bl_update: Allow booting from SD card (without forced BL copy to ROMFS)

* MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL

* Default should be -1 for stream

* Format

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>

.github/workflows/docs_flaw_checker.yml

@@ -43,7 +43,8 @@ jobs:
       - name: Save JSON file containing files to link check
         run: |
           echo "$ALL_CHANGED_FILES"
-          echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
         env:
           ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
 

ROMFS/CMakeLists.txt

@@ -208,12 +208,12 @@ set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
 
 # bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
 			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")

ROMFS/px4fmu_common/init.d/rcS

@@ -613,7 +613,9 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
-
+	#
+	# Bootloader upgrade (ROMFS)
+	#
 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
@@ -621,6 +623,22 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Bootloader upgrade (SD card)
+	#
+	if param compare -s SYS_BL_UPDATE 2
+	then
+		if [ -f "/fs/microsd/bl/bl.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/fs/microsd/bl/bl.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#

Tools/ci/generate_board_targets_json.py

@@ -38,7 +38,7 @@ if args.filter:
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [

Tools/setup/Dockerfile

@@ -29,6 +29,8 @@ RUN git config --global --add safe.directory '*'
 # Create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
+ENV PATH="${PATH}:/opt/xtensa-esp-elf/bin"
+
 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
 
 CMD ["/bin/bash"]

Tools/setup/ubuntu.sh

@@ -155,7 +155,14 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-multilib \
 			gcc-arm-none-eabi \
 			gcc-multilib \
+			esptool \
 			;
+
+		echo
+		echo "Fetching Xtensa compilers"
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
+		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi
 
 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then

boards/airmind/mindpx-v2/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/atl/mantis-edu/default.px4board

@@ -35,6 +35,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/av/x-v1/default.px4board

@@ -71,6 +71,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/cuav/x7pro/test.px4board

@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/cubepilot/cubeorange/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/cubepilot/cubeyellow/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/espressif/esp32/default.px4board

@@ -0,0 +1,39 @@
+CONFIG_BOARD_TOOLCHAIN="xtensa-esp32-elf"
+CONFIG_BOARD_ARCHITECTURE="esp32"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+# CONFIG_DATAMAN_PERSISTENT_STORAGE is not set
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_LOGGER_STACK_SIZE=4000
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_NAVIGATOR=y
+# CONFIG_NAVIGATOR_ADSB is not set
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_BOARD_PWM_FREQ=250

boards/espressif/esp32/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 42,
+    "magic": "ESP32",
+    "description": "Firmware for the ESP32",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESP32",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/espressif/esp32/init/rc.board_defaults

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+dhcpd_start wlan0
+mavlink start -u 14550 -o 14550 -m 0 -r 1000 -x -p -s
+mavlink start -d /dev/ttyS1 -b 115200 -f -w -Z

boards/espressif/esp32/init/rc.board_mavlink

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port

boards/espressif/esp32/init/rc.board_sensors

@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------

boards/espressif/esp32/nuttx-config/include/board.h

@@ -0,0 +1,61 @@
+/************************************************************************************
+ * 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <arch/board/esp32_board.h>
+
+#define LED_STARTED       0  /* LED2 */
+#define LED_HEAPALLOCATE  1  /* LED3 */
+#define LED_IRQSENABLED   2  /* LED3 + LED2 */
+#define LED_STACKCREATED  3  /* LED3 */
+#define LED_INIRQ         4  /* LED1 + LED3 */
+#define LED_SIGNAL        5  /* LED2 + LED3 */
+#define LED_ASSERTION     6  /* LED1 + LED2 + LED3 */
+#define LED_PANIC         7  /* LED1  + N/C  + N/C */
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/espressif/esp32/nuttx-config/include/esp32_board.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-devkitc/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
+#define __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+/* The ESP32 Core board V2 is fitted with either a 26 a 40MHz crystal */
+
+#ifdef CONFIG_ESP32_XTAL_26MHz
+#  define BOARD_XTAL_FREQUENCY  26000000
+#else
+#  define BOARD_XTAL_FREQUENCY  40000000
+#endif
+
+/* Clock reconfiguration is currently disabled, so the CPU will be running
+ * at the XTAL frequency or at two times the XTAL frequency, depending upon
+ * how we load the code:
+ *
+ * - If we load the code into FLASH at address 0x1000 where it is started by
+ *   the second level bootloader, then the frequency is the crystal
+ *   frequency.
+ * - If we load the code into IRAM after the second level bootloader has run
+ *   this frequency will be  twice the crystal frequency.
+ *
+ * Don't ask me for an explanation.
+ */
+
+/* Note: The bootloader (esp-idf bootloader.bin) configures:
+ *
+ * - CPU frequency to 80MHz
+ * - The XTAL frequency according to the SDK config CONFIG_ESP32_XTAL_FREQ,
+ *   which is 40MHz by default.
+ *
+ * Reference:
+ *     https://github.com/espressif/esp-idf/blob
+ *           /6fd855ab8d00d23bad4660216bc2122c2285d5be/components
+ *           /bootloader_support/src/bootloader_clock.c#L38-L62
+ */
+
+#ifdef CONFIG_ESP32_RUN_IRAM
+#  define BOARD_CLOCK_FREQUENCY (2 * BOARD_XTAL_FREQUENCY)
+#else
+#ifdef CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ
+#  define BOARD_CLOCK_FREQUENCY (CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ * 1000000)
+#else
+#  define BOARD_CLOCK_FREQUENCY 80000000
+#endif
+#endif
+
+/* LED definitions **********************************************************/
+
+/* Define how many LEDs this board has (needed by userleds) */
+
+#define BOARD_NLEDS       1
+
+/* GPIO pins used by the GPIO Subsystem */
+
+#define BOARD_NGPIOOUT    1 /* Amount of GPIO Output pins */
+#define BOARD_NGPIOIN     1 /* Amount of GPIO Input without Interruption */
+#define BOARD_NGPIOINT    1 /* Amount of GPIO Input w/ Interruption pins */
+
+#endif /* __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H */

boards/espressif/esp32/nuttx-config/nsh/defconfig

@@ -0,0 +1,219 @@
+#
+# 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_ESP32_SPI3_DMA is not set
+# CONFIG_ESP32_SPI_SWCS is not set
+# CONFIG_ESP32_WIFI_RX_AMPDU is not set
+# CONFIG_ESP32_WIFI_TX_AMPDU is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ALLOW_BSD_COMPONENTS=y
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/espressif/esp32/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME=""
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROOM32=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARDCTL_MKRD=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DEV_URANDOM=y
+CONFIG_DRIVERS_IEEE80211=y
+CONFIG_DRIVERS_WIRELESS=y
+CONFIG_ELF=y
+CONFIG_ESP32_FLASH_FREQ_80M=y
+CONFIG_ESP32_FLASH_MODE_QIO=y
+CONFIG_ESP32_I2C0=y
+CONFIG_ESP32_I2CTIMEOMS=10
+CONFIG_ESP32_LEDC=y
+CONFIG_ESP32_LEDC_CHANNEL1_PIN=13
+CONFIG_ESP32_LEDC_CHANNEL2_PIN=16
+CONFIG_ESP32_LEDC_CHANNEL3_PIN=17
+CONFIG_ESP32_LEDC_TIM0=y
+CONFIG_ESP32_LEDC_TIM0_CHANNELS=4
+CONFIG_ESP32_SPI3=y
+CONFIG_ESP32_SPIFLASH=y
+CONFIG_ESP32_SPIFLASH_SPIFFS=y
+CONFIG_ESP32_UART0=y
+CONFIG_ESP32_UART1=y
+CONFIG_ESP32_UART1_RXPIN=14
+CONFIG_ESP32_UART1_TXPIN=12
+CONFIG_ESP32_WIFI=y
+CONFIG_ESP32_WIFI_DYNAMIC_RXBUF_NUM=16
+CONFIG_ESP32_WIFI_DYNAMIC_TXBUF_NUM=16
+CONFIG_ESP32_WIFI_SAVE_PARAM=y
+CONFIG_ESP32_WIFI_STATION_SOFTAP_COEXISTENCE=y
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXAMPLES_DHCPD=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FAT_LFN_UTF8=y
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=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_IDLETHREAD_STACKSIZE=2048
+CONFIG_IEEE80211_BROADCOM_DEFAULT_COUNTRY="27"
+CONFIG_IEEE80211_BROADCOM_SCHED_PRIORITY=50
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=6000
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=3
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=48
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDEVICES=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETDEV_WIRELESS_IOCTL=y
+CONFIG_NETDOWN_NOTIFIER=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0XA290AFE
+CONFIG_NETINIT_IPADDR=0xC0A80001
+CONFIG_NETINIT_MONITOR=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETINIT_WAPI_ALG=0
+CONFIG_NETINIT_WAPI_AUTHWPA=0x00000001
+CONFIG_NETINIT_WAPI_CIPHERMODE=0x00000001
+CONFIG_NETINIT_WAPI_PASSPHRASE="px4-esp32"
+CONFIG_NETINIT_WAPI_SSID="px4-esp32"
+CONFIG_NETINIT_WAPI_STAMODE=3
+CONFIG_NETUTILS_DHCPC_BOOTP_FLAGS=0x0000
+CONFIG_NETUTILS_DHCPD=y
+CONFIG_NETUTILS_DHCPD_DNSIP=0xc0a80001
+CONFIG_NETUTILS_DHCPD_MAXLEASES=2
+CONFIG_NETUTILS_DHCPD_ROUTERIP=0xc0a80001
+CONFIG_NETUTILS_DHCPD_STACKSIZE=3048
+CONFIG_NETUTILS_DHCPD_STARTIP=0xc0a80002
+CONFIG_NETUTILS_TELNETC=y
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NETLINK=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_CMP=y
+CONFIG_NSH_DISABLE_DD=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_TRUNCATE=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=4
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=10
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=10
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_CMD_HISTORY_LEN=4
+CONFIG_READLINE_CMD_HISTORY_LINELEN=64
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIOMAX=178
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGCONDTIMEDOUT=19
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=20
+CONFIG_SPIFFS_NAME_MAX=48
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_MDIO=y
+CONFIG_SYSTEM_NETDB=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NSH_STACKSIZE=1000
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TLS_TASK_NELEM=4
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WIRELESS=y
+CONFIG_WIRELESS_WAPI=y
+CONFIG_WIRELESS_WAPI_CMDTOOL=y
+CONFIG_WIRELESS_WAPI_STACKSIZE=4096

