boards/px4/fmu-v5x: rc.board_sensors fix missing Split PAB ID and FMUM backport

- Build target changed from STM32H743II to STM32H743ZI
- Missing external SPI interface added
- Nonexistent  I2C3 interface removed
- I2C4 pins changed
- Red and Green LED lights remapped
- Missing ADC inputs added and already present ones corrected
- CAN Silent interfaces corrected
- Power pins corrected and Level Shifter pin added to enable ICM20948
- Buzzer pin remapped
- HRT channel and PPM pin changed
- RSSI input remapped
- ICM20602 and BMI088 pins corrected
- Serial ports remapped

.ci/Jenkinsfile-compile

@@ -40,6 +40,8 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
                      "ark_fmu-v6x_bootloader",
@@ -53,8 +55,10 @@ pipeline {
                      "cuav_nora_default",
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeorangeplus_default",
                      "cubepilot_cubeyellow_default",
                      "diatone_mamba-f405-mk2_default",
+                     "flywoo_gn-f405_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
@@ -72,7 +76,7 @@ pipeline {
                      "matek_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
-                     "modalai_voxl2-io_default",
+                     "mro_ctrl-zero-classic_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
@@ -85,6 +89,7 @@ pipeline {
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
+                     "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",

.github/workflows/compile_nuttx.yml

@@ -45,6 +45,7 @@ jobs:
           matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
+          mro_ctrl-zero-classic,
           mro_ctrl-zero-f7,
           mro_ctrl-zero-f7-oem,
           mro_ctrl-zero-h7,

.github/workflows/stale.yml

@@ -1,20 +0,0 @@
-name: 'Close stale issues and PRs'
-on:
-  schedule:
-    - cron: '30 1 * * *'
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v4.1.1
-        with:
-          stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
-          stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
-          close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
-          close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
-          days-before-issue-stale: 30
-          days-before-pr-stale: 45
-          days-before-issue-close: 5
-          days-before-pr-close: 10
-          debug-only: true

.gitmodules

@@ -21,7 +21,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.3.0+-v1.14
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,6 +7,7 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -34,9 +34,7 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_TIM0 -4
-
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/rcS

@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -255,6 +255,7 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 	rgbled_lp5562 start -X -q
+	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.
@@ -265,12 +266,9 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
+	if px4io supported
 	then
-		# Check if PX4IO present and update firmware if needed.
+	# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -292,12 +290,12 @@ else
 					tune_control stop
 				fi
 			fi
-		fi
 
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if ! px4io start
+			then
+				echo "PX4IO start failed"
+				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			fi
 		fi
 	fi
 

Tools/auterion/remote_update_fmu.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+# Flash PX4 to a device running AuterionOS in the local network
+if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
+	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
+	exit 1
+fi
+
+ssh_port=22
+ssh_user=root
+
+while getopts ":f:c:d:p:u:r" opt; do
+	case ${opt} in
+		f )
+			if [ -n "$OPTARG" ]; then
+				firmware_file="$OPTARG"
+			else
+				echo "ERROR: -f requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		c )
+			if [ -f "$OPTARG/rc.autostart" ]; then
+				config_dir="$OPTARG"
+			else
+				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
+				exit 1
+			fi
+			;;
+		d )
+			if [ "$OPTARG" ]; then
+				device="$OPTARG"
+			else
+				echo "ERROR: -d requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		p )
+			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
+				ssh_port="$OPTARG"
+			else
+				echo "ERROR: -p ssh_port must be a number."
+				exit 1
+			fi
+			;;
+		u )
+			if [ "$OPTARG" ]; then
+				ssh_user="$OPTARG"
+			else
+				echo "ERROR: -u requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		r )
+			revert=true
+			;;
+	esac
+done
+
+if [ -z "$device" ]; then
+	echo "Error: missing device"
+	exit 1
+fi
+
+target_dir=/shared_container_dir/fmu
+target_file_name="update-dev.tar"
+
+if [ "$revert" == true ]; then
+	# revert to the release version which was originally deployed
+	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+else
+	# create custom update-dev.tar
+	tmp_dir="$(mktemp -d)"
+	config_path=""
+	firmware_path=""
+
+	if [ -d "$config_dir" ]; then
+		cp -r "$config_dir" "$tmp_dir/config"
+		config_path=config
+	fi
+
+	if [ -f "$firmware_file" ]; then
+		extension="${firmware_file##*.}"
+		cp "$firmware_file" "$tmp_dir/firmware.$extension"
+		if [ "$extension" == "elf" ]; then
+			# ensure the file is stripped to reduce file size
+			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
+		fi
+		firmware_path="firmware.$extension"
+	fi
+
+	pushd "$tmp_dir" &>/dev/null
+
+	if [ -z $firmware_path ] && [ -z $config_path ]; then
+		exit 1
+	fi
+
+	tar_name="tar"
+
+	if [ -x "$(command -v gtar)" ]; then
+		# check if gnu-tar is installed on macOS and use that instead
+		tar_name="gtar"
+	fi
+
+	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
+
+	# send it to the target to start flashing
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	popd &>/dev/null
+	rm -rf "$tmp_dir"
+fi
+
+# grab status output for flashing progress
+cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/auterion/upload_skynode.sh

@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+
+DIR="$(dirname $(readlink -f $0))"
+DEFAULT_AUTOPILOT_HOST=10.41.1.1
+DEFAULT_AUTOPILOT_PORT=33333
+DEFAULT_AUTOPILOT_USER=auterion
+
+for i in "$@"
+do
+    case $i in
+        --file=*)
+        PX4_BINARY_FILE="${i#*=}"
+        ;;
+        --default-ip=*)
+        DEFAULT_AUTOPILOT_HOST="${i#*=}"
+        ;;
+        --default-port=*)
+        DEFAULT_AUTOPILOT_PORT="${i#*=}"
+        ;;
+        --default-user=*)
+        DEFAULT_AUTOPILOT_USER="${i#*=}"
+        ;;
+        --revert)
+        REVERT_AUTOPILOT_ARGUMENT=-r
+        ;;
+        --wifi)
+        DEFAULT_AUTOPILOT_HOST=10.41.0.1
+        ;;
+        *)
+            # unknown option
+        ;;
+    esac
+done
+
+# allow these to be overridden
+[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
+[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
+[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
+
+ARGUMENTS=()
+ARGUMENTS+=(-d "$AUTOPILOT_HOST")
+ARGUMENTS+=(-p "$AUTOPILOT_PORT")
+ARGUMENTS+=(-u "$AUTOPILOT_USER")
+ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
+ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
+
+echo "Flashing $AUTOPILOT_HOST ..."
+
+"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
+
+exit 0

Tools/simulation/sitl_multiple_run.sh

@@ -10,7 +10,7 @@ sitl_num=2
 [ -n "$1" ] && sitl_num="$1"
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/../../"
+src_path="$SCRIPT_DIR/.."
 
 build_path=${src_path}/build/px4_sitl_default
 

boards/ark/cannode/default.px4board

@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y

boards/ark/fmu-v6x/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,17 +17,19 @@ param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_TEMP_ID 2818058
 param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_FF 0.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+if ver hwtypecmp ARKV6X000
 then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
+	param set-default SENS_TEMP_ID 2818058
+fi
+
+if ver hwtypecmp ARKV6X001
+then
+	param set-default SENS_TEMP_ID 3014666
 fi
 
 safety_button start

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 
-if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -47,14 +47,29 @@ then
 	fi
 fi
 
-# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
-iim42652 -R 3 -s -b 1 -C 32051 start
+if ver hwtypecmp ARKV6X000
+then
+	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+	iim42652 -R 3 -s -b 1 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 9 -s -b 2 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 6 -s -b 3 -C 32051 start
+fi
+
+if ver hwtypecmp ARKV6X001
+then
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 9 -s -b 2 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 6 -s -b 3 -C 32051 start
+fi
 
 # Internal magnetometer on I2C
 bmm150 -I start

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c

boards/ark/fmu-v6x/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -204,30 +204,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,                 Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     BMI388 I2C2 Rev 1
-#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-#define ARKV6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define ARKV6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-//#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,                    HB CM4 base Rev 0 // never shipped
-//#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
-#define ARKV6X43   HW_VER_REV(0x4,0x3) // ARKV6X,     Sensor Set     HB CM4 base Rev 3
-#define ARKV6X44   HW_VER_REV(0x4,0x4) // ARKV6X,     Sensor Set     HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
-//#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
-#define ARKV6X53   HW_VER_REV(0x5,0x3) // ARKV6X,     Sensor Set     HB Mini Rev 3
-#define ARKV6X54   HW_VER_REV(0x5,0x4) // ARKV6X,     Sensor Set     HB Mini Rev 4
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
@@ -252,7 +239,6 @@
 /* PWM
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
-#define BOARD_PWM_FREQ	             1024000
 
 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)

boards/ark/fmu-v6x/src/manifest.c

@@ -1,223 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
-	//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
-	{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
-	//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
-	{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/ark/fmu-v6x/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -92,10 +95,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

boards/ark/fmu-v6x/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(ARKV6X00, {
+	initSPIFmumID(ARKV6X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -59,15 +59,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(ARKV6X01, { // Placeholder
+	initSPIFmumID(ARKV6X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices

boards/ark/fmu-v6x/src/spix_sync.c

@@ -82,9 +82,7 @@
 #define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
 #define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
 
-#if !defined(BOARD_PWM_FREQ)
-#define BOARD_PWM_FREQ 1000000
-#endif
+#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
 
 unsigned
 spix_sync_timer_get_period(unsigned timer)
@@ -129,11 +127,11 @@ static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
 		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
 		 */
 
-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1;
+		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
 
 		/* configure the timer to update at the desired rate */
 
-		rARR(timer) = (BOARD_PWM_FREQ / rate) - 1;
+		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
 
 		/* generate an update event; reloads the counter and all registers */
 		rEGR(timer) = GTIM_EGR_UG;

boards/bitcraze/crazyflie/src/board_config.h

@@ -140,15 +140,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/bitcraze/crazyflie21/src/board_config.h

@@ -141,15 +141,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -8,16 +8,22 @@ board_adc start
 # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
 # 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
 # 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
+# 4. Isolated {ICM45686, ICM45686}, body-fixed  {ICM45686, AK09918}
 
 # SPI4 is isolated, SPI1 is body-fixed
 
 # SPI4, isolated
 ms5611 -s -b 4 start
 
-icm42688p -s -b 4 -R 10 start -c 15
-if ! icm20948 -s -b 4 -R 10 -M -q start
+if icm42688p -s -b 4 -R 10 -q start -c 15
 then
-	icm42688p -s -b 4 -R 6 start -c 13
+	if ! icm20948 -s -b 4 -R 10 -M -q start
+	then
+		icm42688p -s -b 4 -R 6 start -c 13
+	fi
+else
+	icm45686 -s -b 4 -R 10 start -c 15
+	icm45686 -s -b 4 -R 6 start -c 13
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/src/spi.cpp

