE pwm6
+					set AUX_MODE pwm6
+				else
+					set FMU_MODE none
+					set AUX_MODE none
+				fi
+			fi
+		else
+			if param compare TRIG_PINS_EX 12288
+			then
+				set FMU_MODE pwm12
+				set AUX_MODE pwm12
 			fi
 		fi

@@ -22,4 +22,5 @@ exec find boards msg src platforms test \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
+    -path src/lib/crypto/monocypher -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$0
+if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
+  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
+fi
+
+PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
+
+if [ -d $PX4_DIR/build/*_rtps ]; then
+  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
+  cmake -Bbuild
+  cmake --build build -j$(nproc --all)
+fi
@@ -81,7 +81,8 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
        # Align to 4 bytes. Signature always starts at
        # 4 byte aligned address, but the signee size
        # might not be aligned
-        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)

    try:
        with open(key_file_path,mode='r') as f:
@@ -133,7 +134,7 @@ if(__name__ == "__main__"):
    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)

-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
    parser.add_argument("--genkey", help="new generated key", default=None)
    args = parser.parse_args()
@@ -152,7 +153,7 @@ if(__name__ == "__main__"):
        sys.exit(1)

    # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys.json':
+    if args.key=='Tools/test_keys/test_keys.json':
        print("WARNING: Signing with PX4 test key")

    # Sign the binary
@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -12,6 +12,7 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
+import os

 try:
    from pymavlink import mavutil
@@ -135,15 +136,20 @@ def main():

    mav_serialport.write('\n') # make sure the shell is started

-    # setup the console, so we can read one char at a time
+    # disable echo & avoid buffering on stdin
    fd_in = sys.stdin.fileno()
-    old_attr = termios.tcgetattr(fd_in)
-    new_attr = termios.tcgetattr(fd_in)
-    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-    new_attr[3] = new_attr[3] & ~termios.ICANON
+    try:
+        old_attr = termios.tcgetattr(fd_in)
+        new_attr = termios.tcgetattr(fd_in)
+        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+        new_attr[3] = new_attr[3] & ~termios.ICANON
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
+    except termios.error:
+        # tcgetattr can fail if stdin is not a tty
+        old_attr = None
+    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)

    try:
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
        cur_line = ''
        command_history = []
        cur_history_index = 0
@@ -156,11 +162,19 @@ def main():

        next_heartbeat_time = timer()

-        while True:
+        quit_time = None
+        while quit_time is None or quit_time > timer():
            while True:
-                i, o, e = select.select([sys.stdin], [], [], 0)
+                i, o, e = select.select([ubuf_stdin], [], [], 0)
                if not i: break
-                ch = sys.stdin.read(1)
+                ch = ubuf_stdin.read(1).decode('utf8')
+
+                if len(ch) == 0: # EOF
+                    if quit_time is None:
+                        # run a bit longer to read the response (we could also
+                        # read until we get a prompt)
+                        quit_time = timer() + 1
+                    break

                # provide a simple shell with command history
                if ch == '\n':
@@ -182,8 +196,8 @@ def main():
                        cur_line = cur_line[:-1]
                        sys.stdout.write(ch)
                elif ord(ch) == 27:
-                    ch = sys.stdin.read(1) # skip one
-                    ch = sys.stdin.read(1)
+                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
+                    ch = ubuf_stdin.read(1).decode('utf8')
                    if ch == 'A': # arrow up
                        if cur_history_index > 0:
                            cur_history_index -= 1
@@ -223,7 +237,8 @@ def main():
        mav_serialport.close()

    finally:
-        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        if old_attr:
+            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)


 if __name__ == '__main__':
@@ -6,7 +6,7 @@ import html
 class MarkdownTablesOutput():
    def __init__(self, groups, board, image_path):
        result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
                  "> \n"
                  "> **AUX** channels may not be present on some flight controllers.\n"
                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
@@ -28,7 +28,7 @@ available commands, and in most cases `command help` will print the usage.
 Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
-the root of the Firmware directory:
+the root of the PX4-Autopilot directory:
 ```
 make module_documentation
 ```
@@ -66,7 +66,7 @@ The generated files will be written to the `modules` directory.
        result = ''
        for module in module_list:
            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/Firmware/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
                result += "%s\n" % doc
@@ -56,7 +56,6 @@ from __future__ import print_function
 import sys
 import argparse
 import binascii
-import serial
 import socket
 import struct
 import json
@@ -68,6 +67,16 @@ import os

 from sys import platform as _platform

+try:
+    import serial
+except ImportError as e:
+    print("Failed to import serial: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyserial")
+    print("")
+    sys.exit(1)
+
 # Detect python version
 if sys.version_info[0] < 3:
    runningPython3 = False
@@ -726,29 +735,6 @@ def main():
        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
        print("==========================================================================================================")