boards/espressif/esp32/nuttx-config/scripts/esp32.ld

@@ -0,0 +1,296 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Default entry point: */
+
+ENTRY(__start);
+
+SECTIONS
+{
+  /* Send .iram0 code to iram */
+
+  .iram0.vectors :
+  {
+    /* Vectors go to IRAM */
+
+    _init_start = ABSOLUTE(.);
+
+    /* Vectors according to builds/RF-2015.2-win32/esp108_v1_2_s5_512int_2/config.html */
+
+    . = 0x0;
+    KEEP (*(.window_vectors.text));
+    . = 0x180;
+    KEEP (*(.xtensa_level2_vector.text));
+    . = 0x1c0;
+    KEEP (*(.xtensa_level3_vector.text));
+    . = 0x200;
+    KEEP (*(.xtensa_level4_vector.text));
+    . = 0x240;
+    KEEP (*(.xtensa_level5_vector.text));
+    . = 0x280;
+    KEEP (*(.debug_exception_vector.text));
+    . = 0x2c0;
+    KEEP (*(.nmi_vector.text));
+    . = 0x300;
+    KEEP (*(.kernel_exception_vector.text));
+    . = 0x340;
+    KEEP (*(.user_exception_vector.text));
+    . = 0x3c0;
+    KEEP (*(.double_exception_vector.text));
+    . = 0x400;
+    *(.*_vector.literal)
+
+    . = ALIGN (16);
+    *(.entry.text)
+    *(.init.literal)
+    *(.init)
+    _init_end = ABSOLUTE(.);
+  } > iram0_0_seg
+
+  .iram0.text :
+  {
+    /* Code marked as running out of IRAM */
+
+    _iram_text_start = ABSOLUTE(.);
+    *(.iram1 .iram1.*)
+    *librtc.a:(.literal .text .literal.* .text.*)
+    *libarch.a:esp32_spiflash.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_cpupause.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_copystate.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_interruptcontext.*(.literal .text .literal.* .text.*)
+    *libarch.a:xtensa_testset.*(.literal .text .literal.* .text.*)
+
+    *libsched.a:sched_suspendscheduler.*(.literal .text .literal.* .text.*)
+    *libsched.a:sched_note.*(.literal .text .literal.* .text.*)
+    *libsched.a:sched_thistask.*(.literal .text .literal.* .text.*)
+    *libsched.a:spinlock.*(.literal .text .literal.* .text.*)
+    *libsched.a:irq_csection.*(.literal .text .literal.* .text.*)
+    *libsched.a:irq_dispatch.*(.literal .text .literal.* .text.*)
+
+    *(.wifirxiram .wifirxiram.*)
+    *(.wifi0iram  .wifi0iram.*)
+    *(.wifislpiram .wifislpiram.*)
+    *(.wifislprxiram .wifislprxiram.*)
+    *(.phyiram .phyiram.*)
+    _iram_text_end = ABSOLUTE(.);
+
+    /* IRAM heap starts at the end of iram0_0_seg */
+
+    . = ALIGN (4);
+    _siramheap = ABSOLUTE(.);
+  } > iram0_0_seg
+
+  /* Shared RAM */
+
+  .dram0.bss (NOLOAD) :
+  {
+    /* .bss initialized on power-up */
+
+    . = ALIGN (8);
+    _sbss = ABSOLUTE(.);
+    _bss_start = ABSOLUTE(.);
+    *(.ext_ram.bss*)
+    _bt_bss_start = ABSOLUTE(.);
+    *libbt.a:(.bss .bss.* COMMON)
+    . = ALIGN (4);
+    _bt_bss_end = ABSOLUTE(.);
+    _btdm_bss_start = ABSOLUTE(.);
+    *libbtdm_app.a:(.bss .bss.* COMMON)
+    . = ALIGN (4);
+    _btdm_bss_end = ABSOLUTE(.);
+    . = ALIGN (8);
+    *(.dynsbss)
+    *(.sbss)
+    *(.sbss.*)
+    *(.gnu.linkonce.sb.*)
+    *(.scommon)
+    *(.sbss2)
+    *(.sbss2.*)
+    *(.gnu.linkonce.sb2.*)
+    *(.dynbss)
+    KEEP (*(.bss))
+    *(.bss.*)
+    *(.share.mem)
+    *(.gnu.linkonce.b.*)
+    *(COMMON)
+    *libarch.a:esp32_spiflash.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_cpupause.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_copystate.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_interruptcontext.*(.bss  .bss.*  COMMON)
+    *libarch.a:xtensa_testset.*(.bss  .bss.*  COMMON)
+
+    *libsched.a:sched_suspendscheduler.*(.bss  .bss.*  COMMON)
+    *libsched.a:sched_thistask.*(.bss  .bss.*  COMMON)
+    *libsched.a:sched_note.*(.bss  .bss.*  COMMON)
+    *libsched.a:spinlock.*(.bss  .bss.*  COMMON)
+    *libsched.a:irq_csection.*(.bss  .bss.*  COMMON)
+    *libsched.a:irq_dispatch.*(.bss  .bss.*  COMMON)
+
+    . = ALIGN(8);
+    _bss_end = ABSOLUTE(.);
+    _ebss = ABSOLUTE(.);
+  } >dram0_0_seg
+
+  .noinit (NOLOAD):
+  {
+    /* This section contains data that is not initialized during load,
+     * or during the application's initialization sequence.
+     */
+
+    *(.noinit)
+  } >dram0_0_seg
+
+  .dram0.data :
+  {
+    /* .data initialized on power-up in ROMed configurations. */
+
+    _sdata = ABSOLUTE(.);
+    _bt_data_start = ABSOLUTE(.);
+    *libbt.a:(.data .data.*)
+    . = ALIGN (4);
+    _bt_data_end = ABSOLUTE(.);
+    _btdm_data_start = ABSOLUTE(.);
+    *libbtdm_app.a:(.data .data.*)
+    . = ALIGN (4);
+    _btdm_data_end = ABSOLUTE(.);
+    KEEP (*(.data))
+    KEEP (*(.data.*))
+    KEEP (*(.gnu.linkonce.d.*))
+    KEEP (*(.data1))
+    KEEP (*(.sdata))
+    KEEP (*(.sdata.*))
+    KEEP (*(.gnu.linkonce.s.*))
+    KEEP (*(.sdata2))
+    KEEP (*(.sdata2.*))
+    KEEP (*(.gnu.linkonce.s2.*))
+    KEEP (*(.jcr))
+    *(.dram1 .dram1.*)
+    *libphy.a:(.rodata  .rodata.*)
+    *libarch.a:esp32_spiflash.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_cpupause.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_copystate.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_interruptcontext.*(.rodata  .rodata.*)
+    *libarch.a:xtensa_testset.*(.rodata  .rodata.*)
+
+    *libsched.a:sched_suspendscheduler.*(.rodata  .rodata.*)
+    *libsched.a:sched_thistask.*(.rodata  .rodata.*)
+    *libsched.a:sched_note.*(.rodata  .rodata.*)
+    *libsched.a:spinlock.*(.rodata  .rodata.*)
+    *libsched.a:irq_csection.*(.rodata  .rodata.*)
+    *libsched.a:irq_dispatch.*(.rodata  .rodata.*)
+
+    . = ALIGN(4);
+    _edata = ABSOLUTE(.);
+
+    /* Heap starts at the end of .data */
+
+    _sheap = ABSOLUTE(.);
+  } >dram0_0_seg
+
+  /* External memory bss, from any global variable with EXT_RAM_ATTR attribute */
+
+  .extmem.bss (NOLOAD) :
+  {
+    _sbss_extmem = ABSOLUTE(.);
+    *(.extmem.bss .extmem.bss.*)
+    . = ALIGN(4);
+    _ebss_extmem = ABSOLUTE(.);
+  } > extmem_seg
+
+  .flash.rodata :
+  {
+    _srodata = ABSOLUTE(.);
+    *(.rodata)
+    *(.rodata.*)
+    *(.irom1.text) /* catch stray ICACHE_RODATA_ATTR */
+    *(.gnu.linkonce.r.*)
+    *(.rodata1)
+    __XT_EXCEPTION_TABLE_ = ABSOLUTE(.);
+    *(.xt_except_table)
+    *(.gcc_except_table)
+    *(.gcc_except_table.*)
+    *(.gnu.linkonce.e.*)
+    *(.gnu.version_r)
+    *(.eh_frame)
+
+    . = (. + 3) & ~ 3;
+
+    /* C++ constructor and destructor tables, properly ordered: */
+
+    _sinit = ABSOLUTE(.);
+    KEEP (*crtbegin.o(.ctors))
+    KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+    KEEP (*(SORT(.ctors.*)))
+    KEEP (*(.ctors))
+    _einit = ABSOLUTE(.);
+    KEEP (*crtbegin.o(.dtors))
+    KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+    KEEP (*(SORT(.dtors.*)))
+    KEEP (*(.dtors))
+
+    /* C++ exception handlers table: */
+
+    __XT_EXCEPTION_DESCS_ = ABSOLUTE(.);
+    *(.xt_except_desc)
+    *(.gnu.linkonce.h.*)
+    __XT_EXCEPTION_DESCS_END__ = ABSOLUTE(.);
+    *(.xt_except_desc_end)
+    *(.dynamic)
+    *(.gnu.version_d)
+    _erodata = ABSOLUTE(.);
+    /* Literals are also RO data. */
+    _lit4_start = ABSOLUTE(.);
+    *(*.lit4)
+    *(.lit4.*)
+    *(.gnu.linkonce.lit4.*)
+    _lit4_end = ABSOLUTE(.);
+    . = ALIGN(4);
+  } >default_rodata_seg
+
+  .flash.text :
+  {
+    _stext = .;
+    _text_start = ABSOLUTE(.);
+    *(.literal .text .literal.* .text.* .stub .gnu.warning .gnu.linkonce.literal.* .gnu.linkonce.t.*.literal .gnu.linkonce.t.*)
+    *(.irom0.text) /* catch stray ICACHE_RODATA_ATTR */
+    *(.fini.literal)
+    *(.fini)
+    *(.gnu.version)
+    _text_end = ABSOLUTE(.);
+    _etext = .;
+  } >default_code_seg
+
+  .rtc.text :
+  {
+    . = ALIGN(4);
+    *(.rtc.literal .rtc.text)
+  } >rtc_iram_seg
+
+  .rtc.data :
+  {
+    *(.rtc.data)
+    *(.rtc.rodata)
+
+   /* Whatever is left from the RTC memory is used as a special heap. */
+
+    . = ALIGN (4);
+    _srtcheap = ABSOLUTE(.);
+  } > rtc_slow_seg
+}

boards/espressif/esp32/nuttx-config/scripts/esp32_out.ld

@@ -0,0 +1,121 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.template.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+/****************************************************************************
+ * ESP32 Linker Script Memory Layout
+ *
+ * This file describes the memory layout (memory blocks) as virtual
+ * memory addresses.
+ *
+ * esp32.ld contains output sections to link compiler output into these
+ * memory blocks.
+ *
+ * NOTE: That this is not the actual linker script but rather a "template"
+ * for the esp32_out.ld script.  This template script is passed through
+ * the C preprocessor to include selected configuration options.
+ *
+ ****************************************************************************/
+/* config.h -- Autogenerated! Do not edit. */
+/* Used to represent the values of tristate options */
+/* General Definitions ***********************************/
+/* Sanity Checks *****************************************/
+/* If the end of RAM is not specified then it is assumed to be
+ * the beginning of RAM plus the RAM size.
+ */
+/* If the end of FLASH is not specified then it is assumed to be
+ * the beginning of FLASH plus the FLASH size.
+ */
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32_aliases.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+/* config.h -- Autogenerated! Do not edit. */
+/* Lower-case aliases for symbols not compliant to nxstyle */
+/* Bluetooth needs symbol alias, to be removed after IDF rename it */
+MEMORY
+{
+  /* Below values assume the flash cache is on, and have the blocks this
+   * uses subtracted from the length of the various regions. The 'data access
+   * port' dram/drom regions map to the same iram/irom regions but are
+   * connected to the data port of the CPU and e.g. allow bytewise access.
+   */
+  /* IRAM for PRO cpu. Not sure if happy with this, this is MMU area... */
+  iram0_0_seg (RX) : org = 0x40080000, len = 0x20000
+  /* Flash mapped instruction data. */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  irom0_0_seg (RX) : org = 0x400d0020, len = 0x330000 - 0x20
+  /* Shared data RAM, excluding memory reserved for ROM bss/data/stack.
+   * Enabling Bluetooth & Trace Memory features in menuconfig will decrease
+   * the amount of RAM available.
+   *
+   * Note: The length of this section should be 0x50000, and this extra
+   * DRAM is available in heap at runtime. However due to static ROM memory
+   * usage at this 176KB mark, the additional static memory temporarily cannot
+   * be used.
+   */
+  dram0_0_seg (RW) : org = 0x3ffb0000 + 0,
+                         len = 0x2c200 - 0 - 0
+  /* Flash mapped constant data */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  drom0_0_seg (R) : org = 0x3f400020, len = 0x400000 - 0x20
+  /* RTC fast memory (executable). Persists over deep sleep. */
+  rtc_iram_seg (RWX) : org = 0x400c0000, len = 0x2000
+  /* RTC slow memory (data accessible). Persists over deep sleep.
+   * Start of RTC slow memory is reserved for ULP co-processor code + data,
+   * if enabled.
+   */
+  rtc_slow_seg (RW) : org = 0x50000000 + 0,
+                         len = 0x1000 - 0
+  /* External memory, including data and text */
+  extmem_seg (RWX) : org = 0x3f800000, len = 0x400000
+}
+  REGION_ALIAS("default_rodata_seg", drom0_0_seg);
+  REGION_ALIAS("default_code_seg", irom0_0_seg);
+/* Heap ends at top of dram0_0_seg */
+_eheap = 0x40000000 - 0;
+/* IRAM heap ends at top of dram0_0_seg */
+_eiramheap = 0x400a0000;
+/* Mark the end of the RTC heap (top of the RTC region) */
+_ertcheap = 0x50001fff;
+EXTERN(board_get_manifest)

boards/espressif/esp32/nuttx-config/scripts/script.ld

@@ -0,0 +1,78 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/scripts/esp32.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Default entry point: */
+
+
+MEMORY
+{
+  /* Below values assume the flash cache is on, and have the blocks this
+   * uses subtracted from the length of the various regions. The 'data access
+   * port' dram/drom regions map to the same iram/irom regions but are
+   * connected to the data port of the CPU and e.g. allow bytewise access.
+   */
+  /* IRAM for PRO cpu. Not sure if happy with this, this is MMU area... */
+  iram0_0_seg (RX) : org = 0x40080000, len = 0x20000
+  /* Flash mapped instruction data. */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  irom0_0_seg (RX) : org = 0x400d0020, len = 0x330000 - 0x20
+  /* Shared data RAM, excluding memory reserved for ROM bss/data/stack.
+   * Enabling Bluetooth & Trace Memory features in menuconfig will decrease
+   * the amount of RAM available.
+   *
+   * Note: The length of this section should be 0x50000, and this extra
+   * DRAM is available in heap at runtime. However due to static ROM memory
+   * usage at this 176KB mark, the additional static memory temporarily cannot
+   * be used.
+   */
+  dram0_0_seg (RW) : org = 0x3ffb0000 + 0,
+                         len = 0x2c200 - 0 - 0
+  /* Flash mapped constant data */
+  /* The 0x20 offset is a convenience for the app binary image generation.
+   * Flash cache has 64KB pages. The .bin file which is flashed to the chip
+   * has a 0x18 byte file header, and each segment has a 0x08 byte segment
+   * header. Setting this offset makes it simple to meet the flash cache MMU's
+   * constraint that (paddr % 64KB == vaddr % 64KB).
+   */
+  drom0_0_seg (R) : org = 0x3f400020, len = 0x400000 - 0x20
+  /* RTC fast memory (executable). Persists over deep sleep. */
+  rtc_iram_seg (RWX) : org = 0x400c0000, len = 0x2000
+  /* RTC slow memory (data accessible). Persists over deep sleep.
+   * Start of RTC slow memory is reserved for ULP co-processor code + data,
+   * if enabled.
+   */
+  rtc_slow_seg (RW) : org = 0x50000000 + 0,
+                         len = 0x1000 - 0
+  /* External memory, including data and text */
+  extmem_seg (RWX) : org = 0x3f800000, len = 0x400000
+}
+  REGION_ALIAS("default_rodata_seg", drom0_0_seg);
+  REGION_ALIAS("default_code_seg", irom0_0_seg);
+/* Heap ends at top of dram0_0_seg */
+_eheap = 0x40000000 - 0;
+/* IRAM heap ends at top of dram0_0_seg */
+_eiramheap = 0x400a0000;
+/* Mark the end of the RTC heap (top of the RTC region) */
+_ertcheap = 0x50001fff;