@@ -49,7 +49,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };

boards/cubepilot/cubeyellow/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1

boards/holybro/kakuteh7/default.px4board

@@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -22,13 +22,10 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
+# use EKF2 without mag
 param set-default SYS_HAS_MAG 0
+# and enable gravity fusion
+param set-default EKF2_IMU_CONTROL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7/src/spi.cpp

@@ -43,7 +43,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 	}),

boards/holybro/kakuteh7mini/default.px4board

@@ -32,6 +32,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7v2/default.px4board

@@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/pix32v5/init/rc.board_defaults

@@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-param set-default SYS_USE_IO 1
-
 rgbled_pwm start
 safety_button start

boards/modalai/fc-v2/default.px4board

@@ -14,10 +14,10 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-# CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -29,13 +29,11 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-# CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -73,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/modalai/fc-v2/init/rc.board_sensors

@@ -20,8 +20,8 @@ icm42688p -s -b 1 -R 12 start
 # Internal SPI2 ICM-42688
 icm42688p -s -b 2 -R 12 start
 
-# Don't start Internal I2C mag
-# bmm150 -I start
+# Internal I2C mag
+bmm150 -I start
 
 # Internal I2C baro
 icp201xx -I start

boards/modalai/fc-v2/src/CMakeLists.txt

@@ -68,18 +68,4 @@ else()
 			nuttx_drivers # sdio
 			px4_layer
 	)
-
-	set(COMMON_MODALAI_SRC_DIR ${PX4_SOURCE_DIR}/boards/modalai/src)
-	set(MODALAI_SYSTEMCMD_SRC_DIR ${COMMON_MODALAI_SRC_DIR}/systemcmds/modalai)
-
-	px4_add_module(
-		MODULE systemcmds__modalai
-		MAIN modalai
-		COMPILE_FLAGS
-		SRCS
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v2.c
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v1.c
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai.c
-		DEPENDS
-	)
 endif()

boards/modalai/fc-v2/src/board_config.h

@@ -91,12 +91,6 @@
 #  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
 #  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
 
-// GPIO_nLED_2_RED/ GPIO_nLED_2_GREEN /GPIO_nLED_2_BLUE are for v1 LED tests
-
-#  define GPIO_nLED_2_RED      /* PI0 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
-#  define GPIO_nLED_2_GREEN    /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11)
-#  define GPIO_nLED_2_BLUE     /* PA2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)
-
 #  define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #  define BOARD_OVERLOAD_LED     LED_RED
 #  define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -214,12 +208,6 @@
 
 #define CAN1_SILENT                       /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
 
-/* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */
-// GPIO_VOXL_STATUS_OUT/ GPIO_VOXL_STATUS_IN are for v1 Spare MSS Communications Interface and J4 tests
-
-#define GPIO_VOXL_STATUS_OUT            /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-#define GPIO_VOXL_STATUS_IN             /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
-
 /* Define True logic Power Control in arch agnostic form */
 
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
@@ -350,8 +338,8 @@
 
 #define BOARD_NUM_IO_TIMERS 5
 
-// J5 USART5 TELEM2 Port next to PWM connector
-#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS4"
+// J1 / TELEM1 / USART7
+#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS6"
 
 __BEGIN_DECLS
 

boards/modalai/src/systemcmds/modalai/modalai.c

@@ -1,131 +0,0 @@
-#include <px4_platform_common/module.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-// v2
-#ifdef CONFIG_ARCH_CHIP_STM32H753II		// chip on M0087
-#include "modalai_fc-v2.h"
-#define MODALAI_FC_V2 1
-#else
-#include "modalai_fc-v1.h"
-#endif
-
-__EXPORT int modalai_main(int argc, char *argv[]);
-
-int modalai_main(int argc, char *argv[])
-{
-	int hw_rev = board_get_hw_revision();
-	int hw_ver = board_get_hw_version();
-
-	eHW_TYPE hw_type = eHwNone;
-
-#ifdef MODALAI_FC_V2
-
-	if (hw_rev == 0 && hw_ver == 3) {	// (should be hw_rev == 1 && hw_ver == 3) eventually...
-		hw_type = eM0087;
-
-	} else if (hw_rev == 0 && hw_ver == 3) {
-		hw_type = eM0079;
-
-	} else {
-		return -1;
-
-	}
-
-#else
-
-	if (hw_rev == 6 && hw_ver == 0) {
-		hw_type = eM0018;
-
-	} else if (hw_rev == 0 && hw_ver == 1) {
-		hw_type = eM0019;
-
-	} else if (hw_rev == 0 && hw_ver == 2) {
-		hw_type = eM0051;
-
-	} else {
-		return -1;
-
-	}
-
-#endif
-
-	if (argc <= 1) {
-#ifdef MODALAI_FC_V2
-		modalai_print_usage_v2();
-#else
-		modalai_print_usage_v1();
-#endif
-		return 1;
-	}
-
-	if (!strcmp(argv[1], "led")) {
-#ifdef MODALAI_FC_V2
-		return modalai_led_test_v2();
-#else
-		return modalai_led_test_v1();
-#endif
-
-	} else if (!strcmp(argv[1], "con")) {
-		if (argc <= 2) {
-			PRINT_MODULE_USAGE_COMMAND("con");
-			PRINT_MODULE_USAGE_ARG("<1,4,5,6,7,9,10,12,13>", "Connector ID", false);
-			PRINT_MODULE_USAGE_ARG("<uint>", "Pin Number", false);
-			PRINT_MODULE_USAGE_ARG("0 | 1", "<output state> (defaults to 0)", false);
-			return 1;
-		}
-
-		uint8_t con = 0;
-		uint8_t pin = 0;
-		bool state = false;
-
-		if (argc > 2) {
-			con = atoi(argv[2]);
-		}
-
-		if (argc > 3) {
-			pin = atoi(argv[3]);
-		}
-
-		if (argc > 4) {
-			state = atoi(argv[4]);
-		}
-
-#ifdef MODALAI_FC_V2
-		return modalai_con_gpio_test_v2(con, pin, state);
-#else
-		return modalai_con_gpio_test_v1(con, pin, state);
-#endif
-
-	} else if (!strcmp(argv[1], "buzz")) {
-
-#ifdef MODALAI_FC_V2
-		return modalai_buzz_test_v2(hw_type);
-#else
-		return modalai_buzz_test_v1(hw_type);
-#endif
-
-
-
-	} else if (!strcmp(argv[1], "detect")) {
-#ifdef MODALAI_FC_V2
-		modalai_hw_detect_v2(hw_type);
-#else
-		modalai_hw_detect_v1(hw_type);
-#endif
-
-		return 0;
-	}
-
-#ifdef MODALAI_FC_V2
-	modalai_print_usage_v2();
-#else
-	modalai_print_usage_v1();
-#endif
-	return -EINVAL;
-}