-    # We need to check for pyserial because the import itself doesn't
-    # seem to fail, at least not on macOS.
-    pyserial_installed = False
-    try:
-        if serial.__version__:
-            pyserial_installed = True
-    except:
-        pass
-
-    try:
-        if serial.VERSION:
-            pyserial_installed = True
-    except:
-        pass
-
-    if not pyserial_installed:
-        print("Error: pyserial not installed!")
-        print("")
-        print("You may need to install it using:")
-        print("    pip3 install --user pyserial")
-        print("")
-        sys.exit(1)
-
    # Load the firmware file
    fw = firmware(args.firmware)

@@ -15,7 +15,7 @@ pygments
 wheel>=0.31.1
 pymavlink
 pyros-genmsg
-pyserial>=3.0
+pyserial
 pyulog>=0.5.0
 pyyaml
 requests
@@ -0,0 +1,5 @@
+//Public key to verify signed binaries
+0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
+0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
+0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
+0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
@@ -46,6 +46,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -117,7 +118,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>
@@ -12,7 +12,9 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -20,14 +22,13 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		perf
 		reboot
 		system_time
 		top
-		topic_listener
+		#topic_listener
+		uorb
 		ver
 		work_queue
 )
@@ -13,7 +13,9 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
+		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -21,14 +23,13 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
-		mft
-		mtd
 		param
 		#perf
 		#reboot
 		#system_time
 		#top
 		#topic_listener
+		#uorb
 		#ver
 		#work_queue
 )
@@ -4,6 +4,12 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start -Y 90
-bmi088 -A -s -R 4 start
-bmi088 -G -s -R 4 start
+paw3902 -s start -Y 180
+
+if ! icm42688p -R 0 -s start
+then
+	bmi088 -A -s -R 4 start
+	bmi088 -G -s -R 4 start
+fi
+
+afbrs50 start
@@ -133,8 +133,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1

-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */

 #endif /* __ARCH_BOARD_BOARD_H */
@@ -40,6 +40,4 @@
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -144,8 +144,6 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y
@@ -56,6 +56,13 @@
 #define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 #define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)

+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
+
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -49,6 +49,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>

@@ -60,6 +61,7 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -87,6 +89,8 @@ __END_DECLS

 __EXPORT void stm32_boardinitialize(void)
 {
+	watchdog_init();
+
 	// Configure CAN interface
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -0,0 +1,13 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)
@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		i2cdetect
+		led_control
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+)
@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	#CONSTRAINED_FLASH
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		#mft
+		#mtd
+		param
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 81,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK gps board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+
+safety_button start
+tone_alarm start
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+gps start -d /dev/ttyS0 -p ubx
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 2 start
+
+bmm150 -I -b 1 start
@@ -0,0 +1,68 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../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_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -0,0 +1,152 @@
+/************************************************************************************
+ * configs/px4fmu/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.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#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/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#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_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 (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,164 @@
+#
+# 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_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../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_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+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_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=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_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
+CONFIG_NSH_DISABLE_TELNETD=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_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+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_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=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_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 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 STM32F412 has 512Kb 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 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+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)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.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 +1,146 @@
+/****************************************************************************
+ * 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 STM32F412 has 512Kb 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 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+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(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.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 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+	)
+endif()
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* BUTTON */
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
+
+/* Safety LED */
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+
+/* Tone alarm output. */
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * 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)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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_arch.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) 2021 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),
+	initI2CBusInternal(2),
+};
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * board 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.
+ */
+
+#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 <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 <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * 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)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name 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.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 81)
+set(uavcanblid_name "\"org.ark.can-gps\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -54,6 +54,7 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -53,6 +53,7 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		#tone_alarm
 		uavcan
@@ -114,7 +115,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -143,6 +143,7 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -52,6 +52,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -90,7 +91,7 @@ static int configure_switch(void);
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -33,6 +33,7 @@ px4_add_board(
 		magnetometer/hmc5883
 		pwm_out_sim
 		rc_input
+		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -95,7 +96,7 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
+		fake_imu
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/analog/adc.h>
@@ -286,9 +286,6 @@ Syslink::task_main()
 	_memory = new SyslinkMemory(this);
 	_memory->init();