boards/espressif/esp32/nuttx-config/src/Make.defs

@@ -0,0 +1,72 @@
+############################################################################
+# boards/xtensa/esp32/esp32-devkitc/scripts/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/tools/esp32/Config.mk
+include $(TOPDIR)/arch/xtensa/src/lx6/Toolchain.defs
+
+ARCHSCRIPT += $(BOARD_COMMON_DIR)$(DELIM)scripts$(DELIM)esp32_rom.ld
+
+# Pick the linker scripts from the board level if they exist, if not
+# pick the common linker scripts.
+
+ifeq ($(CONFIG_BUILD_PROTECTED),y)
+  ARCHSCRIPT += $(call FINDSCRIPT,protected_memory.ld)
+  ARCHSCRIPT += $(call FINDSCRIPT,kernel-space.ld)
+else
+  ARCHSCRIPT += $(call FINDSCRIPT,flat_memory.ld)
+
+  ifeq ($(CONFIG_ESP32_APP_FORMAT_MCUBOOT),y)
+    ARCHSCRIPT += $(call FINDSCRIPT,mcuboot_sections.ld)
+  else
+    ARCHSCRIPT += $(call FINDSCRIPT,legacy_sections.ld)
+  endif
+endif
+
+ARCHPICFLAGS = -fpic
+
+# if SPIRAM/PSRAM is used then we need to include a workaround
+
+ifeq ($(CONFIG_ESP32_SPIRAM),y)
+  ARCHCFLAGS += -mfix-esp32-psram-cache-issue
+endif
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+# Loadable module definitions
+
+CMODULEFLAGS = $(CFLAGS) -mtext-section-literals
+
+LDMODULEFLAGS = -r -e module_initialize
+LDMODULEFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)/libs/libc/modlib/gnu-elf.ld)
+
+# ELF module definitions
+
+CELFFLAGS = $(CFLAGS) -mtext-section-literals
+CXXELFFLAGS = $(CXXFLAGS) -mtext-section-literals
+
+LDELFFLAGS = -r -e main
+LDELFFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)$(DELIM)binfmt$(DELIM)libelf$(DELIM)gnu-elf.ld)

boards/espressif/esp32/src/CMakeLists.txt

@@ -0,0 +1,54 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	# usb.c
+	esp32_board_spiflash.c
+	esp32_board_wlan_setup.c
+	mtd.cpp
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_io_pins
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)

boards/espressif/esp32/src/board_config.h

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   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
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* LEDs */
+#define GPIO_LED_BLUE	4 | GPIO_OUTPUT
+
+/* GPIOs available*/
+#define GPIO_1	4 | GPIO_OUTPUT
+#define GPIO_2	4 | GPIO_OUTPUT
+#define GPIO_3	4 | GPIO_OUTPUT
+#define GPIO_4	4 | GPIO_OUTPUT
+
+#define PX4_NUMBER_I2C_BUSES 2
+
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 2
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3)	// Change this later based on the adc channels actually used
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL  1			// Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
+#define ADC_BATTERY_CURRENT_CHANNEL  2			// Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
+#define ADC_RC_RSSI_CHANNEL          0
+
+/* High-resolution timer */
+/*
+ * For wifi to work, it needs to use its own timer.
+ * Make sure you are not using the timer for hrt
+ * that is being using for the wifi
+*/
+#define HRT_TIMER 2
+
+/* This board provides a DMA pool and APIs */			// Needs to be figured out
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS      4
+
+// Has pwm outputs
+#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
+
+// #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID));
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+
+/****************************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void esp32_spiinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/espressif/esp32/src/esp32_board_spiflash.c

@@ -0,0 +1,574 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_spiflash.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/spi/spi.h>
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+#include <nuttx/fs/nxffs.h>
+#endif
+#ifdef CONFIG_BCH
+#include <nuttx/drivers/drivers.h>
+#endif
+
+#include "esp32_spiflash.h"
+#include "esp32_board_spiflash_setup.h"
+
+// #define CONFIG_ESP32_SPIFLASH_SPIFFS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x)                (sizeof((x)) / sizeof((x)[0]))
+
+#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
+#  define OTA_ENCRYPT true
+#else
+#  define OTA_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
+#  define WIFI_ENCRYPT true
+#else
+#  define WIFI_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
+#  define STORAGE_ENCRYPT true
+#else
+#  define STORAGE_ENCRYPT false
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+struct ota_partition_s {
+	uint32_t    offset;          /* Partition offset from the beginning of MTD */
+	uint32_t    size;            /* Partition size in bytes */
+	const char *devpath;         /* Partition device path */
+};
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static int init_ota_partitions(void);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static const struct ota_partition_s g_ota_partition_table[] = {
+	{
+		.offset  = CONFIG_ESP32_OTA_PRIMARY_SLOT_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SLOT_SIZE,
+		.devpath = CONFIG_ESP32_OTA_PRIMARY_SLOT_DEVPATH
+	},
+	{
+		.offset  = CONFIG_ESP32_OTA_SECONDARY_SLOT_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SLOT_SIZE,
+		.devpath = CONFIG_ESP32_OTA_SECONDARY_SLOT_DEVPATH
+	},
+	{
+		.offset  = CONFIG_ESP32_OTA_SCRATCH_OFFSET,
+		.size    = CONFIG_ESP32_OTA_SCRATCH_SIZE,
+		.devpath = CONFIG_ESP32_OTA_SCRATCH_DEVPATH
+	}
+};
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+static int init_ota_partitions(void)
+{
+	struct mtd_dev_s *mtd;
+#ifdef CONFIG_BCH
+	char blockdev[18];
+#endif
+	int ret = OK;
+
+	for (int i = 0; i < ARRAYSIZE(g_ota_partition_table); ++i) {
+		const struct ota_partition_s *part = &g_ota_partition_table[i];
+		mtd = esp32_spiflash_alloc_mtdpart(part->offset, part->size,
+						   OTA_ENCRYPT);
+
+		ret = ftl_initialize(i, mtd);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+			return ret;
+		}
+
+#ifdef CONFIG_BCH
+		snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", i);
+
+		ret = bchdev_register(blockdev, part->devpath, false);
+
+		if (ret < 0) {
+			ferr("ERROR: bchdev_register %s failed: %d\n", part->devpath, ret);
+			return ret;
+		}
+
+#endif
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_smartfs
+ *
+ * Description:
+ *   Provide a block driver wrapper around MTD partition and mount a
+ *   SMART FS over it.
+ *
+ * Parameters:
+ *   smartn - Number used to register the mtd partition: /dev/smartx, where
+ *            x = smartn.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+static int setup_smartfs(int smartn, struct mtd_dev_s *mtd,
+			 const char *mnt_pt)
+{
+	int ret = OK;
+	char path[22];
+
+	ret = smart_initialize(smartn, mtd, NULL);
+
+	if (ret < 0) {
+		finfo("smart_initialize failed, Trying to erase first...\n");
+		ret = mtd->ioctl(mtd, MTDIOC_BULKERASE, 0);
+
+		if (ret < 0) {
+			ferr("ERROR: ioctl(BULKERASE) failed: %d\n", ret);
+			return ret;
+		}
+
+		finfo("Erase successful, initializing it again.\n");
+		ret = smart_initialize(smartn, mtd, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: smart_initialize failed: %d\n", ret);
+			return ret;
+		}
+	}
+
+	if (mnt_pt != NULL) {
+		snprintf(path, sizeof(path), "/dev/smart%d", smartn);
+
+		ret = nx_mount(path, mnt_pt, "smartfs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_littlefs
+ *
+ * Description:
+ *   Register a mtd driver and mount a Little FS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_LITTLEFS
+static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
+			  const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "littlefs", 0, NULL);
+
+		if (ret < 0) {
+			ret = nx_mount(path, mnt_pt, "littlefs", 0, "forceformat");
+
+			if (ret < 0) {
+				ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+				return ret;
+			}
+		}
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_spiffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_SPIFFS
+static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
+			const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: setup_nxffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
+{
+	int ret = OK;
+
+	ret = nxffs_initialize(mtd);
+
+	if (ret < 0) {
+		ferr("ERROR: NXFFS init failed: %d\n", ret);
+		return ret;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: init_wifi_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to Wi-Fi.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_WIFI_SAVE_PARAM
+static int init_wifi_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_WIFI_MTD_OFFSET,
+					   CONFIG_ESP32_WIFI_MTD_SIZE,
+					   WIFI_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+
+	ret = setup_smartfs(1, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup smartfs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_LITTLEFS)
+
+	const char *path = "/dev/mtdblock1";
+	ret = setup_littlefs(path, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT, 0777);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_SPIFFS)
+
+	const char *path = "/dev/mtdblock1";
+	ret = setup_spiffs(path, mtd, CONFIG_ESP32_WIFI_FS_MOUNTPT, 0777);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup spiffs\n");
+		return ret;
+	}
+
+#else
+
+	ferr("ERROR: No supported FS selected. Wi-Fi partition "
+	     "should be mounted before Wi-Fi initialization\n");
+
+#endif
+
+	return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: init_storage_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to general use.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int init_storage_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
+					   CONFIG_ESP32_STORAGE_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+#ifdef CONFIG_ESP32_SPIFLASH_SMARTFS
+
+	ret = setup_smartfs(0, mtd, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup smartfs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_NXFFS)
+
+	ret = setup_nxffs(mtd, "/mnt");
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup nxffs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_LITTLEFS)
+
+	const char *path = "/dev/esp32flash";
+	ret = setup_littlefs(path, mtd, NULL, 0755);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+#elif defined(CONFIG_ESP32_SPIFLASH_SPIFFS)
+	const char *path = "/dev/esp32flash";
+	ret = setup_spiffs(path, mtd, NULL, 0755);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to setup spiffs\n");
+		return ret;
+	}
+
+#else
+
+	ret = register_mtddriver("/dev/esp32flash", mtd, 0755, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return ret;
+	}
+
+#endif
+
+	return ret;
+}
+
+#define CONFIG_ESP32_PARAM_MTD_OFFSET   0x330000
+#define CONFIG_ESP32_PARAM_MTD_SIZE     0x10000
+
+static int init_param_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_PARAM_MTD_OFFSET,
+					   CONFIG_ESP32_PARAM_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		ferr("ERROR: Failed to alloc PARAM MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+	ret = register_mtddriver("/fs/mtd_params", mtd, 0755, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register PARAM MTD: %d\n", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void)
+{
+	int ret = OK;
+
+#ifdef CONFIG_ESP32_HAVE_OTA_PARTITION
+	ret = init_ota_partitions();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_SAVE_PARAM
+	ret = init_wifi_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+	ret = init_storage_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	ret = init_param_partition();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+
+	return ret;
+}