boards/modalai/src/systemcmds/modalai/modalai_fc-v1.c

@@ -1,913 +0,0 @@
-#include <px4_platform_common/module.h>
-
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-// v1
-#ifndef CONFIG_ARCH_CHIP_STM32H743ZI
-
-#include "modalai_fc-v1.h"
-
-
-
-
-void modalai_print_usage_v1(void)
-{
-	PRINT_MODULE_DESCRIPTION("ModalAI Test utility\n");
-
-	PRINT_MODULE_USAGE_NAME_SIMPLE("modalai", "command");
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("led", "LED Test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("con", "Connector Output Test (as GPIO)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("buzz", "Automated buzz out test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Detect board type");
-}
-
-void modalai_print_usage_con_gpio_test_v1(void)
-{
-	PRINT_MODULE_USAGE_NAME_SIMPLE("modalai con", "command");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("1",  "W<3,6> R<2,6>, <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("4",  "W<2-4,6-7> R<8>, <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("5",  "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("6",  "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("7",  "W<2-9>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("9",  "R<2>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("10", "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("12", "W<1-3>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("13", "W<3-5>,   <0-1>");
-}
-
-int modalai_led_test_v1(void)
-{
-	PX4_INFO("Running led test");
-
-	stm32_configgpio(GPIO_nLED_RED);
-	stm32_configgpio(GPIO_nLED_GREEN);
-	stm32_configgpio(GPIO_nLED_BLUE);
-
-	int i = 0;
-
-	stm32_configgpio(GPIO_nLED_2_RED);
-	stm32_configgpio(GPIO_nLED_2_GREEN);
-	stm32_configgpio(GPIO_nLED_2_BLUE);
-
-	for (i = 0; i < 3; i++) {
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, false);
-
-		stm32_gpiowrite(GPIO_nLED_2_RED, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, true);
-		stm32_gpiowrite(GPIO_nLED_2_RED, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, false);
-		stm32_gpiowrite(GPIO_nLED_2_GREEN, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, true);
-		stm32_gpiowrite(GPIO_nLED_2_GREEN, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, false);
-		stm32_gpiowrite(GPIO_nLED_2_BLUE, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, true);
-		stm32_gpiowrite(GPIO_nLED_2_BLUE, true);
-	}
-
-	return OK;
-}
-
-int modalai_con_gpio_test_v1(uint8_t con, uint8_t pin, bool state)
-{
-	// validate
-	switch (con) {
-	// Primary MSS Communications Interface
-	case 1:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J1_PIN2_IN);
-			state = stm32_gpioread(J1_PIN2_IN);
-			break;
-
-		case 3:
-			stm32_configgpio(J1_PIN3);
-			stm32_gpiowrite(J1_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J1_PIN4);
-			stm32_gpiowrite(J1_PIN4, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J1_PIN6_IN);
-			state = stm32_gpioread(J1_PIN6_IN);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// STM JTAG Programming Header
-	case 2:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// USB 2.0 Full-Speed Downstream Device Port
-	case 3:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// Spare MSS Communications Interface
-	case 4:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J4_PIN2);
-			stm32_gpiowrite(J4_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J4_PIN3);
-			stm32_gpiowrite(J4_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J4_PIN4);
-			stm32_gpiowrite(J4_PIN4, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J4_PIN6);
-			stm32_gpiowrite(J4_PIN6, state);
-			break;
-
-		case 7:
-			stm32_configgpio(J4_PIN7);
-			stm32_gpiowrite(J4_PIN7, state);
-			break;
-
-		case 8:
-			stm32_configgpio(J4_PIN8);
-			state = stm32_gpioread(J4_PIN8);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// TELEMETRY CONNECTOR
-	case 5:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J5_PIN2);
-			stm32_gpiowrite(J5_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J5_PIN3);
-			stm32_gpiowrite(J5_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J5_PIN4);
-			stm32_gpiowrite(J5_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J5_PIN5);
-			stm32_gpiowrite(J5_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// EXPANSION CONNECTOR
-	case 6:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J6_PIN2);
-			stm32_gpiowrite(J6_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J6_PIN3);
-			stm32_gpiowrite(J6_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J6_PIN4);
-			stm32_gpiowrite(J6_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J6_PIN5);
-			stm32_gpiowrite(J6_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// PWM Output Connector
-	case 7:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J7_PIN2);
-			stm32_gpiowrite(J7_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J7_PIN3);
-			stm32_gpiowrite(J7_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J7_PIN4);
-			stm32_gpiowrite(J7_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J7_PIN5);
-			stm32_gpiowrite(J7_PIN5, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J7_PIN6);
-			stm32_gpiowrite(J7_PIN6, state);
-			break;
-
-		case 7:
-			stm32_configgpio(J7_PIN7);
-			stm32_gpiowrite(J7_PIN7, state);
-			break;
-
-		case 8:
-			stm32_configgpio(J7_PIN8);
-			stm32_gpiowrite(J7_PIN8, state);
-			break;
-
-		case 9:
-			stm32_configgpio(J7_PIN9);
-			stm32_gpiowrite(J7_PIN9, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// CAN 1 Peripheral Connector
-	case 8:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// PPM (RC) IN
-	case 9:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J9_PIN2_IN);
-			state = stm32_gpioread(J9_PIN2_IN);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// GPS CONNECTOR
-	case 10:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J10_PIN2);
-			stm32_gpiowrite(J10_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J10_PIN3);
-			stm32_gpiowrite(J10_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J10_PIN4);
-			stm32_gpiowrite(J10_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J10_PIN5);
-			stm32_gpiowrite(J10_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// Micro SD Card Slot
-	case 11:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// Spektrum RC Input Connector
-	case 12:
-		switch (pin) {
-		case 1:
-			VDD_3V3_SPEKTRUM_POWER_EN(state);
-			break;
-
-		case 2:
-			__asm("nop");
-			stm32_configgpio(J12_PIN2);
-			stm32_gpiowrite(J12_PIN2, state);
-			//state = stm32_gpioread(J12_PIN2);
-			__asm("nop");
-			break;
-
-		case 3:
-			stm32_configgpio(J12_PIN3);
-			stm32_gpiowrite(J12_PIN3, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// I2C DISPLAY / SPARE SENSOR CONNECTOR
-	case 13:
-		switch (pin) {
-		case 3:
-			stm32_configgpio(J13_PIN3);
-			stm32_gpiowrite(J13_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J13_PIN4);
-			stm32_gpiowrite(J13_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J13_PIN5);
-			stm32_gpiowrite(J13_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-	}
-
-	printf("GPIO - Con: %d, Pin: %d, State: %d\n", con, pin, state);
-	return OK;
-}
-
-bool test_pair(uint32_t output_pin, uint32_t input_pin)
-{
-
-	bool state = false;
-
-	stm32_gpiowrite(output_pin, true);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != true) {
-		return false;
-	}
-
-	usleep(1000 * 10);
-
-	stm32_gpiowrite(output_pin, false);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != false) {
-		return false;
-	}
-
-	return true;
-}
-
-bool modalai_test_pair(uint32_t output_pin, uint32_t input_pin)
-{
-
-	bool state = false;
-
-	stm32_gpiowrite(output_pin, true);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != true) {
-		return false;
-	}
-
-	usleep(1000 * 10);
-
-	stm32_gpiowrite(output_pin, false);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != false) {
-		return false;
-	}
-
-	return true;
-}
-
-int modalai_buzz_test_v1(eHW_TYPE hw_type)
-{
-	PX4_INFO("test: buzz");
-	usleep(1000 * 100 * 10);
-
-	if (hw_type == eM0018) {
-		PX4_INFO("Using Flight Core Config");
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO("Using VOXL-Flight Config");
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO("Using M0051 Config");
-
-	} else {
-		return -1;
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J1");
-		stm32_configgpio(J1_PIN2_IN); // 2 [in] to 4 [out]
-		stm32_configgpio(J1_PIN3); // 3 [out] to 6 [in]
-		stm32_configgpio(J1_PIN4); // 4 [out] to 2 [in]
-		stm32_configgpio(J1_PIN6_IN); // 6 [in] to 3 [out]
-
-		if (test_pair(J1_PIN4, J1_PIN2_IN)) {
-			PX4_INFO("PASS: J1P4-J1P2");
-
-		} else {
-			PX4_ERR("FAIL: J1P4-J1P2 ----------------------------------------");
-		}
-
-		if (test_pair(J1_PIN3, J1_PIN6_IN)) {
-			PX4_INFO("PASS: J1P3-J1P6");
-
-		} else {
-			PX4_ERR("FAIL: J1P3-J1P6 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		// NA on VOXL-Flight (internally routed)
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J4");
-		stm32_configgpio(J4_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J4_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J4_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J4_PIN6_IN); // 2 [out] 6 [in]
-		stm32_configgpio(J4_PIN7_IN); // 3 [out] 7 [in]
-		stm32_configgpio(J4_PIN8_IN); // 4 [out] 8 [in]
-
-		if (test_pair(J4_PIN2, J4_PIN6_IN)) {
-			PX4_INFO("PASS: J4P2-J4P6");
-
-		} else {
-			PX4_ERR("FAIL: J4P2-J4P6 ----------------------------------------");
-		}
-
-		if (test_pair(J4_PIN3, J4_PIN7_IN)) {
-			PX4_INFO("PASS: J4P3-J4P7");
-
-		} else {
-			PX4_ERR("FAIL: J4P3-J4P7 ----------------------------------------");
-		}
-
-		if (test_pair(J4_PIN4, J4_PIN8_IN)) {
-			PX4_INFO("PASS: J4P4-J4P8");
-
-		} else {
-			PX4_ERR("FAIL: J4P4-J4P8 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1002");
-		stm32_configgpio(J1002_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1002_PIN3);    // 3 [out] 6 [in]
-		stm32_configgpio(J1002_PIN4_IN); // 2 [out] 4 [in]
-		stm32_configgpio(J1002_PIN6_IN); // 3 [out] 6 [in]
-
-		if (test_pair(J1002_PIN2, J1002_PIN4_IN)) {
-			PX4_INFO("PASS: J1002P2-J1002P4");
-
-		} else {
-			PX4_ERR("FAIL: J1002P2-J1002P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1002_PIN3, J1002_PIN6_IN)) {
-			PX4_INFO("PASS: J1002P3-J1002P6");
-
-		} else {