-	_battery.reset();
-
-
 	//	int ret;

 	/* Open serial port */
@@ -441,7 +438,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		px4_sem_post(&memory_sem);

 	} else {
-		PX4_INFO("GOT %d", msg->type);
+		PX4_INFO("GOT %" PRIu8, msg->type);
 	}

 	//Send queued messages
@@ -609,7 +606,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 	if (c->port == CRTP_PORT_LOG) {

-		PX4_INFO("Log: %d %d", c->channel, c->data[0]);
+		PX4_INFO("Log: %" PRIu8 " %" PRIu8, c->channel, c->data[0]);

 		if (c->channel == 0) { // Table of Contents Access

@@ -632,7 +629,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 			uint8_t cmd = c->data[0];

-			PX4_INFO("Responding to cmd: %d", cmd);
+			PX4_INFO("Responding to cmd: %" PRIu8, cmd);
 			c->data[2] = 0; // Success
 			c->size = 3 + 1;

@@ -673,7 +670,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)
 		}

 	} else {
-		PX4_INFO("Got raw: %d", c->port);
+		PX4_INFO("Got raw: %" PRIu8, c->port);
 	}
 }

@@ -772,13 +769,13 @@ void status()
 		printf("%i: ROM ID: ", i);

 		for (int idi = 0; idi < idlen; idi++) {
-			printf("%02X", id[idi]);
+			printf("%02" PRIX8, id[idi]);
 		}

 		deck_descriptor_t desc;
 		read(deckfd, &desc, sizeof(desc));

-		printf(", VID: %02X , PID: %02X\n", desc.header, desc.vendorId, desc.productId);
+		printf("HDR:%02" PRIx8 ", VID: %02" PRIx8 " , PID: %02" PRIx8 "\n", desc.header, desc.vendorId, desc.productId);

 		// Print pages of memory
 		for (size_t di = 0; di < sizeof(desc); di++) {
@@ -786,7 +783,7 @@ void status()
 				printf("\n");
 			}

-			printf("%02X ", ((uint8_t *)&desc)[di]);
+			printf("%02" PRIX8 " ", ((uint8_t *)&desc)[di]);

 		}

@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/analog/adc.h>
@@ -53,6 +53,7 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
+#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -35,6 +35,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -51,6 +52,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -122,7 +124,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -17,5 +17,8 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+# Set Camera trigger pins to 13/14
+param set-default TRIG_PINS_EX 12288
+
 rgbled_pwm start
 safety_button start
@@ -12,11 +12,17 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if ! bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start

 # SPI6
-icm20649 -s -b 6 -R 2 start
+if ! icm20649 -s -b 6 -R 2 start
+then
+	icm20689 -s -b 6 -R 2 start
+fi
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -106,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -46,6 +46,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {
@@ -55,6 +56,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI6, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
 	}),
 };
@@ -41,6 +41,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -125,7 +125,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -36,6 +36,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -52,6 +53,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -123,7 +125,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -17,5 +17,9 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+# Set Camera trigger pins to 13/14
+param set-default TRIG_PINS_EX 12288
+
+
 rgbled_pwm start
 safety_button start
@@ -15,11 +15,17 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if ! bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start

 # SPI6
-icm20649 -s -b 6 -R 2 start
+if ! icm20649 -s -b 6 -R 2 start
+then
+	icm20689 -s -b 6 -R 2 start
+fi
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -106,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
@@ -47,6 +47,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {
@@ -56,6 +57,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI6, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
 	}),
 };
@@ -41,6 +41,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
+#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -59,7 +59,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -75,7 +75,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -126,7 +126,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -49,6 +49,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -120,7 +121,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -117,6 +117,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -43,6 +43,8 @@

 #include "board_config.h"

+#include <syslog.h>
+
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -97,7 +99,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

 	if (status >= 0) {
--- a/Show More
+++ b/Show More