boards/espressif/esp32/src/esp32_board_spiflash_setup.c

@@ -0,0 +1,353 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_spiflash.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/spi/spi.h>
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+#include <nuttx/fs/nxffs.h>
+#endif
+#ifdef CONFIG_BCH
+#include <nuttx/drivers/drivers.h>
+#endif
+
+#include <px4_platform_common/log.h>
+#define MODULE_NAME "spiflash"
+
+#include "esp32_spiflash.h"
+#include "esp32_partition.h"
+// #include "esp32_board_spiflash_setup.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ARRAYSIZE(x)                (sizeof((x)) / sizeof((x)[0]))
+
+#ifdef CONFIG_ESP32_OTA_PARTITION_ENCRYPT
+#  define OTA_ENCRYPT true
+#else
+#  define OTA_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_WIFI_MTD_ENCRYPT
+#  define WIFI_ENCRYPT true
+#else
+#  define WIFI_ENCRYPT false
+#endif
+
+#ifdef CONFIG_ESP32_STORAGE_MTD_ENCRYPT
+#  define STORAGE_ENCRYPT true
+#else
+#  define STORAGE_ENCRYPT false
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+int esp32_spiflash_init(void);
+int esp32_partition_init(void);
+
+static int init_ota_partitions(void)
+{
+	struct mtd_dev_s *mtd;
+	char blockdev[18];
+	int ret = OK;
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET, CONFIG_ESP32_STORAGE_MTD_SIZE, false);
+
+	ret = ftl_initialize(0, mtd);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+		return ret;
+	}
+
+	snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d", 0);
+
+	ret = bchdev_register(blockdev, "/fs/mtd_params", false);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: bchdev_register %s failed: %d\n", "/fs/mtd_params", ret);
+		return ret;
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_smartfs
+ *
+ * Description:
+ *   Provide a block driver wrapper around MTD partition and mount a
+ *   SMART FS over it.
+ *
+ * Parameters:
+ *   smartn - Number used to register the mtd partition: /dev/smartx, where
+ *            x = smartn.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: setup_littlefs
+ *
+ * Description:
+ *   Register a mtd driver and mount a Little FS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_littlefs(const char *path, struct mtd_dev_s *mtd,
+			  const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	// if (mnt_pt != NULL)
+	//   {
+	//     ret = nx_mount(path, "/mnt/lfs", "littlefs", 0, "");
+	//     if (ret < 0)
+	//       {
+	//         ret = nx_mount(path, "/fs/lfs", "littlefs", 0, "forceformat");
+	//         if (ret < 0)
+	//           {
+	//             PX4_INFO("ERROR: Failed to mount the FS volume: %d\n", ret);
+	//             return ret;
+	//           }
+	//       }
+	//   }
+
+	return OK;
+}
+
+/****************************************************************************
+ * Name: setup_spiffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   path   - Path name used to register the mtd driver.
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *   priv   - Privileges
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int setup_spiffs(const char *path, struct mtd_dev_s *mtd,
+			const char *mnt_pt, int priv)
+{
+	int ret = OK;
+
+	ret = register_mtddriver(path, mtd, priv, NULL);
+
+	if (ret < 0) {
+		ferr("ERROR: Failed to register MTD: %d\n", ret);
+		return -ENOMEM;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(path, mnt_pt, "spiffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+
+/****************************************************************************
+ * Name: setup_nxffs
+ *
+ * Description:
+ *   Register a mtd driver and mount a SPIFFS over it.
+ *
+ * Parameters:
+ *   mtd    - Pointer to a pre-allocated mtd partition.
+ *   mnt_pt - Mount point
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPIFLASH_NXFFS
+static int setup_nxffs(struct mtd_dev_s *mtd, const char *mnt_pt)
+{
+	int ret = OK;
+
+	ret = nxffs_initialize(mtd);
+
+	if (ret < 0) {
+		ferr("ERROR: NXFFS init failed: %d\n", ret);
+		return ret;
+	}
+
+	if (mnt_pt != NULL) {
+		ret = nx_mount(NULL, mnt_pt, "nxffs", 0, NULL);
+
+		if (ret < 0) {
+			ferr("ERROR: Failed to mount the FS volume: %d\n", ret);
+			return ret;
+		}
+	}
+
+	return ret;
+}
+#endif
+
+
+/****************************************************************************
+ * Name: init_storage_partition
+ *
+ * Description:
+ *   Initialize partition that is dedicated to general use.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int init_storage_partition(void)
+{
+	int ret = OK;
+	struct mtd_dev_s *mtd;
+
+
+	mtd = esp32_spiflash_alloc_mtdpart(CONFIG_ESP32_STORAGE_MTD_OFFSET,
+					   CONFIG_ESP32_STORAGE_MTD_SIZE,
+					   STORAGE_ENCRYPT);
+
+	if (!mtd) {
+		PX4_INFO("ERROR: Failed to alloc MTD partition of SPI Flash\n");
+		return -ENOMEM;
+	}
+
+	const char *path = "/dev/esp32flash";
+	ret = setup_littlefs(path, mtd, "/mnt/esp32", 0755);
+
+	if (ret < 0) {
+		PX4_INFO("ERROR: Failed to setup littlefs\n");
+		return ret;
+	}
+
+	// const char *path = "/dev/esp32flash";
+	// ret = setup_spiffs(path, mtd, "/mnt/spiffs/", 0755);
+	// if (ret < 0)
+	//   {
+	//     ferr("ERROR: Failed to setup spiffs\n");
+	//     return ret;
+	//   }
+
+
+	return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void)
+{
+	int ret = OK;
+
+	ret = init_ota_partitions();
+	PX4_INFO("ret = %d = init_ota_paritions()\n", ret);
+
+	if (ret < 0) {
+		return ret;
+	}
+
+	// ret = esp32_partition_init();
+	// if (ret < 0)
+	//   {
+	//     syslog(LOG_ERR, "ERROR: Failed to initialize partition error=%d\n",
+	//            ret);
+	//   }
+//
+	// ret = init_storage_partition();
+	// PX4_INFO("ret = %d = init_storage_paritions()\n", ret);
+
+	// if (ret < 0)
+	//   {
+	//     return ret;
+	//   }
+
+	return ret;
+}

boards/espressif/esp32/src/esp32_board_spiflash_setup.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_spiflash.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_spiflash_init
+ *
+ * Description:
+ *   Initialize the SPI Flash and register the MTD.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success. A negated errno value is returned
+ *   on failure.
+ *
+ ****************************************************************************/
+
+int esp32_spiflash_init(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_SPIFLASH_H */

boards/espressif/esp32/src/esp32_board_wlan_setup.c

@@ -0,0 +1,91 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_board_wlan.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <syslog.h>
+#include <debug.h>
+
+#include <nuttx/wireless/wireless.h>
+
+#include "esp32_spiflash.h"
+#include "esp32_wlan.h"
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void)
+{
+	int ret = OK;
+
+
+#ifdef ESP32_WLAN_HAS_STA
+	// ret = esp32_wlan_sta_initialize();
+	// if (ret)
+	//   {
+	//     printf("ERROR: Failed to initialize Wi-Fi station\n");
+	//     return ret;
+	//   }
+#endif
+
+
+#ifdef ESP32_WLAN_HAS_SOFTAP
+	ret = esp32_wlan_softap_initialize();
+
+	if (ret) {
+		wlerr("ERROR: Failed to initialize Wi-Fi softAP\n");
+		return ret;
+	}
+
+#endif
+
+	// netlib_ifup("wlan1");
+	// dhcpd_start("wlan1");
+
+	return ret;
+}

boards/espressif/esp32/src/esp32_board_wlan_setup.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_board_wlan.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_WIRELESS
+
+/****************************************************************************
+ * Name: board_wlan_init
+ *
+ * Description:
+ *   Configure the wireless subsystem.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; A negated errno value is returned
+ *   to indicate the nature of any failure.
+ *
+ ****************************************************************************/
+
+int board_wlan_init(void);
+
+#endif /* CONFIG_ESP32_WIRELESS */
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_BOARD_WLAN_H */

boards/espressif/esp32/src/i2c.cpp

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   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),
+};

boards/espressif/esp32/src/init.c

@@ -0,0 +1,300 @@
+/****************************************************************************
+ *
+ *   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.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/mm/gran.h>
+
+
+#include <chip.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+#include <px4_platform_common/px4_manifest.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#define LEDC_LS_SIG_OUT0_IDX 79
+
+#include "esp32_board_wlan_setup.h"
+#ifdef CONFIG_ESP32_SPIFLASH
+#include "esp32_board_spiflash_setup.h"
+#endif
+
+#include "esp32_rt_timer.h"
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/**
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+		esp32_gpio_matrix_out(timer_io_channels[i].gpio_out, LEDC_LS_SIG_OUT0_IDX + timer_io_channels[i].timer_channel, 0, 0);
+	}
+
+	/*
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/************************************************************************************
+ * Name: board_read_VBUS_state
+ *
+ * Description:
+ *   All boards must provide a way to read the state of VBUS, this my be simple
+ *   digital input on a GPIO. Or something more complicated like a Analong input
+ *   or reading a bit from a USB controller register.
+ *
+ * Returns -  0 if connected.
+ *
+ ************************************************************************************/
+
+int board_read_VBUS_state(void)
+{
+	// return BOARD_ADC_USB_CONNECTED ? 0 : 1;
+	return 0;
+}
+
+/************************************************************************************
+ * Name: esp32_board_initialize
+ *
+ * Description:
+ *   All 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
+esp32_board_initialize(void)
+{
+	// /* Reset all PWM to Low outputs */
+	board_on_reset(-1);
+
+	// /* configure LEDs */
+	board_autoled_initialize();
+	up_mdelay(2);
+	esp32_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.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ESP32_SPI2
+static struct spi_dev_s *spi2;
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+static struct spi_dev_s *spi3;
+#endif
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */				// Needs to be figured out
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+
+	/* initial LED state */
+	drv_led_start();
+
+#ifdef CONFIG_ESP32_SPI2
+	spi2 = esp32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
+		// led_on(LED_RED);
+	}
+
+	// Default SPI1 to 10MHz
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+	SPI_SETMODE(spi2, SPIDEV_MODE3);
+	up_udelay(20);
+
+#endif
+
+#ifdef CONFIG_ESP32_SPI3
+	spi3 = esp32_spibus_initialize(3);
+
+	if (!spi3) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
+		// led_on(LED_RED);
+	}
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+	}
+
+#endif
+	int ret = esp32_spiflash_init();
+
+	if (ret) {
+		syslog(LOG_ERR, "ERROR: Failed to initialize SPI Flash\n");
+	}
+
+	esp32_rt_timer_init();
+
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_on(GPIO_LED_BLUE);
+	up_mdelay(100);
+	led_off(GPIO_LED_BLUE);
+
+
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	up_mdelay(1000);
+
+	board_wlan_init();
+
+	return OK;
+}

boards/espressif/esp32/src/led.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,    // Indexed by LED_BLUE
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		px4_arch_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Pull Down to switch on */
+	px4_arch_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return !px4_arch_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+	phy_set_led(led, !phy_get_led(led));
+}

boards/espressif/esp32/src/mtd.cpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t flash = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::ONCHIP
+};
+
+
+static const px4_mtd_entry_t fmu_flash = {
+	.device = &flash,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 1
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_flash,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {&mtd_mft}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/espressif/esp32/src/spi.cpp

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+const constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+#ifdef CONFIG_ESP32_SPI2
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI2_CSPIN)}),
+
+	}),
+#endif
+#ifdef CONFIG_ESP32_SPI3
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::Pin(CONFIG_ESP32_SPI3_CSPIN)})
+
+	}),
+#endif
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/espressif/esp32/src/timer_config.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   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/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer0), // this refers to LEDC periherals
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel0}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL0_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel1}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL1_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel2}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL2_PIN)}),
+	initIOTimerChannel(io_timers, {Timer::Timer0, Timer::Channel3}, {GPIO::Pin(CONFIG_ESP32_LEDC_CHANNEL3_PIN)}),
+};
+
+// constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers,
+// 		timer_io_channels);

boards/espressif/esp32/src/usb.c

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   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 usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <xtensa.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbinitialize(void)
+{
+	// px4_arch_configgpio(GPIO_USB_VBUS_VALID);
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void esp32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/hkust/nxt-dual/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/hkust/nxt-v1/default.px4board

@@ -68,6 +68,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/holybro/pix32v5/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/micoair/h743-v2/default.px4board

@@ -84,6 +84,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/modalai/fc-v1/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/modalai/fc-v2/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

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

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

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

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/mro/x21-777/default.px4board

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/mro/x21/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/narinfc/h7/test.px4board

@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/px4/fmu-v2/default.px4board

@@ -47,6 +47,7 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y

boards/px4/fmu-v3/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v4/default.px4board

@@ -80,6 +80,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v4pro/default.px4board

@@ -77,6 +77,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v5/default.px4board

@@ -83,6 +83,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/px4/fmu-v5x/default.px4board

@@ -91,6 +91,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/sky-drones/smartap-airlink/default.px4board

@@ -72,6 +72,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/thepeach/k1/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/thepeach/r1/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/uvify/core/default.px4board

@@ -61,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/x-mav/ap-h743v2/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/xc-fly/xc-slam/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/xc-fly/xc-slim/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

docs/en/SUMMARY.md

@@ -823,6 +823,8 @@
       - [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
+      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
     - [Unit Tests](test_and_ci/unit_tests.md)
       - [Fuzz Tests](test_and_ci/fuzz_tests.md)
     - [Continuous Integration](test_and_ci/continous_integration.md)

docs/en/config_rover/basic_setup.md

@@ -26,10 +26,18 @@
 
 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).
 
+::: info
+The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
+:::
+
+::: warning
+Do not skip the rest of this setup if you intend to use more sophisticated modes!
+All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
+:::
+
 ## Geometric Parameters
 
-Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
-These limits are mandatory for all other modes.
+First, we set up the geometric parameters of the rover:
 
 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)
 
@@ -41,7 +49,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.
 
-   :::tip
+   ::: tip
    This value depends on your rover and use case.
    For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
    [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -49,7 +57,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
    Increase the parameter until you reach the maximum steering rate you are comfortable with.
    :::
 
-   :::warning
+   ::: warning
    A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.
    :::
 
@@ -79,14 +87,12 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
    This may or may not be appropriate for your vehicle and use case.
 