-			PX4_ERR("FAIL: J1002P3-J1002P6 ----------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J5");
-		stm32_configgpio(J5_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J5_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J5_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J5_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J5_PIN2, J5_PIN4_IN)) {
-			PX4_INFO("PASS: J5P2-J5P4");
-
-		} else {
-			PX4_ERR("FAIL: J5P2-J5P4 ----------------------------------------");
-		}
-
-		if (test_pair(J5_PIN3, J5_PIN5_IN)) {
-			PX4_INFO("PASS: J5P3-J5P5");
-
-		} else {
-			PX4_ERR("FAIL: J5P3-J5P5 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1010");
-		stm32_configgpio(J1010_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1010_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1010_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1010_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1010_PIN2, J1010_PIN4_IN)) {
-			PX4_INFO("PASS: J1010P2-J1010P4");
-
-		} else {
-			PX4_ERR("FAIL: J1010P2-J1010P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1010_PIN3, J1010_PIN5_IN)) {
-			PX4_INFO("PASS: J1010P3-J1010P5");
-
-		} else {
-			PX4_ERR("FAIL: J1010P3-J1010P5 ----------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J6");
-		stm32_configgpio(J6_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J6_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J6_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J6_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J6_PIN2, J6_PIN4_IN)) {
-			PX4_INFO("PASS: J6P2-J6P4");
-
-		} else {
-			PX4_ERR("FAIL: J6P2-J6P4 ----------------------------------------");
-		}
-
-		if (test_pair(J6_PIN3, J6_PIN5_IN)) {
-			PX4_INFO("PASS: J6P3-J6P5");
-
-		} else {
-			PX4_ERR("FAIL: J6P3-J6P5 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1009");
-		stm32_configgpio(J1009_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1009_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1009_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1009_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1009_PIN2, J1009_PIN4_IN)) {
-			PX4_INFO("PASS: J1009P2-J1009P4");
-
-		} else {
-			PX4_ERR("FAIL: J1009P2-J1009P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1009_PIN3, J1009_PIN5_IN)) {
-			PX4_INFO("PASS: J1009P3-J1009P5");
-
-		} else {
-			PX4_ERR("FAIL: J1009P3-J1009P5 ----------------------------------------");
-		}
-	}
-
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J7");
-		stm32_configgpio(J7_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J7_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J7_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J7_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(J7_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(J7_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(J7_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(J7_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(J7_PIN2, J7_PIN6_IN)) {
-			PX4_INFO("PASS: J7P2-J7P6");
-
-		} else {
-			PX4_ERR("FAIL: J7P2-J7P6 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN3, J7_PIN7_IN)) {
-			PX4_INFO("PASS: J7P3-J7P7");
-
-		} else {
-			PX4_ERR("FAIL: J7P3-J7P7 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN4, J7_PIN8_IN)) {
-			PX4_INFO("PASS: J7P4-J7P8");
-
-		} else {
-			PX4_ERR("FAIL: J7P4-J7P8 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN5, J7_PIN9_IN)) {
-			PX4_INFO("PASS: J7P5-J7P9");
-
-		} else {
-			PX4_ERR("FAIL: J7P5-J7P9 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1007");
-		stm32_configgpio(J1007_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J1007_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J1007_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J1007_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(J1007_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(J1007_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(J1007_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(J1007_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(J1007_PIN2, J1007_PIN6_IN)) {
-			PX4_INFO("PASS: J1007P2-J1007P6");
-
-		} else {
-			PX4_ERR("FAIL: J1007P2-J1007P6 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN3, J1007_PIN7_IN)) {
-			PX4_INFO("PASS: J1007P3-J1007P7");
-
-		} else {
-			PX4_ERR("FAIL: J1007P3-J1007P7 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN4, J1007_PIN8_IN)) {
-			PX4_INFO("PASS: J1007P4-J1007P8");
-
-		} else {
-			PX4_ERR("FAIL: J1007P4-J1007P8 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN5, J1007_PIN9_IN)) {
-			PX4_INFO("PASS: J1007P5-J1007P9");
-
-		} else {
-			PX4_ERR("FAIL: J1007P5-J1007P9 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J13");
-		stm32_configgpio(M0051J13_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(M0051J13_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(M0051J13_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(M0051J13_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(M0051J13_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(M0051J13_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(M0051J13_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(M0051J13_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(M0051J13_PIN2, M0051J13_PIN6_IN)) {
-			PX4_INFO("PASS: J13_P2-J13_P6");
-
-		} else {
-			PX4_ERR("FAIL: J13_P2-J13_P6 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN3, M0051J13_PIN7_IN)) {
-			PX4_INFO("PASS: JJ13_P3-J13_P7");
-
-		} else {
-			PX4_ERR("FAIL: J13_P3-J13_7P7 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN4, M0051J13_PIN8_IN)) {
-			PX4_INFO("PASS: J13_P4-J13_P8");
-
-		} else {
-			PX4_ERR("FAIL: J13_P4-J13_P8 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN5, M0051J13_PIN9_IN)) {
-			PX4_INFO("PASS: J13_P5-J13_P9");
-
-		} else {
-			PX4_ERR("FAIL: J13_P5-J13_P9 ----------------------------------------");
-		}
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J10");
-		stm32_configgpio(J10_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J10_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J10_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J10_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J10_PIN2, J10_PIN4_IN)) {
-			PX4_INFO("PASS: J10P2-J10P4");
-
-		} else {
-			PX4_ERR("FAIL: J10P2-J10P4 --------------------------------------");
-		}
-
-		if (test_pair(J10_PIN3, J10_PIN5_IN)) {
-			PX4_INFO("PASS: J10P3-J10P5");
-
-		} else {
-			PX4_ERR("FAIL: J10P3-J10P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1012");
-		stm32_configgpio(J1012_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1012_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1012_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1012_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1012_PIN2, J1012_PIN4_IN)) {
-			PX4_INFO("PASS: J1012P2-J1120P4");
-
-		} else {
-			PX4_ERR("FAIL: J1012P2-J1012P4 --------------------------------------");
-		}
-
-		if (test_pair(J1012_PIN3, J1012_PIN5_IN)) {
-			PX4_INFO("PASS: J1012P3-J1012P5");
-
-		} else {
-			PX4_ERR("FAIL: J1012P3-J1012P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J15");
-		stm32_configgpio(M0051J15_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(M0051J15_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(M0051J15_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(M0051J15_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(M0051J15_PIN2, M0051J15_PIN4_IN)) {
-			PX4_INFO("PASS: J15_P2-J15_P4");
-
-		} else {
-			PX4_ERR("FAIL: J15_P2-JJ15_P4 --------------------------------------");
-		}
-
-		if (test_pair(M0051J15_PIN3, M0051J15_PIN5_IN)) {
-			PX4_INFO("PASS: J15_P3-J15_P5");
-
-		} else {
-			PX4_ERR("FAIL: J15_P3-J15_P5 --------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J9/J12/J13");
-		stm32_configgpio(J9_PIN2_IN);  // J9-2 [in] J13-5 [out]
-
-		stm32_configgpio(J12_PIN2_IN); // J12-2 [in] J13-3 [out]
-		stm32_configgpio(J12_PIN3_IN); // J12-3 [in] J13-4 [out]
-
-		stm32_configgpio(J13_PIN3);    // J13-3 [out] J12-2 [in]
-		stm32_configgpio(J13_PIN4);    // J13-4 [out] J12-3 [in]
-		stm32_configgpio(J13_PIN5);    // J13-5 [out] J9-2 [in]
-
-		if (test_pair(J13_PIN3, J12_PIN2_IN)) {
-			PX4_INFO("PASS: J13P3-J12P2");
-
-		} else {
-			PX4_ERR("FAIL: J13P3-J12P2 --------------------------------------");
-		}
-
-		if (test_pair(J13_PIN4, J12_PIN3_IN)) {
-			PX4_INFO("PASS: J13P4-J12P3");
-
-		} else {
-			PX4_ERR("FAIL: J13P4-J12P3 --------------------------------------");
-		}
-
-		if (test_pair(J13_PIN5, J9_PIN2_IN)) {
-			PX4_INFO("PASS: J13P5-J9P2");
-
-		} else {
-			PX4_ERR("FAIL: J13P5-J9P2 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1003/J1004/J1011");
-		stm32_configgpio(J1003_PIN2_IN);  // J1003-2 [in] J13-5 [out]
-
-		stm32_configgpio(J1004_PIN2_IN); // J1004-2 [in] J13-3 [out]
-		stm32_configgpio(J1004_PIN3_IN); // J1004-3 [in] J13-4 [out]
-
-		stm32_configgpio(J1011_PIN3);    // J1011-3 [out] J12-2 [in]
-		stm32_configgpio(J1011_PIN4);    // J1011-4 [out] J12-3 [in]
-		stm32_configgpio(J1011_PIN5);    // J1011-5 [out] J9-2 [in]
-
-		if (test_pair(J1011_PIN3, J1004_PIN2_IN)) {
-			PX4_INFO("PASS: J1011P3-J1004P2");
-
-		} else {
-			PX4_ERR("FAIL: J1011P3-J1004P2 --------------------------------------");
-		}
-
-		if (test_pair(J1011_PIN4, J1004_PIN3_IN)) {
-			PX4_INFO("PASS: J1011P4-J1004P3");
-
-		} else {
-			PX4_ERR("FAIL: J1011P4-J1004P3 --------------------------------------");
-		}
-
-		if (test_pair(J1011_PIN5, J1003_PIN2_IN)) {
-			PX4_INFO("PASS: J1011P5-J1011P5");
-
-		} else {
-			PX4_ERR("FAIL: J1011P5-J1011P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J14");
-		stm32_configgpio(M0051J14_PIN2);  // J14-2 [out] J14-3 [in]
-		stm32_configgpio(M0051J14_PIN3_IN); // J14-3 [in] J14-2 [out]
-
-		if (test_pair(M0051J14_PIN2, M0051J14_PIN3_IN)) {
-			PX4_INFO("PASS: J14_P2-J14_P3");
-
-		} else {
-			PX4_ERR("FAIL: J14_P2-J14_P3 --------------------------------------");
-		}
-
-	}
-
-	return 0;
-}
-
-int modalai_hw_detect_v1(eHW_TYPE hw_type)
-{
-	int result = 0;
-
-	if (hw_type == eM0018) {
-		PX4_INFO("V106 - Flight Core");
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO("V110 - VOXL-Flight");
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO("V120 - M0051");
-
-	} else {
-		PX4_ERR("Unknown hardware");
-		result = -1;
-	}
-
-	return result;
-}
-
-#endif //CONFIG_ARCH_CHIP_STM32H743ZI