    One approach to determine an appropriate value is:
-
    1. From a standstill, give the rover full throttle until it reaches the maximum speed.
    2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
    3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
 
    Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
    If that is the case:
-
    1. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to a low value, give the rover full throttle from a standstill and observe its behaviour.
    2. Increase [RO_ACCEL_LIM](#RO_ACCEL_LIM) until the rover starts to lift up during the acceleration.
    3. Set [RO_ACCEL_LIM](#RO_ACCEL_LIM) to the highest value that does not cause the rover to lift up.
@@ -102,6 +108,39 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
    This parameter is also used for the calculation of the speed setpoint in modes that are [position controlled](position_tuning.md).
    :::
 
+## (Optional) Stick Input Mapping
+
+Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
+We provide this input shaping through the super exponential function:
+
+$$
+\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
+$$
+
+with:
+
+- $\delta \in [-1, 1]=$ Normalized steering setpoint.
+- $x \in [-1, 1]=$ Normalized stick input.
+- $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
+- $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
+
+In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
+
+- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
+- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
+
+This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+
+You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
+
+::: info
+In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
+:::
+
+::: info
+The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
+:::
+
 You can now continue the configuration process with [rate tuning](rate_tuning.md).
 
 ## Parameter Overview
@@ -111,6 +150,8 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)             | (Optional) Maximum allowed acceleration    | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)             | (Optional) Maximum allowed deceleration    | $m/s^2$ |
+| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                | (Optional) Yaw rate expo factor            | $-$     |
+| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)       | (Optional) Yaw rate super expo factor      | $-$     |
 
 ### Ackermann Specific
 
@@ -122,12 +163,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 
 ### Differential Specific
 
-| Parameter                                                                                             | Description | Unit |
-| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |
+| Parameter                                                                                                | Description                               | Unit |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------- | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)    | Wheel track                               | $m$  |
+| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
 
 ### Mecanum Specific
 
-| Parameter                                                                                             | Description | Unit |
-| ----------------------------------------------------------------------------------------------------- | ----------- | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
+| Parameter                                                                                                | Description                               | Unit |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------- | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)    | Wheel track                               | $m$  |
+| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |

docs/en/config_rover/velocity_tuning.md

@@ -86,7 +86,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
 
 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).
 
-## Attitude Controller Structure (Info Only)
+## Velocity Controller Structure (Info Only)
 
 This section provides additional information for developers and people with experience in control system design.
 

docs/en/sensor/inertial_navigation_systems.md

@@ -2,13 +2,32 @@
 
 PX4 typically runs on flight controllers that include an IMU, such as the Pixhawk series, and fuse the sensor data along with GNSS information in the EKF2 estimator to determine vehicle attitude, heading, position, and velocity.
 
-However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.
+However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.
 
-Systems that can be used in this way include:
+## Supported INS Systems
+
+INS systems that can be used as a replacement for EKF2 in PX4:
 
 - [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 
+## PX4 Firmware
+
+The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
+
+You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
+
+- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
+- The key for the particular INS system you are using, such as:
+  - `CONFIG_DRIVERS_INS_ILABS`
+  - `CONFIG_DRIVERS_INS_MICROSTRAIN`
+  - `CONFIG_DRIVERS_INS_VECTORNAV`
+
+If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
+Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
+
+You will then need to rebuild the firmware.
+
 ## Glossary
 
 ### Inertial Measurement Unit (IMU)

docs/en/test_and_ci/test_flights.md

@@ -28,3 +28,5 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
+- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
+- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)

docs/en/test_cards/mc_06_optical_flow.md

@@ -2,11 +2,19 @@
 
 ## Objective
 
-To test that optical flow / external vision work as expected
+To test that optical flow works as expected
 
 ## Preflight
 
 Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
+([Setup Information here](../sensor/optical_flow.md))
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
 
 Ensure that the drone can go into Altitude / Position flight mode while still on the ground
 
@@ -39,5 +47,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## Expected Results
 
 - Take-off should be smooth as throttle is raised
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
 - No oscillations should present in any of the above flight modes
 - Upon landing, copter should not bounce on the ground

docs/en/test_cards/mc_07_vio.md

@@ -0,0 +1,52 @@
+# Test MC_07 - VIO (Visual-Inertial Odometry)
+
+## Objective
+
+To test that external vision (VIO) works as expected
+
+## Preflight
+
+Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
+
+Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+
+Ensure there are no other sources of positioning besides VIO:
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
+
+## Flight Tests
+
+❏ Altitude flight mode
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Pitch/Roll/Yaw response 1:1
+
+    ❏ Throttle response set to climb/descent rate
+
+❏ Position flight mode
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## Landing
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## Expected Results
+
+- Take-off should be smooth as throttle is raised
+- Drone should hold altitude in Altitude Flight mode without wandering
+- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- No oscillations should present in any of the above flight modes
+- Upon landing, copter should not bounce on the ground

docs/en/test_cards/mc_08_dshot.md

@@ -0,0 +1,46 @@
+# Test MC_08 - DSHOT ESC
+
+## Objective
+
+Regression test for DSHOT working with PX4
+
+## Preflight
+
+- Ensure vehicle is using a DSHOT ESC.
+- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
+- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
+- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
+
+## Flight Tests
+
+❏ Stabilized Flight mode
+
+    ❏ Takeoff in stabilized flight mode to ensure correct motor spin
+
+    ❏ Pitch/Roll/Yaw response 1:1
+
+    ❏ Throttle response 1:1
+
+❏ Position flight mode
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## Landing
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## Expected Results
+
+- Download flight logs
+- Load into Data Plot Juggler
+- Ensure data is logged for esc_status/esc.0x/esc_rpm
+
+  ![Reference frames](../../assets/test_cards/dshot_log_output.png)

msg/CMakeLists.txt

@@ -181,10 +181,10 @@ set(msg_files
 	RoverPositionSetpoint.msg
 	RoverRateSetpoint.msg
 	RoverRateStatus.msg
+	RoverSpeedSetpoint.msg
+	RoverSpeedStatus.msg
 	RoverSteeringSetpoint.msg
 	RoverThrottleSetpoint.msg
-	RoverVelocitySetpoint.msg
-	RoverVelocityStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg

msg/RoverSpeedSetpoint.msg

@@ -0,0 +1,5 @@
+# Rover Speed Setpoint
+
+uint64 timestamp # [us] Time since system start
+float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction

msg/RoverVelocitySetpoint.msg

@@ -1,6 +0,0 @@
-# Rover Velocity Setpoint
-
-uint64 timestamp # [us] Time since system start
-float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
-float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
-float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint

platforms/nuttx/CMakeLists.txt

@@ -242,6 +242,105 @@ if (NOT CONFIG_BUILD_FLAT)
 
 else()
 
+if(CONFIG_ARCH_CHIP_ESP32)
+
+	set(PX4_STARTUP_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/xtensa/src)
+	set(WIRELESS_LIB ${PX4_STARTUP_DIR}/esp32/esp-wireless-drivers-3rdparty/libs/esp32/)
+
+	set(NUTTX_STARTUP_OBJS
+	${PX4_STARTUP_DIR}/xtensa_vectors.o
+	${PX4_STARTUP_DIR}/xtensa_window_vector.o
+	${PX4_STARTUP_DIR}/xtensa_windowspill.o
+	${PX4_STARTUP_DIR}/xtensa_int_handlers.o
+	${PX4_STARTUP_DIR}/xtensa_user_handler.o
+	${PX4_STARTUP_DIR}/xtensa_initialize.o
+	${PX4_STARTUP_DIR}/xtensa_initialstate.o
+	${PX4_STARTUP_DIR}/esp32_start.o
+	${PX4_STARTUP_DIR}/esp32_wdt.o
+	)
+
+	set(NUTTX_NETWORK_LIB
+	libbtdm_app.a
+	libcoexist.a
+	libcore.a
+	libespnow.a
+	libnet80211.a
+	libphy.a
+	libpp.a
+	librtc.a
+	libsmartconfig.a
+	libwapi.a
+	libwpa_supplicant.a
+	)
+	execute_process(COMMAND touch ${NUTTX_STARTUP_OBJS}
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR})
+	set_source_files_properties(
+		${NUTTX_STARTUP_OBJS}
+		PROPERTIES
+		EXTERNAL_OBJECT true
+		GENERATED true)
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
+
+	target_link_libraries(nuttx_arch
+			INTERFACE
+			drivers_board
+			arch_hrt
+			arch_board_reset
+			-L${WIRELESS_LIB}
+			-Wl,--start-group
+			${NUTTX_NETWORK_LIB}
+			-Wl,--end-group
+	)
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
+	target_link_libraries(nuttx_drivers INTERFACE nuttx_c nuttx_fs)
+	target_link_libraries(nuttx_xx INTERFACE nuttx_c)
+	target_link_libraries(nuttx_fs INTERFACE nuttx_c nuttx_net)
+	target_link_libraries(nuttx_net INTERFACE nuttx_mm)
+	target_link_libraries(px4 PRIVATE
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+		-mlongcalls
+		-fno-exceptions
+		-fno-rtti
+		-Wl,--cref
+		-L${WIRELESS_LIB}
+
+		-Wl,-T${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}esp32_out.ld
+		-T${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}esp32.ld
+		-T${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}esp32_rom.ld
+		-Wl,-Map=${PX4_CONFIG}.map
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+			${nuttx_libs}
+			${NUTTX_STARTUP_OBJS}
+			${NUTTX_NETWORK_LIB}
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+		if(NOT USE_LD_GOLD)
+			target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
+		endif()
+
+		target_link_libraries(px4 PRIVATE ${module_libraries})
+		if(config_romfs_root)
+			add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
+			target_link_libraries(px4 PRIVATE romfs)
+		endif()
+		add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
+			COMMAND esptool --chip esp32 elf2image -o ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR_REL}/${FW_NAME}
+			COMMAND du ${PX4_BINARY_OUTPUT} -h
+			DEPENDS px4
+		)
+else()
+
 	target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
 
 	target_link_libraries(nuttx_arch
@@ -294,6 +393,7 @@ else()
 		COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
 		DEPENDS px4
 	)
+endif()
 
 endif()
 

platforms/nuttx/cmake/Platform/Generic-xtensa-esp32-elf-gcc-esp32.cmake

@@ -0,0 +1,4 @@
+set(cpu_flags "-mlongcalls -Wno-format -Wno-unused-function -fdata-sections -Wno-pointer-arith")#-DDEBUG_BUILD
+set(CMAKE_C_FLAGS "${cpu_flags}  -Wstrict-prototypes -Wshadow" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "${cpu_flags} -nostdinc++ -Wshadow" CACHE STRING "" FORCE)
+set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__" CACHE STRING "" FORCE)

platforms/nuttx/cmake/Toolchain-xtensa-esp32-elf.cmake

@@ -0,0 +1,44 @@
+# arm-none-eabi-gcc toolchain
+
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_VERSION 1)
+
+set(triple xtensa-esp32-elf)
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
+
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+set(CMAKE_C_COMPILER_TARGET ${triple})
+
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
+set(CMAKE_CXX_COMPILER_TARGET ${triple})
+
+set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+
+# needed for test compilation
+set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
+
+# compiler tools
+find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-ar)
+find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
+find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-nm)
+find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
+find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
+find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
+find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
+
+set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# os tools
+foreach(tool grep make)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -170,6 +170,9 @@ function(px4_os_determine_build_chip)
 	elseif(CONFIG_ARCH_CHIP_RP2040)
 		set(CHIP_MANUFACTURER "rpi")
 		set(CHIP "rp2040")
+	elseif(CONFIG_ARCH_CHIP_ESP32)
+		set(CHIP_MANUFACTURER "espressif")
+		set(CHIP "esp32")
 	else()
 		message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
 	endif()

platforms/nuttx/init/rc.board_bootloader_upgrade.in

@@ -1,7 +1,7 @@
 #! /bin/sh
 
 #
-# Bootloader upgrade
+# Bootloader upgrade (ROMFS)
 #
 if param compare -s SYS_BL_UPDATE 1
 then

platforms/nuttx/src/bootloader/common/bl.c

@@ -80,7 +80,7 @@
 // RESET    finalise flash programming, reset chip and starts application
 //
 
-#define BL_PROTOCOL_REVISION        6   // The revision of the bootloader protocol
+#define BL_PROTOCOL_REVISION        5   // The revision of the bootloader protocol
 //* Next revision needs to update
 
 // protocol bytes
@@ -158,8 +158,6 @@
 static uint8_t bl_type;
 static uint8_t last_input;
 
-static int unlock_seq[] = { 0x93, 0x7C, 0xA1, 0x4E, 0x5D, 0xF0, 0xB5, 0x68 };
-
 int get_version(int n, uint8_t *version_str)
 {
 	int len = strlen(BOOTLOADER_VERSION);
@@ -628,8 +626,6 @@ bootloader(unsigned timeout)
 	volatile uint32_t  bl_state = 0; // Must see correct command sequence to erase and reboot (commit first word)
 	uint32_t  address = board_info.fw_size; /* force erase before upload will work */
 	uint32_t  first_word = 0xffffffff;
-	uint32_t  unlock_idx = 0;
-	bool  bl_locked = true;
 
 	/* (re)start the timer system */
 	arch_systic_init();
@@ -668,23 +664,6 @@ bootloader(unsigned timeout)
 
 		bool full_erase = false;
 
-		if (bl_locked) {
-			if (unlock_seq[unlock_idx] == c) {
-				unlock_idx++;
-				sync_response();
-
-			} else {
-				unlock_idx = 0;
-				invalid_response();
-			}
-
-			if (unlock_idx >= sizeof(unlock_seq)) {
-				bl_locked = false;
-			}
-
-			continue;
-		}
-
 		// handle the command byte
 		switch (c) {
 

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

@@ -129,7 +129,11 @@ bool SerialImpl::configure()
 
 	default:
 		speed = _baudrate;
+#ifdef CONFIG_ARCH_CHIP_ESP32
+		PX4_WARN("Using non-standard baudrate: %u", _baudrate);
+#else
 		PX4_WARN("Using non-standard baudrate: %lu", _baudrate);
+#endif
 		break;
 	}
 

platforms/nuttx/src/px4/espressif/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(${PX4_CHIP})

platforms/nuttx/src/px4/espressif/esp32/CMakeLists.txt

@@ -0,0 +1,6 @@
+add_subdirectory(hrt hrt)
+add_subdirectory(version version)
+add_subdirectory(board_critmon board_critmon)
+add_subdirectory(board_reset board_reset)
+add_subdirectory(spi spi)
+add_subdirectory(io_pins io_pins)

platforms/nuttx/src/px4/espressif/esp32/board_critmon/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_library(arch_board_critmon
+	board_critmon.c
+)

platforms/nuttx/src/px4/espressif/esp32/board_critmon/board_critmon.c

@@ -0,0 +1,66 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2018 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <arch/board/board.h>
+
+#if defined(CONFIG_SCHED_CRITMONITOR) || defined(CONFIG_SCHED_IRQMONITOR)
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+#error "missing implementation for up_critmon_gettime() and up_critmon_convert()"
+
+/************************************************************************************
+ * Name: up_critmon_gettime
+ ************************************************************************************/
+
+// uint32_t up_critmon_gettime(void)
+// {
+// }
+
+/************************************************************************************
+ * Name: up_critmon_convert
+ ************************************************************************************/
+
+// void up_critmon_convert(uint32_t elapsed, FAR struct timespec *ts)
+// {
+// }
+
+#endif /* CONFIG_SCHED_CRITMONITOR */

platforms/nuttx/src/px4/espressif/esp32/board_reset/CMakeLists.txt

@@ -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.
+#
+############################################################################
+
+px4_add_library(arch_board_reset
+	board_reset.cpp
+)
+
+# up_systemreset
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
+else()
+	target_link_libraries(arch_board_reset PRIVATE nuttx_arch)
+endif()

platforms/nuttx/src/px4/espressif/esp32/board_reset/board_reset.cpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Author: @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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_reset.cpp
+ * Implementation of RP2040 based Board RESET API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/shutdown.h>
+#include <systemlib/px4_macros.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <nuttx/arch.h>
+#include "esp32_systemreset.h"
+
+
+// Functions in here are modified so that board_reset() function resembles
+// the one available in nuttx's boards/raspberrypi-pico folder.
+
+#ifdef CONFIG_BOARDCTL_RESET
+
+/****************************************************************************
+ * Name: board_reset
+ *
+ * Description:
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+int board_reset(int status)
+{
+	up_systemreset();
+
+	return 0;
+}
+#endif /* CONFIG_BOARDCTL_RESET */
+
+#if defined(SUPPORT_ALT_CAN_BOOTLOADER)
+/****************************************************************************
+ * Name: board_booted_by_px4
+ *
+ * Description:
+ *   Determines if the the boot loader was PX4
+ *
+ * Input Parameters:
+ *   none
+ *
+ * Returned Value:
+ *   true if booted byt a PX4 bootloader.
+ *
+ ****************************************************************************/
+bool board_booted_by_px4(void)
+{
+	uint32_t *vectors = (uint32_t *) STM32_FLASH_BASE;
+
+	/* Nuttx uses common vector */
+
+	return (vectors[2] == vectors[3]) && (vectors[4] == vectors[5]);
+}
+#endif

platforms/nuttx/src/px4/espressif/esp32/hrt/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_hrt
+	hrt.c
+)
+target_compile_options(arch_hrt
+	PRIVATE
+		${MAX_CUSTOM_OPT_LEVEL}
+		-Wno-cast-align # TODO: fix and enable
+)