boards/modalai/src/systemcmds/modalai/modalai_fc-v1.h

@@ -1,218 +0,0 @@
-#ifndef MODALAI_FC_V1_H_
-#define MODALAI_FC_V1_H_
-
-typedef enum {
-	eHwUnknown = -1,
-	eHwNone = 0,
-	eM0018,           // Flight Core
-	eM0019,           // VOXL Flight
-	eM0051
-} eHW_TYPE;
-
-#define _MK_GPIO_INPUT(def)  (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
-
-
-//
-// Flight Core - J1 - Primary MSS Communications Interface
-// VOXL Flight - NA
-//
-#define J1_PIN2_IN  _MK_GPIO_INPUT(GPIO_UART5_RX)
-#define J1_PIN3     _MK_GPIO_OUTPUT(GPIO_UART5_TX)
-#define J1_PIN4     _MK_GPIO_OUTPUT(GPIO_UART5_RTS)
-#define J1_PIN6_IN  _MK_GPIO_INPUT(GPIO_UART5_CTS)
-
-//
-// STM JTAG Programming Header
-// Flight Core - J2
-// VOXL Flight - J1001
-//
-
-//
-// USB 2.0 Full-Speed Downstream Device Port
-// Flight Core - J
-// VOXL Flight - J1006
-//
-
-//
-// Spare MSS Comms
-// Flight Core - J4
-// VOXL Flight - J1002
-//
-#define J4_PIN2       _MK_GPIO_OUTPUT(GPIO_USART2_RX)
-#define J1002_PIN2    J4_PIN2
-#define J4_PIN3       _MK_GPIO_OUTPUT(GPIO_USART2_TX)
-#define J1002_PIN3    J4_PIN3
-#define J4_PIN4       _MK_GPIO_OUTPUT(GPIO_USART2_RTS)
-#define J1002_PIN4    J4_PIN4
-#define J4_PIN4_IN    _MK_GPIO_INPUT(GPIO_USART2_RTS)
-#define J1002_PIN4_IN J4_PIN4_IN
-#define J4_PIN6       _MK_GPIO_OUTPUT(GPIO_USART2_CTS)
-#define J4_PIN6_IN    _MK_GPIO_INPUT(GPIO_USART2_CTS)
-#define J1002_PIN6_IN J4_PIN6_IN
-#define J4_PIN7       _MK_GPIO_OUTPUT(GPIO_VOXL_STATUS_OUT)
-#define J4_PIN7_IN    _MK_GPIO_INPUT(GPIO_VOXL_STATUS_OUT)
-#define J4_PIN8       _MK_GPIO_OUTPUT(GPIO_VOXL_STATUS_IN)
-#define J4_PIN8_IN    _MK_GPIO_INPUT(GPIO_VOXL_STATUS_IN)
-
-//
-// TELEMETRY CONNECTOR
-// Flight Core - J5
-// VOXL Flight - J1010
-//
-#define J5_PIN2       _MK_GPIO_OUTPUT(GPIO_UART7_TX)
-#define J1010_PIN2    J5_PIN2
-#define J5_PIN3       _MK_GPIO_OUTPUT(GPIO_UART7_RX)
-#define J1010_PIN3    J5_PIN3
-#define J5_PIN4       _MK_GPIO_OUTPUT(GPIO_UART7_CTS)
-#define J1010_PIN4    J5_PIN4
-#define J5_PIN4_IN    _MK_GPIO_INPUT(GPIO_UART7_CTS)
-#define J1010_PIN4_IN J5_PIN4_IN
-#define J5_PIN5       _MK_GPIO_OUTPUT(GPIO_UART7_RTS)
-#define J1010_PIN5    J5_PIN5
-#define J5_PIN5_IN    _MK_GPIO_INPUT(GPIO_UART7_RTS)
-#define J1010_PIN5_IN J5_PIN5_IN
-
-//
-// EXPANSION CONNECTOR
-// Flight Core - J6
-// VOXL Flight - J1009
-//
-#define J6_PIN2        _MK_GPIO_OUTPUT(GPIO_UART4_TX_5)
-#define J1009_PIN2     J6_PIN2
-#define J6_PIN3        _MK_GPIO_OUTPUT(GPIO_UART4_RX_5)
-#define J1009_PIN3     J6_PIN3
-#define J6_PIN4        _MK_GPIO_OUTPUT(GPIO_I2C3_SCL_2)
-#define J1009_PIN4     J6_PIN4
-#define J6_PIN4_IN     _MK_GPIO_INPUT(GPIO_I2C3_SCL_2)
-#define J1009_PIN4_IN  J6_PIN4_IN
-#define J6_PIN5        _MK_GPIO_OUTPUT(GPIO_I2C3_SDA_2)
-#define J1009_PIN5     J6_PIN5
-#define J6_PIN5_IN     _MK_GPIO_INPUT(GPIO_I2C3_SDA_2)
-#define J1009_PIN5_IN  J6_PIN5_IN
-
-//
-// Flight Core - J7 - PWM Output Connector
-// VOXL Flight - J1007
-// M0051       - J13
-//
-#define J7_PIN2          _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT_2)
-#define J1007_PIN2       J7_PIN2
-#define M0051J13_PIN2    J7_PIN2
-#define J7_PIN3          _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT_1)
-#define J1007_PIN3       J7_PIN3
-#define M0051J13_PIN3    J7_PIN3
-#define J7_PIN4          _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT_2)
-#define J1007_PIN4       J7_PIN4
-#define M0051J13_PIN4    J7_PIN4
-#define J7_PIN5          _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT_1)
-#define J1007_PIN5       J7_PIN5
-#define M0051J13_PIN5    J7_PIN5
-#define J7_PIN6          _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT_2)
-#define J1007_PIN6       J7_PIN6
-#define M0051J13_PIN6    J7_PIN6
-#define J7_PIN6_IN       _MK_GPIO_INPUT(GPIO_TIM4_CH2OUT_2)
-#define J1007_PIN6_IN    J7_PIN6_IN
-#define M0051J13_PIN6_IN J7_PIN6_IN
-#define J7_PIN7          _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT_2)
-#define J1007_PIN7       J7_PIN7
-#define M0051J13_PIN7    J7_PIN7
-#define J7_PIN7_IN       _MK_GPIO_INPUT(GPIO_TIM4_CH3OUT_2)
-#define J1007_PIN7_IN    J7_PIN7_IN
-#define M0051J13_PIN7_IN J7_PIN7_IN
-#define J7_PIN8          _MK_GPIO_OUTPUT(GPIO_TIM4_CH1OUT_2)
-#define J1007_PIN8       J7_PIN8
-#define M0051J13_PIN8    J7_PIN8
-#define J7_PIN8_IN       _MK_GPIO_INPUT(GPIO_TIM4_CH1OUT_2)
-#define J1007_PIN8_IN    J7_PIN8_IN
-#define M0051J13_PIN8_IN J7_PIN8_IN
-#define J7_PIN9          _MK_GPIO_OUTPUT(GPIO_TIM4_CH4OUT_2)
-#define J1007_PIN9       J7_PIN9
-#define M0051J13_PIN9    J7_PIN9
-#define J7_PIN9_IN       _MK_GPIO_INPUT(GPIO_TIM4_CH4OUT_2)
-#define J1007_PIN9_IN    J7_PIN9_IN
-#define M0051J13_PIN9_IN J7_PIN9_IN
-
-//
-// CAN 1 Peripheral Connector
-// Flight Core - J8
-// VOXL Flight - J1008
-//
-//#define J8_PIN2     _MK_GPIO_OUTPUT()
-//#define J8_PIN3     _MK_GPIO_OUTPUT()
-
-// PPM (RC) IN
-// Flight Core - J9
-// VOXL Flight - J1003
-//
-#define J9_PIN2_IN    _MK_GPIO_INPUT(GPIO_TIM8_CH1IN_2)
-#define J1003_PIN2_IN J9_PIN2_IN
-
-//
-// GPS CONNECTOR
-// Flight Core - J10
-// VOXL Flight - J1012
-// M0051       - J15
-//
-#define J10_PIN2         _MK_GPIO_OUTPUT(GPIO_USART1_TX_3)
-#define J1012_PIN2       J10_PIN2
-#define M0051J15_PIN2    J10_PIN2
-#define J10_PIN3         _MK_GPIO_OUTPUT(GPIO_USART1_RX_3)
-#define J1012_PIN3       J10_PIN3
-#define M0051J15_PIN3    J10_PIN3
-#define J10_PIN4         _MK_GPIO_OUTPUT(GPIO_I2C1_SCL_2)
-#define J1012_PIN4       J10_PIN4
-#define M0051J15_PIN4    J10_PIN4
-#define J10_PIN4_IN      _MK_GPIO_INPUT(GPIO_I2C1_SCL_2)
-#define J1012_PIN4_IN    J10_PIN4_IN
-#define M0051J15_PIN4_IN J10_PIN4_IN
-#define J10_PIN5         _MK_GPIO_OUTPUT(GPIO_I2C1_SDA_1)
-#define J1012_PIN5       J10_PIN5
-#define M0051J15_PIN5    J10_PIN5
-#define J10_PIN5_IN      _MK_GPIO_INPUT(GPIO_I2C1_SDA_1)
-#define J1012_PIN5_IN    J10_PIN5_IN
-#define M0051J15_PIN5_IN J10_PIN5_IN
-
-//
-// Spektrum RC Input Connector
-// Flight Core - J12
-// VOXL Flight - J1004
-// M0051       - J14
-//
-#define J12_PIN1      GPIO_VDD_3V3_SPEKTRUM_POWER_EN
-#define J1004_PIN1       J12_PIN1
-#define M0051J14_PIN1    J12_PIN1
-#define J12_PIN2         _MK_GPIO_OUTPUT(GPIO_USART6_TX_1)
-#define J1004_PIN2       J12_PIN2
-#define M0051J14_PIN2    J12_PIN2
-#define J12_PIN2_IN      _MK_GPIO_INPUT(GPIO_USART6_TX_1)
-#define J1004_PIN2_IN    J12_PIN2_IN
-#define M0051J14_PIN2_IN J12_PIN2_IN
-#define J12_PIN3         _MK_GPIO_OUTPUT(GPIO_USART6_RX_1)
-#define J1004_PIN3       J12_PIN3
-#define M0051J14_PIN3    J12_PIN3
-#define J12_PIN3_IN      _MK_GPIO_INPUT(GPIO_USART6_RX_1)
-#define J1004_PIN3_IN    J12_PIN3_IN
-#define M0051J14_PIN3_IN J12_PIN3_IN
-
-//
-// I2C Display / Spare Sensor Connector
-// Flight Core - J13
-// VOXL Flight - J1011
-//
-#define J13_PIN3   _MK_GPIO_OUTPUT(GPIO_I2C2_SDA_2)
-#define J1011_PIN3 J13_PIN3
-#define J13_PIN4   _MK_GPIO_OUTPUT(GPIO_I2C2_SCL_2)
-#define J1011_PIN4 J13_PIN4
-#define J13_PIN5   _MK_GPIO_OUTPUT(GPIO_PF3_EVENTOUT)
-#define J1011_PIN5 J13_PIN5
-
-
-void 	modalai_print_usage_v1(void);
-void 	modalai_print_usage_con_gpio_test_v1(void);
-int  	modalai_con_gpio_test_v1(uint8_t con, uint8_t pin, bool state);
-int  	modalai_led_test_v1(void);
-int  	modalai_buzz_test_v1(eHW_TYPE type);
-int	modalai_hw_detect_v1(eHW_TYPE type);
-
-#endif //MODALAI_FC_V1_H_