platforms/nuttx/src/px4/espressif/esp32/hrt/hrt.c

@@ -0,0 +1,636 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 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 drv_hrt.c
+ *
+ * High-resolution timer callouts and timekeeping.
+ *
+ * This can use any general or advanced STM32 timer.
+ *
+ * Note that really, this could use systick too, but that's
+ * monopolised by NuttX and stealing it would just be awkward.
+ *
+ * We don't use the NuttX STM32 driver per se; rather, we
+ * claim the timer and then drive it directly.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+
+#include "esp32_irq.h"
+#include <xtensa.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#ifdef CONFIG_DEBUG_HRT
+#  define hrtinfo _info
+#else
+#  define hrtinfo(x...)
+#endif
+
+#ifdef	HRT_TIMER
+
+/* HRT configuration */
+#if HRT_TIMER == 0
+# define HRT_TIM_BASE			0x3ff5f000
+# define HRT_TIMER_PERIPH		14
+# define HRT_TIMER_PRIO			1
+# define HRT_TIMER_VECTOR	        5 + HRT_TIMER_PERIPH
+# define HRT_TIMER_CLOCK	        80 * 1000000
+# define HRT_TIMER_BASE                 0x3ff5f000
+# define HRT_TIMER_CLR_OFFSET		0x00a4
+# define HRT_TIMER_INT_ENA_OFFSET	0x0098
+# define HRT_TIMER_INT_CLR		1 << 0
+# if CONFIG_ESP32_WIFI
+#  error must not set CONFIG_ESP32_WIFI=y and HRT_TIMER=0. WIFI makes use of TIMER=0
+# endif
+#elif HRT_TIMER == 1
+# define HRT_TIM_BASE			0x3ff5f000 + 0x0024
+# define HRT_TIMER_PERIPH		15
+# define HRT_TIMER_PRIO			1
+# define HRT_TIMER_VECTOR		5 + HRT_TIMER_PERIPH
+# define HRT_TIMER_CLOCK		80 * 1000000
+# define HRT_TIMER_BASE			0x3ff5f000 + 0x0024
+# define HRT_TIMER_CLR_OFFSET		0x0080
+# define HRT_TIMER_INT_ENA_OFFSET	0x0074
+# define HRT_TIMER_INT_CLR		1 << 1
+# if CONFIG_ESP32_TIMER1
+#  error must not set CONFIG_ESP32_TIMER1=y and HRT_TIMER=1
+# endif
+#elif HRT_TIMER == 2
+# define HRT_TIM_BASE			0x3ff5f000 + 0x1000
+# define HRT_TIMER_PERIPH		18
+# define HRT_TIMER_PRIO			1
+# define HRT_TIMER_VECTOR		5 + HRT_TIMER_PERIPH
+# define HRT_TIMER_CLOCK		80 * 1000000
+# define HRT_TIMER_BASE			0x3ff5f000 + 0x1000
+# define HRT_TIMER_CLR_OFFSET		0x00a4
+# define HRT_TIMER_INT_ENA_OFFSET	0x0098
+# define HRT_TIMER_INT_CLR		1 << 0
+# if CONFIG_ESP32_TIMER2
+#  error must not set CONFIG_ESP32_TIMER2=y and HRT_TIMER=2
+# endif
+#elif HRT_TIMER == 3
+# define HRT_TIM_BASE			0x3ff5f000 + 0x0024 + 0x1000
+# define HRT_TIMER_PERIPH		19
+# define HRT_TIMER_PRIO			1
+# define HRT_TIMER_VECTOR		5 + HRT_TIMER_PERIPH
+# define HRT_TIMER_CLOCK		80 * 1000000
+# define HRT_TIMER_BASE			0x3ff5f000 + 0x0024 + 0x1000
+# define HRT_TIMER_CLR_OFFSET		0x0080
+# define HRT_TIMER_INT_ENA_OFFSET	0x0074
+# define HRT_TIMER_INT_CLR		1 << 1
+# if CONFIG_ESP32_TIMER3
+#  error must not set CONFIG_ESP32_TIMER3=y and HRT_TIMER=3
+# endif
+#else
+# error HRT_TIMER must be a value between 0 and 3
+#endif
+
+#define REG(_reg)	(*(volatile uint32_t *)(HRT_TIMER_BASE + _reg))
+
+#define HRT_CONFIG_OFFSET  		0x00
+#define HRT_LOAD_LO_OFFSET 		0x0018
+#define HRT_LOAD_HI_OFFSET 		0x001c
+#define HRT_LOAD_OFFSET    		0x0020
+#define HRT_ALARM_LO_OFFSET    		0x0010
+#define HRT_ALARM_HI_OFFSET    		0x0014
+#define HRT_UPDATE_OFFSET		0x000c
+#define HRT_LO_OFFSET 			0x0004
+#define HRT_HI_OFFSET 			0x0008
+#define HRT_DIVIDER_S			13
+#define HRT_DIVIDER_M   		0xffff << 13
+#define HRT_ALARM_EN			1 << 10
+#define HRT_AUTORELOAD			1 << 29
+#define HRT_TIMER_LEVEL_INT_EN		1 << 11
+#define HRT_TIMER_INT_ENA		1 << 0
+#define HRT_TIMER_EN			1 << 31
+#define HRT_INCREASE			1 << 30
+
+#define rLO 		REG(HRT_LO_OFFSET)
+#define rHI 		REG(HRT_HI_OFFSET)
+#define rUPDATE 	REG(HRT_UPDATE_OFFSET)
+#define rALARMLO 	REG(HRT_ALARM_LO_OFFSET)
+#define rALARMHI 	REG(HRT_ALARM_HI_OFFSET)
+
+/*
+ * HRT clock must be a multiple of 1MHz greater than 1MHz
+ */
+#if (HRT_TIMER_CLOCK % 1000000) != 0
+# error HRT_TIMER_CLOCK must be a multiple of 1MHz
+#endif
+#if HRT_TIMER_CLOCK <= 1000000
+# error HRT_TIMER_CLOCK must be greater than 1MHz
+#endif
+
+/**
+ * Minimum/maximum deadlines.
+ *
+ * These are suitable for use with a 16-bit timer/counter clocked
+ * at 1MHz.  The high-resolution timer need only guarantee that it
+ * not wrap more than once in the 50ms period for absolute time to
+ * be consistently maintained.
+ *
+ * The minimum deadline must be such that the time taken between
+ * reading a time and writing a deadline to the timer cannot
+ * result in missing the deadline.
+ */
+#define HRT_INTERVAL_MIN	50
+#define HRT_INTERVAL_MAX	50000
+
+/*
+ * Period of the free-running counter, in microseconds.
+ */
+#define HRT_COUNTER_PERIOD	18446744073709551615
+
+/*
+ * Scaling factor(s) for the free-running counter; convert an input
+ * in counts to a time in microseconds.
+ */
+#define HRT_COUNTER_SCALE(_c)	(_c)
+
+/*
+ * Queue of callout entries.
+ */
+static struct sq_queue_s	callout_queue;
+
+/* latency baseline (last compare value applied) */
+static uint64_t			latency_baseline;
+
+/* timer count at interrupt (for latency purposes) */
+static uint64_t			latency_actual;
+
+/* latency histogram */
+const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
+const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
+__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
+
+/* timer-specific functions */
+static void		hrt_tim_init(void);
+static int		hrt_tim_isr(int irq, void *context, void *arg);
+static void		hrt_latency_update(void);
+static void 		esp32_tim_modifyreg32(uint32_t base, uint32_t offset, uint32_t clearbits, uint32_t setbits);
+static void 		esp32_tim_putreg(uint32_t base, uint32_t offset, uint32_t value);
+static uint32_t 	esp32_tim_getreg(uint32_t base, uint32_t offset);
+
+/* callout list manipulation */
+static void		hrt_call_internal(struct hrt_call *entry,
+		hrt_abstime deadline,
+		hrt_abstime interval,
+		hrt_callout callout,
+		void *arg);
+static void		hrt_call_enter(struct hrt_call *entry);
+static void		hrt_call_reschedule(void);
+static void		hrt_call_invoke(void);
+
+
+int hrt_ioctl(unsigned int cmd, unsigned long arg);
+
+static void esp32_tim_modifyreg32(uint32_t base, uint32_t offset, uint32_t clearbits, uint32_t setbits)
+{
+	modifyreg32(base + offset, clearbits, setbits);
+}
+static void esp32_tim_putreg(uint32_t base, uint32_t offset, uint32_t value)
+{
+	putreg32(value, base + offset);
+}
+static uint32_t esp32_tim_getreg(uint32_t base, uint32_t offset)
+{
+
+	return getreg32(base + offset);
+}
+
+/**
+ * Initialise the timer we are going to use.
+ *
+ * We expect that we'll own one of the reduced-function STM32 general
+ * timers, and that we can use channel 1 in compare mode.
+ */
+
+static void
+hrt_tim_init(void)
+{
+
+	// ESP32_TIM_SETPRE(tim, ESP32_HRT_TIMER_PRESCALER);
+	uint32_t mask = ((uint32_t)(HRT_TIMER_CLOCK / 1000000) - 1) << HRT_DIVIDER_S;
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, HRT_DIVIDER_M, mask);
+
+	// ESP32_TIM_SETMODE(tim, ESP32_TIM_MODE_UP);
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, 0, HRT_INCREASE);
+
+	// ESP32_TIM_CLEAR(tim);
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_LO_OFFSET, 0);
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_HI_OFFSET, 0);
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_OFFSET, 1 << 0); //reload
+
+	// ESP32_TIM_SETCTR(tim, 0); //set counter value
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_LO_OFFSET, 0);
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_HI_OFFSET, 0);
+
+	// ESP32_TIM_RLD_NOW(tim);   //reload value now
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_LOAD_OFFSET, 1 << 0); //reload
+
+	// ESP32_TIM_SETALRVL(tim, 1000);		//alarm value
+	uint64_t val = 1000;
+	uint64_t low_64 = val & 0xffffffff;
+	uint64_t high_64 = (val >> 32) & 0xffffffff;
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_ALARM_LO_OFFSET, (uint32_t)low_64);
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_ALARM_HI_OFFSET, (uint32_t)high_64);
+
+	// ESP32_TIM_SETALRM(tim, true);		//enable alarm
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, 0, HRT_ALARM_EN);
+	// ESP32_TIM_SETARLD(tim, false);		//auto reload
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, HRT_AUTORELOAD, 0);
+
+	// ESP32_TIM_SETISR(tim, hrt_tim_isr, NULL);
+	esp32_setup_irq(0, HRT_TIMER_PERIPH, HRT_TIMER_PRIO, ESP32_CPUINT_LEVEL);
+	irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr, NULL);
+	up_enable_irq(HRT_TIMER_VECTOR);
+
+	// ESP32_TIM_ENABLEINT(tim);
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, 0, HRT_TIMER_LEVEL_INT_EN);
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_TIMER_INT_ENA_OFFSET, 0, HRT_TIMER_INT_ENA);
+
+	// ESP32_TIM_START(tim);
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, 0, HRT_TIMER_EN);
+
+}
+
+/**
+ * Handle the compare interrupt by calling the callout dispatcher
+ * and then re-scheduling the next deadline.
+ */
+static int IRAM_ATTR
+hrt_tim_isr(int irq, void *context, void *arg)
+{
+	// uint32_t status = REG_READ(DPORT_APP_INTR_STATUS_1_REG);
+
+	/* grab the timer for latency tracking purposes */
+	uint32_t value_32;
+	latency_actual = 0;
+	/* Dummy value to latch the counter value to read it */
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_UPDATE_OFFSET, 1 << 0);
+	/* Read value */
+	value_32 = esp32_tim_getreg(HRT_TIM_BASE, HRT_HI_OFFSET); /* High 32 bits */
+	latency_actual |= (uint64_t)value_32;
+	latency_actual <<= 32;
+	value_32 = esp32_tim_getreg(HRT_TIM_BASE, HRT_LO_OFFSET); /* Low 32 bits */
+	latency_actual |= (uint64_t)value_32;
+
+	/* do latency calculations */
+	hrt_latency_update();
+
+	/* run any callouts that have met their deadline */
+	hrt_call_invoke();
+
+	/* and schedule the next interrupt */
+	hrt_call_reschedule();
+
+	// acknowledge the interrupt
+	esp32_tim_putreg(HRT_TIM_BASE, HRT_TIMER_CLR_OFFSET, HRT_TIMER_INT_CLR);
+	esp32_tim_modifyreg32(HRT_TIM_BASE, HRT_CONFIG_OFFSET, 0, HRT_ALARM_EN);
+
+	return OK;
+}
+
+/**
+ * Fetch a never-wrapping absolute time value in microseconds from
+ * some arbitrary epoch shortly after system start.
+ */
+hrt_abstime IRAM_ATTR
+hrt_absolute_time(void)
+{
+	hrt_abstime	abstime;
+	// uint64_t	count;
+	irqstate_t	flags;
+
+	/*
+	 * Counter state.  Marked volatile as they may change
+	 * inside this routine but outside the irqsave/restore
+	 * pair.  Discourage the compiler from moving loads/stores
+	 * to these outside of the protected range.
+	 */
+	// static volatile uint64_t last_count;
+
+	/* prevent re-entry */
+	flags = px4_enter_critical_section();
+	rUPDATE = 1;
+	abstime = (hrt_abstime)(((uint64_t)rHI << 32) | (uint64_t)rLO);
+
+	px4_leave_critical_section(flags);
+
+	return abstime;
+}
+
+/**
+ * Store the absolute time in an interrupt-safe fashion
+ */
+void
+hrt_store_absolute_time(volatile hrt_abstime *t)
+{
+	irqstate_t flags = px4_enter_critical_section();
+	*t = hrt_absolute_time();
+	px4_leave_critical_section(flags);
+}
+
+/**
+ * Initialise the high-resolution timing module.
+ */
+void
+hrt_init(void)
+{
+	sq_init(&callout_queue);
+	hrt_tim_init();
+
+}
+
+/**
+ * Call callout(arg) after interval has elapsed.
+ */
+void __attribute__((section(".iram1")))
+hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
+{
+	hrt_call_internal(entry,
+			  hrt_absolute_time() + delay,
+			  0,
+			  callout,
+			  arg);
+}
+
+/**
+ * Call callout(arg) at calltime.
+ */
+void __attribute__((section(".iram1")))
+hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
+{
+	hrt_call_internal(entry, calltime, 0, callout, arg);
+}
+
+/**
+ * Call callout(arg) every period.
+ */
+void __attribute__((section(".iram1")))
+hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
+{
+	hrt_call_internal(entry,
+			  hrt_absolute_time() + delay,
+			  interval,
+			  callout,
+			  arg);
+}
+
+static void __attribute__((section(".iram1")))
+hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	/* if the entry is currently queued, remove it */
+	/* note that we are using a potentially uninitialised
+	   entry->link here, but it is safe as sq_rem() doesn't
+	   dereference the passed node unless it is found in the
+	   list. So we potentially waste a bit of time searching the
+	   queue for the uninitialised entry->link but we don't do
+	   anything actually unsafe.
+	*/
+	if (entry->deadline != 0) {
+		sq_rem(&entry->link, &callout_queue);
+	}
+
+	entry->deadline = deadline;
+	entry->period = interval;
+	entry->callout = callout;
+	entry->arg = arg;
+
+	hrt_call_enter(entry);
+
+	px4_leave_critical_section(flags);
+}
+
+/**
+ * If this returns true, the call has been invoked and removed from the callout list.
+ *
+ * Always returns false for repeating callouts.
+ */
+bool __attribute__((section(".iram1")))
+hrt_called(struct hrt_call *entry)
+{
+	return (entry->deadline == 0);
+}
+
+/**
+ * Remove the entry from the callout list.
+ */
+void __attribute__((section(".iram1")))
+hrt_cancel(struct hrt_call *entry)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	sq_rem(&entry->link, &callout_queue);
+	entry->deadline = 0;
+
+	/* if this is a periodic call being removed by the callout, prevent it from
+	 * being re-entered when the callout returns.
+	 */
+	entry->period = 0;
+
+	px4_leave_critical_section(flags);
+}
+
+static void __attribute__((section(".iram1")))
+hrt_call_enter(struct hrt_call *entry)
+{
+	struct hrt_call	*call, *next;
+
+	call = (struct hrt_call *)sq_peek(&callout_queue);
+
+	if ((call == NULL) || (entry->deadline < call->deadline)) {
+		sq_addfirst(&entry->link, &callout_queue);
+		hrtinfo("call enter at head, reschedule\n");
+		/* we changed the next deadline, reschedule the timer event */
+		hrt_call_reschedule();
+
+	} else {
+		do {
+			next = (struct hrt_call *)sq_next(&call->link);
+
+			if ((next == NULL) || (entry->deadline < next->deadline)) {
+				hrtinfo("call enter after head\n");
+				sq_addafter(&call->link, &entry->link, &callout_queue);
+				break;
+			}
+		} while ((call = next) != NULL);
+	}
+
+	hrtinfo("scheduled\n");
+}
+
+static void __attribute__((section(".iram1")))
+hrt_call_invoke(void)
+{
+	struct hrt_call	*call;
+	hrt_abstime deadline;
+
+	while (true) {
+		/* get the current time */
+		hrt_abstime now = hrt_absolute_time();
+
+		call = (struct hrt_call *)sq_peek(&callout_queue);
+
+		if (call == NULL) {
+			break;
+		}
+
+		if (call->deadline > now) {
+			break;
+		}
+
+		sq_rem(&call->link, &callout_queue);
+		hrtinfo("call pop\n");
+
+		/* save the intended deadline for periodic calls */
+		deadline = call->deadline;
+
+		/* zero the deadline, as the call has occurred */
+		call->deadline = 0;
+
+		/* invoke the callout (if there is one) */
+		if (call->callout) {
+			hrtinfo("call %p: %p(%p)\n", call, call->callout, call->arg);
+			call->callout(call->arg);
+		}
+
+		/* if the callout has a non-zero period, it has to be re-entered */
+		if (call->period != 0) {
+			// re-check call->deadline to allow for
+			// callouts to re-schedule themselves
+			// using hrt_call_delay()
+			if (call->deadline <= now) {
+				call->deadline = deadline + call->period;
+			}
+
+			hrt_call_enter(call);
+		}
+	}
+}
+
+/**
+ * Reschedule the next timer interrupt.
+ *
+ * This routine must be called with interrupts disabled.
+ */
+static void __attribute__((section(".iram1")))
+hrt_call_reschedule()
+{
+	hrt_abstime	now = hrt_absolute_time();
+	struct hrt_call	*next = (struct hrt_call *)sq_peek(&callout_queue);
+	hrt_abstime	deadline = now + HRT_INTERVAL_MAX;
+
+	/*
+	 * Determine what the next deadline will be.
+	 *
+	 * Note that we ensure that this will be within the counter
+	 * period, so that when we truncate all but the low 16 bits
+	 * the next time the compare matches it will be the deadline
+	 * we want.
+	 *
+	 * It is important for accurate timekeeping that the compare
+	 * interrupt fires sufficiently often that the base_time update in
+	 * hrt_absolute_time runs at least once per timer period.
+	 */
+	if (next != NULL) {
+		hrtinfo("entry in queue\n");
+
+		if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
+			hrtinfo("pre-expired\n");
+			/* set a minimal deadline so that we call ASAP */
+			deadline = now + HRT_INTERVAL_MIN;
+
+		} else if (next->deadline < deadline) {
+			hrtinfo("due soon\n");
+			deadline = next->deadline;
+		}
+	}
+
+	hrtinfo("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
+
+	/* set the new compare value and remember it for latency tracking */
+	latency_baseline = deadline & 0xffff;
+
+	rALARMLO = (uint32_t)(deadline & 0xffffffff);
+	rALARMHI = (uint32_t)((deadline >> 32) & 0xffffffff);
+}
+
+static void
+hrt_latency_update(void)
+{
+	uint16_t latency = latency_actual - latency_baseline;
+	unsigned	index;
+
+	/* bounded buckets */
+	for (index = 0; index < LATENCY_BUCKET_COUNT; index++) {
+		if (latency <= latency_buckets[index]) {
+			latency_counters[index]++;
+			return;
+		}
+	}
+
+	/* catch-all at the end */
+	latency_counters[index]++;
+}
+
+void __attribute__((section(".iram1")))
+hrt_call_init(struct hrt_call *entry)
+{
+	memset(entry, 0, sizeof(*entry));
+}
+
+void __attribute__((section(".iram1")))
+hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
+{
+	entry->deadline = hrt_absolute_time() + delay;
+}
+
+#endif /* HRT_TIMER */

platforms/nuttx/src/px4/espressif/esp32/include/px4_arch/adc.h

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <board_config.h>
+
+#define SYSTEM_ADC_BASE 0 // not used on kinetis
+
+#include <px4_platform/adc.h>