boards/modalai/src/systemcmds/modalai/modalai_fc-v2.c

@@ -1,437 +0,0 @@
-#include <px4_platform_common/module.h>
-
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-// v2
-#ifdef CONFIG_ARCH_CHIP_STM32H753II		// chip on M0087
-
-
-#include "modalai_fc-v2.h"
-
-void modalai_print_usage_v2(void)
-{
-	PRINT_MODULE_DESCRIPTION("ModalAI Test utility\n");
-
-	PRINT_MODULE_USAGE_NAME_SIMPLE("modalai", "command");
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("led", "LED Test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("con", "Connector Output Test (as GPIO)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("buzz", "Automated buzz out test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Detect board type");
-	return;
-}
-void modalai_print_usage_con_gpio_test_v2(void)
-{
-	return;
-}
-int modalai_con_gpio_test_v2(uint8_t con, uint8_t pin, bool state)
-{
-	return 0;
-}
-int modalai_led_test_v2(void)
-{
-	PX4_INFO("Running led test");
-
-	stm32_configgpio(GPIO_nLED_RED);
-	stm32_configgpio(GPIO_nLED_GREEN);
-	stm32_configgpio(GPIO_nLED_BLUE);
-
-	int i = 0;
-
-	for (i = 0; i < 3; i++) {
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, false);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, true);
-	}
-
-	return 0;
-}
-
-bool test_pair(uint32_t output_pin, uint32_t input_pin)
-{
-
-	bool state = false;
-
-	stm32_gpiowrite(output_pin, true);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != true) {
-		return false;
-	}
-
-	usleep(1000 * 10);
-
-	stm32_gpiowrite(output_pin, false);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != false) {
-		return false;
-	}
-
-	return true;
-}
-
-int modalai_buzz_test_v2(eHW_TYPE hw_type)
-{
-	PX4_INFO("test: buzz");
-	usleep(1000 * 100 * 10);
-
-	if (hw_type == eM0079) {
-		PX4_INFO("Using M0079 config");
-
-	} else if (hw_type == eM0087) {
-		PX4_INFO("Using M0087 config");
-
-	} else {
-		return -1;
-
-	}
-
-	if (hw_type == eM0079) {
-		//
-		//
-		//
-		PX4_INFO(">> Testing J1");
-		stm32_configgpio(M0079_J1_PIN_2_OUT); // 2-3
-		stm32_configgpio(M0079_J1_PIN_3_IN);  // 3-2
-		stm32_configgpio(M0079_J1_PIN_4_OUT); // 4-5
-		stm32_configgpio(M0079_J1_PIN_5_IN);  // 5-4
-
-		if (test_pair(M0079_J1_PIN_2_OUT, M0079_J1_PIN_3_IN)) {
-			PX4_INFO("PASS: M0079_J1_PIN_2_OUT M0079_J1_PIN_3_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J1_PIN_2_OUT M0079_J1_PIN_3_IN");
-		}
-
-		if (test_pair(M0079_J1_PIN_4_OUT, M0079_J1_PIN_5_IN)) {
-			PX4_INFO("PASS: M0079_J1_PIN_4_OUT M0079_J1_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J1_PIN_4_OUT M0079_J1_PIN_5_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J5");
-		stm32_configgpio(M0079_J5_PIN_2_OUT); // 2-4
-		stm32_configgpio(M0079_J5_PIN_3_OUT); // 3-5
-		stm32_configgpio(M0079_J5_PIN_4_IN);  // 4-2
-		stm32_configgpio(M0079_J5_PIN_5_IN);  // 5-3
-
-		if (test_pair(M0079_J5_PIN_2_OUT, M0079_J5_PIN_4_IN)) {
-			PX4_INFO("PASS: M0079_J5_PIN_2_OUT M0079_J5_PIN_4_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J5_PIN_2_OUT M0079_J5_PIN_4_IN");
-		}
-
-		if (test_pair(M0079_J5_PIN_3_OUT, M0079_J5_PIN_5_IN)) {
-			PX4_INFO("PASS: M0079_J5_PIN_3_OUT M0079_J5_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J5_PIN_3_OUT M0079_J5_PIN_5_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J7");
-		stm32_configgpio(M0079_J7_PIN_2_OUT); // 2-6
-		stm32_configgpio(M0079_J7_PIN_3_OUT); // 3-7
-		stm32_configgpio(M0079_J7_PIN_4_OUT); // 4-8
-		stm32_configgpio(M0079_J7_PIN_5_OUT); // 5-9
-		stm32_configgpio(M0079_J7_PIN_6_IN); // 6-2
-		stm32_configgpio(M0079_J7_PIN_7_IN); // 7-3
-		stm32_configgpio(M0079_J7_PIN_8_IN); // 8-4
-		stm32_configgpio(M0079_J7_PIN_9_IN); // 9-5
-
-		if (test_pair(M0079_J7_PIN_2_OUT, M0079_J7_PIN_6_IN)) {
-			PX4_INFO("PASS: M0079_J7_PIN_2_OUT M0079_J7_PIN_6_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J7_PIN_2_OUT M0079_J7_PIN_6_IN");
-		}
-
-		if (test_pair(M0079_J7_PIN_3_OUT, M0079_J7_PIN_7_IN)) {
-			PX4_INFO("PASS: M0079_J7_PIN_3_OUT M0079_J7_PIN_7_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J7_PIN_3_OUT M0079_J7_PIN_7_IN");
-		}
-
-		if (test_pair(M0079_J7_PIN_4_OUT, M0079_J7_PIN_8_IN)) {
-			PX4_INFO("PASS: M0079_J7_PIN_4_OUT M0079_J7_PIN_8_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J7_PIN_4_OUT M0079_J7_PIN_8_IN");
-		}
-
-		if (test_pair(M0079_J7_PIN_5_OUT, M0079_J7_PIN_9_IN)) {
-			PX4_INFO("PASS: M0079_J7_PIN_5_OUT M0079_J7_PIN_9_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J7_PIN_5_OUT M0079_J7_PIN_9_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J10");
-		stm32_configgpio(M0079_J10_PIN_2_OUT); // 2-4
-		stm32_configgpio(M0079_J10_PIN_3_OUT); // 3-5
-		stm32_configgpio(M0079_J10_PIN_4_IN);  // 4-2
-		stm32_configgpio(M0079_J10_PIN_5_IN);  // 5-3
-
-		if (test_pair(M0079_J10_PIN_2_OUT, M0079_J10_PIN_4_IN)) {
-			PX4_INFO("PASS: M0079_J10_PIN_2_OUT M0079_J10_PIN_4_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J10_PIN_2_OUT M0079_J10_PIN_4_IN");
-		}
-
-		if (test_pair(M0079_J10_PIN_3_OUT, M0079_J10_PIN_5_IN)) {
-			PX4_INFO("PASS: M0079_J10_PIN_3_OUT M0079_J10_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J10_PIN_3_OUT M0079_J10_PIN_5_IN");
-		}
-
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J13");
-		stm32_configgpio(M0079_J12_PIN_2_OUT); // 2-3
-		stm32_configgpio(M0079_J12_PIN_3_IN);  // 3-2
-
-		if (test_pair(M0079_J12_PIN_2_OUT, M0079_J12_PIN_3_IN)) {
-			PX4_INFO("PASS: M0079_J12_PIN_2 M0079_J12_PIN_3");
-
-		} else {
-			PX4_ERR("FAIL: M0079_J12_PIN_2 M0079_J12_PIN_3");
-		}
-
-
-	} else if (hw_type == eM0087) {
-		//
-		//
-		//
-		PX4_INFO(">> Testing J1");
-		stm32_configgpio(M0087_J1_PIN_2_IN);    // 2-4
-		stm32_configgpio(M0087_J1_PIN_3_OUT);   // 3-5
-		stm32_configgpio(M0087_J1_PIN_4_OUT);   // 4-2
-		stm32_configgpio(M0087_J1_PIN_5_IN);    // 5-3
-
-		if (test_pair(M0087_J1_PIN_4_OUT, M0087_J1_PIN_2_IN)) {
-			PX4_INFO("PASS: M0087_J1_PIN_4_OUT M0087_J1_PIN_2_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J1_PIN_4_OUT M0087_J1_PIN_2_IN");
-		}
-
-		if (test_pair(M0087_J1_PIN_3_OUT, M0087_J1_PIN_5_IN)) {
-			PX4_INFO("PASS: M0087_J1_PIN_3_OUT M0087_J1_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J1_PIN_3_OUT M0087_J1_PIN_5_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J5");
-		stm32_configgpio(M0087_J5_PIN_2_OUT); // 2-4
-		stm32_configgpio(M0087_J5_PIN_3_OUT); // 3-5
-		stm32_configgpio(M0087_J5_PIN_4_IN);  // 4-2
-		stm32_configgpio(M0087_J5_PIN_5_IN);  // 5-3
-
-		if (test_pair(M0087_J5_PIN_2_OUT, M0087_J5_PIN_4_IN)) {
-			PX4_INFO("PASS: M0087_J5_PIN_2_OUT M0087_J5_PIN_4_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J5_PIN_2_OUT M0087_J5_PIN_4_IN");
-		}
-
-		if (test_pair(M0087_J5_PIN_3_OUT, M0087_J5_PIN_5_IN)) {
-			PX4_INFO("PASS: M0087_J5_PIN_3_OUT M0087_J5_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J5_PIN_3_OUT M0087_J5_PIN_5_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J7");
-		stm32_configgpio(M0087_J7_PIN_2_OUT); // 2-6
-		stm32_configgpio(M0087_J7_PIN_3_OUT); // 3-7
-		stm32_configgpio(M0087_J7_PIN_4_OUT); // 4-8
-		stm32_configgpio(M0087_J7_PIN_5_OUT); // 5-9
-		stm32_configgpio(M0087_J7_PIN_6_IN); // 6-2
-		stm32_configgpio(M0087_J7_PIN_7_IN); // 7-3
-		stm32_configgpio(M0087_J7_PIN_8_IN); // 8-4
-		stm32_configgpio(M0087_J7_PIN_9_IN); // 9-5
-
-		if (test_pair(M0087_J7_PIN_2_OUT, M0087_J7_PIN_6_IN)) {
-			PX4_INFO("PASS: M0087_J7_PIN_2_OUT M0087_J7_PIN_6_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J7_PIN_2_OUT M0087_J7_PIN_6_IN");
-		}
-
-		if (test_pair(M0087_J7_PIN_3_OUT, M0087_J7_PIN_7_IN)) {
-			PX4_INFO("PASS: M0087_J7_PIN_3_OUT M0087_J7_PIN_7_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J7_PIN_3_OUT M0087_J7_PIN_7_IN");
-		}
-
-		if (test_pair(M0087_J7_PIN_4_OUT, M0087_J7_PIN_8_IN)) {
-			PX4_INFO("PASS: M0087_J7_PIN_4_OUT M0087_J7_PIN_8_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J7_PIN_4_OUT M0087_J7_PIN_8_IN");
-		}
-
-		if (test_pair(M0087_J7_PIN_5_OUT, M0087_J7_PIN_9_IN)) {
-			PX4_INFO("PASS: M0087_J7_PIN_5_OUT M0087_J7_PIN_9_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J7_PIN_5_OUT M0087_J7_PIN_9_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J10");
-		stm32_configgpio(M0087_J10_PIN_2_OUT); // 2-4
-		stm32_configgpio(M0087_J10_PIN_3_OUT); // 3-5
-		stm32_configgpio(M0087_J10_PIN_4_IN);  // 4-2
-		stm32_configgpio(M0087_J10_PIN_5_IN);  // 5-3
-
-		if (test_pair(M0087_J10_PIN_2_OUT, M0087_J10_PIN_4_IN)) {
-			PX4_INFO("PASS: M0087_J10_PIN_2_OUT M0087_J10_PIN_4_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J10_PIN_2_OUT M0087_J10_PIN_4_IN");
-		}
-
-		if (test_pair(M0087_J10_PIN_3_OUT, M0087_J10_PIN_5_IN)) {
-			PX4_INFO("PASS: M0087_J10_PIN_3_OUT M0087_J10_PIN_5_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J10_PIN_3_OUT M0087_J10_PIN_5_IN");
-		}
-
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J12");
-		stm32_configgpio(M0087_J12_PIN_2_OUT); // 2-3
-		stm32_configgpio(M0087_J12_PIN_3_IN);  // 3-2
-
-		if (test_pair(M0087_J12_PIN_2_OUT, M0087_J12_PIN_3_IN)) {
-			PX4_INFO("PASS: M0087_J12_PIN_2_OUT M0087_J12_PIN_3_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J12_PIN_2_OUT M0087_J12_PIN_3_IN");
-		}
-
-		//
-		//
-		//
-		PX4_INFO(">> Testing J14");
-		stm32_configgpio(M0087_J14_PIN_2_OUT);
-		stm32_configgpio(M0087_J14_PIN_3_OUT);
-		stm32_configgpio(M0087_J14_PIN_4_OUT);
-		stm32_configgpio(M0087_J14_PIN_5_OUT);
-		stm32_configgpio(M0087_J14_PIN_6_OUT);
-		stm32_configgpio(M0087_J14_PIN_7_IN);
-		stm32_configgpio(M0087_J14_PIN_8_IN);
-		stm32_configgpio(M0087_J14_PIN_9_IN);
-		stm32_configgpio(M0087_J14_PIN_10_IN);
-		stm32_configgpio(M0087_J14_PIN_11_IN);
-
-		if (test_pair(M0087_J14_PIN_2_OUT, M0087_J14_PIN_7_IN)) {
-			PX4_INFO("PASS: M0087_J14_PIN_2_OUT M0087_J14_PIN_7_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J14_PIN_2_OUT M0087_J14_PIN_7_IN");
-		}
-
-		if (test_pair(M0087_J14_PIN_3_OUT, M0087_J14_PIN_8_IN)) {
-			PX4_INFO("PASS: M0087_J14_PIN_3_OUT M0087_J14_PIN_8_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J14_PIN_3_OUT M0087_J14_PIN_8_IN");
-		}
-
-		if (test_pair(M0087_J14_PIN_4_OUT, M0087_J14_PIN_9_IN)) {
-			PX4_INFO("PASS: M0087_J14_PIN_4_OUT M0087_J14_PIN_9_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J14_PIN_4_OUT M0087_J14_PIN_9_IN");
-		}
-
-		if (test_pair(M0087_J14_PIN_5_OUT, M0087_J14_PIN_10_IN)) {
-			PX4_INFO("PASS: M0087_J14_PIN_5_OUT M0087_J14_PIN_10_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J14_PIN_5_OUT M0087_J14_PIN_10_IN");
-		}
-
-		if (test_pair(M0087_J14_PIN_6_OUT, M0087_J14_PIN_11_IN)) {
-			PX4_INFO("PASS: M0087_J14_PIN_6_OUT M0087_J14_PIN_11_IN");
-
-		} else {
-			PX4_ERR("FAIL: M0087_J14_PIN_6_OUT M0087_J14_PIN_11_IN");
-		}
-
-	}
-
-	return 0;
-}
-
-int modalai_hw_detect_v2(eHW_TYPE hw_type)
-{
-	int result = -1;
-
-	if (hw_type == eM0079) {
-		PX4_INFO("V230 - M0079");
-		result = 0;
-
-	} else if (hw_type == eM0087) {
-		PX4_INFO("V230 - M0087");
-		result = 0;
-
-	} else {
-		PX4_ERR("Unknown hardware");
-	}
-
-	return result;
-}
-
-#endif //CONFIG_ARCH_CHIP_STM32H753II