platforms/nuttx/src/px4/espressif/esp32/include/px4_arch/hw_description.h

@@ -0,0 +1,245 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+#include <stdint.h>
+
+#include "hardware/esp32_tim.h"
+#include "hardware/esp32_gpio.h"
+#include "hardware/esp32_soc.h"
+
+#include <px4_platform_common/constexpr_util.h>
+
+/*
+ * Timers
+ */
+
+namespace Timer
+{
+enum Timer {
+	Timer0 = 0,
+	Timer1,
+	Timer2,
+	Timer3,
+};
+// These are actually the Operators
+enum Channel {
+	Channel0 = 0,
+	Channel1,
+	Channel2,
+	Channel3,
+	Channel4,
+	Channel5,
+	Channel6,
+	Channel7
+};
+struct TimerChannel {
+	Timer timer;
+	Channel channel;
+};
+}
+
+static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
+{
+	switch (timer) {
+	case Timer::Timer0: return DR_REG_PWM_BASE + 0x04;
+
+	case Timer::Timer1: return DR_REG_PWM1_BASE + 0x04;
+
+	case Timer::Timer2: return DR_REG_PWM1_BASE + 0x04;
+
+	case Timer::Timer3: return DR_REG_PWM1_BASE + 0x04;
+	}
+
+	return 0;
+}
+
+/*
+ * GPIO
+ */
+
+namespace GPIO
+{
+
+enum Pin {
+	Pin0 = 0,
+	Pin1,
+	Pin2,
+	Pin3,
+	Pin4,
+	Pin5,
+	Pin6,
+	Pin7,
+	Pin8,
+	Pin9,
+	Pin10,
+	Pin11,
+	Pin12,
+	Pin13,
+	Pin14,
+	Pin15,
+	Pin16,
+	Pin17,
+	Pin18,
+	Pin19,
+	Pin20,
+	Pin21,
+	Pin22,
+	Pin23,
+	Pin24,
+	Pin25,
+	Pin26,
+	Pin27,
+	Pin28,
+	Pin29,
+	Pin30,
+	Pin31,
+	Pin32,
+	Pin33,
+	Pin34,
+	Pin35,
+	Pin36,
+	Pin37,
+	Pin38,
+};
+struct GPIOPin {
+	Pin pin;
+};
+}
+
+static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)
+{
+	switch (pin) {
+	case GPIO::Pin0: return 0;
+
+	case GPIO::Pin1: return 1;
+
+	case GPIO::Pin2: return 2;
+
+	case GPIO::Pin3: return 3;
+
+	case GPIO::Pin4: return 4;
+
+	case GPIO::Pin5: return 5;
+
+	case GPIO::Pin6: return 6;
+
+	case GPIO::Pin7: return 7;
+
+	case GPIO::Pin8: return 8;
+
+	case GPIO::Pin9: return 9;
+
+	case GPIO::Pin10: return 10;
+
+	case GPIO::Pin11: return 11;
+
+	case GPIO::Pin12: return 12;
+
+	case GPIO::Pin13: return 13;
+
+	case GPIO::Pin14: return 14;
+
+	case GPIO::Pin15: return 15;
+
+	case GPIO::Pin16: return 16;
+
+	case GPIO::Pin17: return 17;
+
+	case GPIO::Pin18: return 18;
+
+	case GPIO::Pin19: return 19;
+
+	case GPIO::Pin20: return 20;
+
+	case GPIO::Pin21: return 21;
+
+	case GPIO::Pin22: return 22;
+
+	case GPIO::Pin23: return 23;
+
+	case GPIO::Pin24: return 24;
+
+	case GPIO::Pin25: return 25;
+
+	case GPIO::Pin26: return 26;
+
+	case GPIO::Pin27: return 27;
+
+	case GPIO::Pin28: return 28;
+
+	case GPIO::Pin29: return 29;
+
+	case GPIO::Pin30: return 30;
+
+	case GPIO::Pin31: return 31;
+
+	case GPIO::Pin32: return 32;
+
+	case GPIO::Pin33: return 33;
+
+	case GPIO::Pin34: return 34;
+
+	case GPIO::Pin35: return 35;
+
+	case GPIO::Pin36: return 36;
+
+	case GPIO::Pin37: return 37;
+
+	case GPIO::Pin38: return 38;
+
+	}
+
+	return 0;
+}
+
+namespace SPI
+{
+
+enum class Bus {
+	SPI1 = 1,
+	SPI2,
+	SPI3,
+};
+
+using CS = GPIO::GPIOPin; ///< chip-select pin
+using DRDY = GPIO::GPIOPin; ///< data ready pin
+
+struct bus_device_external_cfg_t {
+	CS cs_gpio;
+	DRDY drdy_gpio;
+};
+
+} // namespace SPI

platforms/nuttx/src/px4/espressif/esp32/include/px4_arch/i2c_hw_description.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_arch/hw_description.h>
+#include <px4_platform_common/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = false;
+	return ret;
+}
+
+static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = true;
+	return ret;
+}
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/espressif/esp32/include/px4_arch/io_timer.h

@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012, 2017 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 io_timer.h
+ */
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <drivers/drv_hrt.h>
+
+#pragma once
+__BEGIN_DECLS
+/* configuration limits */
+#ifdef BOARD_NUM_IO_TIMERS
+#define MAX_IO_TIMERS			BOARD_NUM_IO_TIMERS
+#else
+#define MAX_IO_TIMERS			1
+#endif
+#if DIRECT_PWM_OUTPUT_CHANNELS > 8
+#define MAX_TIMER_IO_CHANNELS	DIRECT_PWM_OUTPUT_CHANNELS
+#else
+#define MAX_TIMER_IO_CHANNELS	8
+#endif
+
+#define MAX_LED_TIMERS			2
+#define MAX_TIMER_LED_CHANNELS	6
+
+#define MAX_SPIX_SYNC_TIMERS		2
+#define MAX_TIMER_SPIX_SYNC_CHANNELS	2
+
+#define IO_TIMER_ALL_MODES_CHANNELS 0
+
+typedef enum io_timer_channel_mode_t {
+	IOTimerChanMode_NotUsed = 0,
+	IOTimerChanMode_PWMOut  = 1,
+	IOTimerChanMode_PWMIn   = 2,
+	IOTimerChanMode_Capture = 3,
+	IOTimerChanMode_OneShot = 4,
+	IOTimerChanMode_Trigger = 5,
+	IOTimerChanMode_Dshot   = 6,
+	IOTimerChanMode_LED     = 7,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
+	IOTimerChanModeSize
+} io_timer_channel_mode_t;
+
+typedef uint16_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
+
+/* array of timers dedicated to PWM in and out and capture use
+ *** Note that the clock_freq is set to the source in the clock tree that
+ *** feeds this specific timer. This can differs by Timer!
+ *** In PWM  mode the timer's prescaler is set to achieve a counter frequency of 1MHz
+ *** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz
+ *** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz
+ *** the resulting PSC will be one and the timer will count at it's clock frequency.
+ */
+typedef struct io_timers_t {
+	uint32_t		base;
+	uint32_t		clock_register;
+	uint32_t		clock_bit;
+	uint32_t		clock_freq;
+	uint32_t		vectorno;
+} io_timers_t;
+
+typedef struct io_timers_channel_mapping_element_t {
+	uint32_t first_channel_index;
+	uint32_t channel_count;
+	uint32_t lowest_timer_channel;
+	uint32_t channel_count_including_gaps;
+} io_timers_channel_mapping_element_t;
+
+/* mapping for each io_timers to timer_io_channels */
+typedef struct io_timers_channel_mapping_t {
+	io_timers_channel_mapping_element_t element[MAX_IO_TIMERS];
+} io_timers_channel_mapping_t;
+
+/* array of channels in logical order */
+typedef struct timer_io_channels_t {
+	uint32_t	gpio_out;
+	uint32_t	gpio_in;
+	uint8_t		timer_index;
+	uint8_t		timer_channel;
+	uint16_t	masks;
+	uint8_t		ccr_offset;
+} timer_io_channels_t;
+
+typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
+				  const timer_io_channels_t *chan,
+				  hrt_abstime isrs_time, uint16_t isrs_rcnt);
+
+
+/* supplied by board-specific code */
+__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
+__EXPORT extern const io_timers_channel_mapping_t io_timers_channel_mapping;
+__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
+
+__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
+__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
+
+__EXPORT extern const io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS];
+__EXPORT extern const io_timers_channel_mapping_t spix_sync_channel_mapping;
+__EXPORT extern const timer_io_channels_t spix_sync_channels[MAX_TIMER_SPIX_SYNC_CHANNELS];
+
+__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
+				   channel_handler_t channel_handler, void *context);
+
+__EXPORT int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode);
+
+__EXPORT int io_timer_set_pwm_rate(unsigned timer, unsigned rate);
+__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
+				 io_timer_channel_allocation_t masks);
+__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
+__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
+__EXPORT uint32_t io_timer_get_group(unsigned timer);
+__EXPORT int io_timer_validate_channel_index(unsigned channel);
+__EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t mode);
+__EXPORT int io_timer_unallocate_channel(unsigned channel);
+__EXPORT int io_timer_get_channel_mode(unsigned channel);
+__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
+__EXPORT extern void io_timer_trigger(unsigned channels_mask);
+__EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);
+
+/**
+ * Reserve a timer
+ * @return 0 on success (if not used yet, or already set to the mode)
+ */
+__EXPORT int io_timer_allocate_timer(unsigned timer, io_timer_channel_mode_t mode);
+
+__EXPORT int io_timer_unallocate_timer(unsigned timer);
+
+__EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);
+
+/**
+ * Returns the pin configuration for a specific channel, to be used as GPIO output.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_gpio_output(unsigned channel);
+/**
+ * Returns the pin configuration for a specific channel, to be used as PWM input.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_as_pwm_input(unsigned channel);
+
+__END_DECLS

platforms/nuttx/src/px4/espressif/esp32/include/px4_arch/io_timer_hw_description.h

@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+#include <px4_arch/io_timer.h>
+#include <px4_arch/hw_description.h>
+#include <px4_platform_common/constexpr_util.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/io_timer_init.h>
+#include <esp32_tim.h>
+#include <esp32_gpio.h>
+
+// static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerChannel timer, GPIO::GPIOPin pin);
+
+#define initIOTimerChannelCapture initIOTimerChannel // alias, used for param metadata generation
+
+static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		Timer::TimerChannel timer, GPIO::GPIOPin pin)
+{
+	timer_io_channels_t ret = {};
+	ret.gpio_out = getGPIOPin(pin.pin);
+	ret.timer_channel = timer.channel;
+	ret.timer_index = timer.timer;
+
+	bool nuttx_incorrect_mapping = false;
+
+	bool multiple_timers_configure = false;
+	bool timer_configured = false;
+
+#if defined(CONFIG_ESP32_LEDC_TIM0_CHANNELS)
+	multiple_timers_configure = timer_configured;
+	timer_configured = true;
+#endif
+#if defined(CONFIG_ESP32_LEDC_TIM1_CHANNELS)
+	multiple_timers_configure = timer_configured;
+	timer_configured = true;
+
+#endif
+#if defined(CONFIG_ESP32_LEDC_TIM2_CHANNELS)
+	multiple_timers_configure = timer_configured;
+	timer_configured = true;
+#endif
+#if defined(CONFIG_ESP32_LEDC_TIM3_CHANNELS)
+	multiple_timers_configure = timer_configured;
+	timer_configured = true;
+#endif
+
+	int channel = timer.channel;
+
+	switch (channel) {
+	case 0:
+#if defined(CONFIG_ESP32_LEDC_CHANNEL0_PIN)
+		nuttx_incorrect_mapping = pin.pin == CONFIG_ESP32_LEDC_CHANNEL0_PIN;
+#endif
+		break;
+
+	case 1:
+#if defined(CONFIG_ESP32_LEDC_CHANNEL1_PIN)
+		nuttx_incorrect_mapping = pin.pin == CONFIG_ESP32_LEDC_CHANNEL1_PIN;
+#endif
+		break;
+
+	case 2:
+#if defined(CONFIG_ESP32_LEDC_CHANNEL2_PIN)
+		nuttx_incorrect_mapping = pin.pin == CONFIG_ESP32_LEDC_CHANNEL2_PIN;
+#endif
+		break;
+
+	case 3:
+#if defined(CONFIG_ESP32_LEDC_CHANNEL3_PIN)
+		nuttx_incorrect_mapping = pin.pin == CONFIG_ESP32_LEDC_CHANNEL3_PIN;
+#endif
+		break;
+
+	default:
+		break;
+	}
+
+
+	constexpr_assert(nuttx_incorrect_mapping, "PX4 ChannelTimer Mapping different from Nuttx)");
+	constexpr_assert(!multiple_timers_configure, "Only a single timer can be configured in Nuttx");
+
+
+	return ret;
+}
+
+static inline constexpr timer_io_channels_t initIOTimerChannelOutputClear(const io_timers_t
+		io_timers_conf[MAX_IO_TIMERS], Timer::TimerChannel timer, GPIO::GPIOPin pin)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
+	ret.gpio_out |= 0;
+	return ret;
+}
+
+
+static inline constexpr io_timers_t initIOTimer(Timer::Timer timer)
+{
+	bool nuttx_config_timer_enabled = false;
+	io_timers_t ret{};
+
+	switch (timer) {
+	case Timer::Timer0: // refers to MCPWM peripheral 1
+		ret.base = 0;
+#if defined(CONFIG_ESP32_LEDC_TIM0)
+		nuttx_config_timer_enabled = true;
+#endif
+		break;
+
+	case Timer::Timer1: // refers to MCPWM peripheral 2
+		ret.base = 1;
+#if defined(CONFIG_ESP32_LEDC_TIM1)
+		nuttx_config_timer_enabled = true;
+#endif
+		break;
+
+	case Timer::Timer2: // refers to MCPWM peripheral 2
+		ret.base = 2;
+#if defined(CONFIG_ESP32_LEDC_TIM2)
+		nuttx_config_timer_enabled = true;
+#endif
+		break;
+
+	case Timer::Timer3: // refers to MCPWM peripheral 2
+		ret.base = 4;
+#if defined(CONFIG_ESP32_LEDC_TIM3)
+		nuttx_config_timer_enabled = true;
+#endif
+		break;
+
+	default: break;
+	}
+
+	constexpr_assert(nuttx_config_timer_enabled,
+			 "IO Timer requires NuttX timer config to be Enabled (CONFIG_ESP32_LEDC_TIMx)");
+
+
+	return ret;
+}