boards/modalai/src/systemcmds/modalai/modalai_fc-v2.h

@@ -1,183 +0,0 @@
-#ifndef MODALAI_FC_V2_H_
-#define MODALAI_FC_V2_H_
-
-typedef enum {
-	eHwUnknown = -1,
-	eHwNone = 0,
-	eM0079,		//FCv2
-	eM0087		//FCv2 Pro
-} eHW_TYPE;
-
-#define _MK_GPIO_INPUT(def)  (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
-
-/*	M0079 Pins	*/
-
-//
-// TELEM1
-//   M0079- J1
-//             PF6   PIN2 - out
-//             PE8   PIN3 - in
-//	       PF8   PIN4 - out
-//	       PE10  PIN4 - in
-//
-#define M0079_J1_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN6)
-#define M0079_J1_PIN_3_IN              _MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN8)
-#define M0079_J1_PIN_4_OUT             _MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN8)
-#define M0079_J1_PIN_5_IN              _MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN10)
-
-//
-// TELEM2
-//   M0079- J5
-//             PC12 PIN2 - out
-//             PD2  PIN3 - out
-//	       PC9  PIN4 - in
-//	       PC8  PIN4 - in
-//
-#define M0079_J5_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN12)
-#define M0079_J5_PIN_3_OUT             _MK_GPIO_OUTPUT(GPIO_PORTD|GPIO_PIN2)
-#define M0079_J5_PIN_4_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN9)
-#define M0079_J5_PIN_5_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN8)
-
-//
-// PWM Output
-//   M0079- J7
-//             PI0  PIN2 - out
-//             PH12 PIN3 - out
-//             PH11 PIN4 - out
-//             PH10 PIN5 - out
-//
-//             PD13 PIN6 - in
-//             PD14 PIN7 - in
-//             PH6  PIN8 - in
-//             PH9  PIN9 - in
-//
-#define M0079_J7_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN0)
-#define M0079_J7_PIN_3_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN12)
-#define M0079_J7_PIN_4_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN11)
-#define M0079_J7_PIN_5_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN10)
-#define M0079_J7_PIN_6_IN              _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN13)
-#define M0079_J7_PIN_7_IN              _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN14)
-#define M0079_J7_PIN_8_IN              _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN6)
-#define M0079_J7_PIN_9_IN              _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN9)
-
-//
-// GPS/Mag
-//   M0079- J10
-//             PB6 PIN2 - out
-//             PB7 PIN3 - out
-//	       PB8 PIN4 - in
-//	       PB9 PIN4 - in
-//
-#define M0079_J10_PIN_2_OUT            _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN6)
-#define M0079_J10_PIN_3_OUT            _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN7)
-#define M0079_J10_PIN_4_IN             _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN8)
-#define M0079_J10_PIN_5_IN             _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN9)
-
-//
-// Spektrum RC Input Connector
-//   M0079- J12
-//             PC6 PIN2 - out
-//             PC7 PIN3 - in
-//
-#define M0079_J12_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN6)
-#define M0079_J12_PIN_3_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN7)
-
-
-/*	M0087 Pins 	*/
-
-//
-// TELEM1
-//   M0087- J1
-//             PF6   PIN2 - in
-//             PE8   PIN3 - out
-//	       PF8   PIN4 - out
-//	       PE10  PIN5 - in
-//
-#define M0087_J1_PIN_2_IN             	_MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN6)
-#define M0087_J1_PIN_3_OUT              _MK_GPIO_OUTPUT(GPIO_PORTE|GPIO_PIN8)
-#define M0087_J1_PIN_4_OUT             	_MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN8)
-#define M0087_J1_PIN_5_IN              	_MK_GPIO_INPUT(GPIO_PORTE|GPIO_PIN10)
-
-//
-// TELEM2
-//   M0087- J5
-//             PC12 PIN2 - out
-//             PD2  PIN3 - out
-//	       PC9  PIN4 - in
-//	       PC8  PIN5 - in
-//
-#define M0087_J5_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN12)
-#define M0087_J5_PIN_3_OUT             _MK_GPIO_OUTPUT(GPIO_PORTD|GPIO_PIN2)
-#define M0087_J5_PIN_4_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN9)
-#define M0087_J5_PIN_5_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN8)
-
-//
-// PWM Output
-//   M0087- J7
-//             PI0  PIN2 - out
-//             PH12 PIN3 - out
-//             PH11 PIN4 - out
-//             PH10 PIN5 - out
-//
-//             PD13 PIN6 - in
-//             PD14 PIN7 - in
-//             PH6  PIN8 - in
-//             PH9  PIN9 - in
-//
-#define M0087_J7_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN0)
-#define M0087_J7_PIN_3_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN12)
-#define M0087_J7_PIN_4_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN11)
-#define M0087_J7_PIN_5_OUT             _MK_GPIO_OUTPUT(GPIO_PORTH|GPIO_PIN10)
-#define M0087_J7_PIN_6_IN              _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN13)
-#define M0087_J7_PIN_7_IN              _MK_GPIO_INPUT(GPIO_PORTD|GPIO_PIN14)
-#define M0087_J7_PIN_8_IN              _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN6)
-#define M0087_J7_PIN_9_IN              _MK_GPIO_INPUT(GPIO_PORTH|GPIO_PIN9)
-
-//
-// GPS/Mag
-//   M0087- J10
-//             PB6 PIN2 - out
-//             PB7 PIN3 - out
-//	       PB8 PIN4 - in
-//	       PB9 PIN5 - in
-//
-#define M0087_J10_PIN_2_OUT            _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN6)
-#define M0087_J10_PIN_3_OUT            _MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN7)
-#define M0087_J10_PIN_4_IN             _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN8)
-#define M0087_J10_PIN_5_IN             _MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN9)
-
-//
-// Spektrum RC Input Connector
-//   M0087- J12
-//             PC6 PIN2 - out
-//             PC7 PIN3 - in
-//
-#define M0087_J12_PIN_2_OUT             _MK_GPIO_OUTPUT(GPIO_PORTC|GPIO_PIN6)
-#define M0087_J12_PIN_3_IN              _MK_GPIO_INPUT(GPIO_PORTC|GPIO_PIN7)
-
-//
-// AVIATOR SPI/I2C/ADC EXPANSION CONNECTOR
-//   M0087- J14
-//             PC6 PIN2 - out
-//             PC7 PIN3 - in
-//
-#define  M0087_J14_PIN_2_OUT				_MK_GPIO_OUTPUT(GPIO_PORTA|GPIO_PIN6)
-#define  M0087_J14_PIN_3_OUT				_MK_GPIO_OUTPUT(GPIO_PORTG|GPIO_PIN14)
-#define  M0087_J14_PIN_4_OUT				_MK_GPIO_OUTPUT(GPIO_PORTB|GPIO_PIN3)
-#define  M0087_J14_PIN_5_OUT				_MK_GPIO_OUTPUT(GPIO_PORTI|GPIO_PIN10)
-#define  M0087_J14_PIN_6_OUT				_MK_GPIO_OUTPUT(GPIO_PORTF|GPIO_PIN0)
-#define  M0087_J14_PIN_7_IN				_MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN1)
-#define  M0087_J14_PIN_8_IN				_MK_GPIO_INPUT(GPIO_PORTF|GPIO_PIN12)
-#define  M0087_J14_PIN_9_IN				_MK_GPIO_INPUT(GPIO_PORTB|GPIO_PIN0)
-#define  M0087_J14_PIN_10_IN				_MK_GPIO_INPUT(GPIO_PORTA|GPIO_PIN0)
-#define  M0087_J14_PIN_11_IN				_MK_GPIO_INPUT(GPIO_PORTA|GPIO_PIN4)
-
-void	modalai_print_usage_v2(void);
-void	modalai_print_usage_con_gpio_test_v2(void);
-int 	modalai_con_gpio_test_v2(uint8_t con, uint8_t pin, bool state);
-int 	modalai_led_test_v2(void);
-int 	modalai_buzz_test_v2(eHW_TYPE type);
-int 	modalai_hw_detect_v2(eHW_TYPE type);
-
-#endif //MODALAI_FC_V2_H_

boards/modalai/voxl2-io/default.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m3"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_MODULES_PX4IOFIRMWARE=y

boards/modalai/voxl2-io/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 41777,
+    "magic": "PX4FWv2",
+    "description": "Firmware for the voxl2-io board",
+    "image": "",
+    "build_time": 0,
+    "summary": "voxl2io",
+    "version": "2.0",
+    "image_size": 0,
+    "image_maxsize": 61440,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/modalai/voxl2-io/nuttx-config/include/board.h

@@ -0,0 +1,141 @@
+/************************************************************************************
+ * nuttx-configs/px4io/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   Copyright (C) 2012 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 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 <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+/* Use the HSE output as the system clock */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_HSE
+#define STM32_SYSCLK_FREQUENCY  STM32_BOARD_XTAL
+
+/* AHB clock (HCLK) is SYSCLK (24MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLK
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* All timers run off PCLK */
+
+
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (STM32_PCLK1_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1, 15-17 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+#define BOARD_TIM15_FREQUENCY   STM32_APB2_TIM15_CLKIN
+#define BOARD_TIM16_FREQUENCY   STM32_APB2_TIM16_CLKIN
+#define BOARD_TIM17_FREQUENCY   STM32_APB2_TIM17_CLKIN
+
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/modalai/voxl2-io/nuttx-config/nsh/defconfig

@@ -0,0 +1,61 @@
+#
+# 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_DEV_NULL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/voxl2-io/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F100C8=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_INIT_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
+CONFIG_MM_FILL_ALLOCATIONS=y
+CONFIG_MM_SMALL=y
+CONFIG_NAME_MAX=12
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_RAM_SIZE=8192
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=64
+CONFIG_USEC_PER_TICK=1000

boards/modalai/voxl2-io/nuttx-config/scripts/script.ld

@@ -0,0 +1,131 @@
+/****************************************************************************
+ * configs/px4io-v2/scripts/ld.script
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
+ * 8Kb of SRAM beginning at address 0x2000:0000.  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ */
+
+MEMORY
+{
+    flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
+    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+		. = ALIGN(4);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

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

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	init.c
+	timer_config.cpp
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_arch
+)

boards/modalai/voxl2-io/src/board_config.h

@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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
+ *
+ * PX4IOV2 internal definitions
+ */
+
+#pragma once
+
+/******************************************************************************
+ * Included Files
+ ******************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/******************************************************************************
+ * Definitions
+ ******************************************************************************/
+/* Configuration **************************************************************/
+
+/******************************************************************************
+ * Serial
+ ******************************************************************************/
+#define PX4FMU_SERIAL_BASE	STM32_USART2_BASE
+#define PX4FMU_SERIAL_VECTOR	STM32_IRQ_USART2
+#define PX4FMU_SERIAL_TX_GPIO	GPIO_USART2_TX
+#define PX4FMU_SERIAL_RX_GPIO	GPIO_USART2_RX
+#define PX4FMU_SERIAL_TX_DMA	DMACHAN_USART2_TX
+#define PX4FMU_SERIAL_RX_DMA	DMACHAN_USART2_RX
+#define PX4FMU_SERIAL_CLOCK	STM32_PCLK1_FREQUENCY
+#define PX4FMU_SERIAL_BITRATE	921600
+
+/******************************************************************************
+ * GPIOS
+ ******************************************************************************/
+
+/* LEDS  **********************************************************************/
+
+#define GPIO_LED_BLUE (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED_AMBER (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
+
+#define LED_BLUE(on_true)   stm32_gpiowrite(GPIO_LED_BLUE, !(on_true))
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+
+//#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
+
+//#define GPIO_HEATER_OFF 0 // (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+
+#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+
+#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+# define SENSE_PH1 0b10 /* Floating pulled as set */
+# define SENSE_PH2 0b01 /* Driven as tied */
+
+#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+
+/* Safety switch button *******************************************************/
+
+/* CONNECTED TO TP8 - pulled down via SW */
+
+#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
+
+/* Power switch controls ******************************************************/
+
+#define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
+
+#define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
+#define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
+
+#define GPIO_SERVO_FAULT_DETECT 0 // (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
+
+/* Analog inputs **************************************************************/
+
+/* PWM pins  **************************************************************/
+
+#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+
+#define DIRECT_PWM_OUTPUT_CHANNELS 8
+#define BOARD_HAS_NO_CAPTURE
+
+/* SBUS pins  *************************************************************/
+
+/* XXX these should be UART pins */
+#define GPIO_SBUS_INPUT   (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_SBUS_OUTPUT  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_SBUS_OENABLE 0 // (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
+
+/*
+ * High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
+
+/* LED definitions ******************************************************************/
+/* PX4 has two LEDs that we will encode as: */
+
+#define LED_STARTED       0  /* LED? */
+#define LED_HEAPALLOCATE  1  /* LED? */
+#define LED_IRQSENABLED   2  /* LED? + LED? */
+#define LED_STACKCREATED  3  /* LED? */
+#define LED_INIRQ         4  /* LED? + LED? */
+#define LED_SIGNAL        5  /* LED? + LED? */
+#define LED_ASSERTION     6  /* LED? + LED? + LED? */
+#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
+
+#define BOARD_NUM_IO_TIMERS 3
+
+#include <px4_platform_common/board_common.h>

boards/modalai/voxl2-io/src/init.c

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * stm32_boardinitialize() function that is called during cpu 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 <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure GPIOs */
+
+	/* Set up for sensing HW */
+	stm32_configgpio(GPIO_SENSE_PC14_DN);
+	stm32_configgpio(GPIO_SENSE_PC15_UP);
+
+	/* LEDS - default to off */
+	stm32_configgpio(GPIO_LED_BLUE);
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+
+	stm32_configgpio(GPIO_PC14);
+	stm32_configgpio(GPIO_PC15);
+
+
+	stm32_configgpio(GPIO_BTN_SAFETY);
+
+	/* spektrum power enable is active high - enable it by default */
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+
+	stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
+	stm32_configgpio(GPIO_SBUS_OUTPUT);
+
+	stm32_gpiowrite(GPIO_PWM1, true);
+	stm32_configgpio(GPIO_PWM1);
+
+	stm32_gpiowrite(GPIO_PWM2, true);
+	stm32_configgpio(GPIO_PWM2);
+
+	stm32_gpiowrite(GPIO_PWM3, true);
+	stm32_configgpio(GPIO_PWM3);
+
+	stm32_gpiowrite(GPIO_PWM4, true);
+	stm32_configgpio(GPIO_PWM4);
+
+	stm32_gpiowrite(GPIO_PWM5, true);
+	stm32_configgpio(GPIO_PWM5);
+
+	stm32_gpiowrite(GPIO_PWM6, true);
+	stm32_configgpio(GPIO_PWM6);
+
+	stm32_gpiowrite(GPIO_PWM7, true);
+	stm32_configgpio(GPIO_PWM7);
+
+	stm32_gpiowrite(GPIO_PWM8, true);
+	stm32_configgpio(GPIO_PWM8);
+}

boards/modalai/voxl2-io/src/timer_config.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *  Copyright (C) 2012 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
@@ -31,42 +31,24 @@
  *
  ****************************************************************************/
 
-#pragma once
+#include <px4_arch/io_timer_hw_description.h>
 
-#include <px4_platform_common/atomic_bitset.h>
-#include "atomic_transaction.h"
-#include "param.h"
-#include <stdlib.h>
-
-class ParamLayer
-{
-public:
-	static constexpr param_t PARAM_COUNT = sizeof(px4::parameters) / sizeof(param_info_s);
-
-	ParamLayer(ParamLayer *parent = nullptr) : _parent(parent) {}
-
-	ParamLayer(const ParamLayer &) = delete;
-	ParamLayer &operator=(const ParamLayer &) = delete;
-	ParamLayer(ParamLayer &&) = delete;
-	ParamLayer &operator=(ParamLayer &&) = delete;
-
-
-	virtual bool store(param_t param, param_value_u value) = 0;
-
-	virtual bool contains(param_t param) const = 0;
-
-	virtual px4::AtomicBitset<PARAM_COUNT> containedAsBitset() const = 0;
-
-	virtual param_value_u get(param_t param) const = 0;
-
-	virtual void reset(param_t param) = 0;
-
-	virtual void refresh(param_t param) = 0;
-
-	virtual int size() const = 0;
-
-	virtual int byteSize() const = 0;
-
-protected:
-	ParamLayer *const _parent;
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer4),
 };
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortA, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

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

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

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

@@ -6,4 +6,5 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 17
 
-safety_button start
+param set-default GPS_2_CONFIG 202
+param set-default TEL_FRSKY_CONFIG 103

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

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

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

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

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

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

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

@@ -56,7 +56,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARCH_STACKDUMP=y
@@ -190,7 +190,6 @@ CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C3=y
 CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
@@ -210,17 +209,20 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI5_DMA=y
 CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM16=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -250,9 +252,6 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

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

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

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

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

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

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

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

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

boards/mro/x21-777/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/mro/x21/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/nxp/fmuk66-e/default.px4board

@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -22,7 +22,7 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_COMMON_UWB=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -1,20 +1,25 @@
 # CONFIG_BOARD_ROMFSROOT is not set
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_ESC_BATTERY=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -17,6 +17,17 @@ param set-default MAV_1_UDP_PRT 14550
 param set-default SENS_EXT_I2C_PRB 0
 param set-default CYPHAL_ENABLE 0
 
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	param set-default GPS_1_CONFIG 202
+	param set-default RC_PORT_CONFIG 104
+	param set-default SENS_INT_BARO_EN 0
+	param set-default SYS_HAS_BARO 0
+	# MR-CANHUBK3-ADAP voltage divider
+	param set-default BAT1_V_DIV 13.158
+	safety_button start
+fi
+
 if param greater -s UAVCAN_ENABLE 0
 then
 	ifup can0

boards/nxp/mr-canhubk3/init/rc.board_sensors

@@ -2,22 +2,31 @@
 #
 # NXP MR-CANHUBK3 specific board sensors init
 #------------------------------------------------------------------------------
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	icm42688p -c 2 -b 3 -R 0 -S -f 15000 start
+	# Internal magnetometer on I2c on ADAP
+	bmm150 -X -a 18 start
+	ist8310 -X -b 1 -R 10 start
+	# ADC for voltage input sensing
+	board_adc start
 
-#board_adc start FIXME no ADC drivers
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 10 start
 
-#FMUv5Xbase board orientation
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 10 -S -f 15000 start
+else
+	bmm150 -X start
+	# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+	ist8310 -X -b 2 -R 10 start
 
-# Internal SPI bus ICM20649
-icm20649 -s -R 6 start
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 6 start
 
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s start
-
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 2 -R 10 start
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 6 -S -f 15000 start
+fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
 lis3mdl -X -b 2 -R 2 start
@@ -25,5 +34,5 @@ lis3mdl -X -b 2 -R 2 start
 # Disable startup of internal baros if param is set to false
 if param compare SENS_INT_BARO_EN 1
 then
-	bmp388 -I -a 0x77 start
+	bmp388 -X -a 0x77 start
 fi

boards/nxp/mr-canhubk3/nuttx-config/include/board.h

@@ -152,6 +152,18 @@
 #define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
 #define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */
 
+
+/* LPUART4 /dev/ttyS3  P8B 3X7 Pin 3 Single wire RC UART */
+
+#define PIN_LPUART4_RX    PIN_LPUART4_TX_3   /* Dummy since it's Single Wire TX-only */
+#define PIN_LPUART4_TX    PIN_LPUART4_TX_3   /* PTE11 */
+
+
+/* LPUART7 /dev/ttyS4  P8B 3X7 Pin 3 and Pin 8 */
+
+#define PIN_LPUART7_RX    (PIN_LPUART7_RX_3 | PIN_INPUT_PULLUP)   /* PTE0 */
+#define PIN_LPUART7_TX    PIN_LPUART7_TX_3   /* PTE1 */
+
 /* LPUART9   P24 UART connector */
 
 #define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
@@ -209,7 +221,8 @@
 #define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
 #define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */
 
-#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P26 (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P8B (PIN_PTB8 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)   /* PTB8 */
 
 /* LPSPI5  P26 external IMU connector */
 

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -245,6 +245,8 @@ CONFIG_S32K3XX_LPUART13=y
 CONFIG_S32K3XX_LPUART14=y
 CONFIG_S32K3XX_LPUART1=y
 CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART4=y
+CONFIG_S32K3XX_LPUART7=y
 CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y

boards/nxp/mr-canhubk3/src/CMakeLists.txt

@@ -38,6 +38,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 		clockconfig.c
 		periphclocks.c
 		timer_config.cpp
+		hw_rev_ver_canhubk3.c
 	)
 
 	target_link_libraries(drivers_board
@@ -65,6 +66,8 @@ else()
 		spi.cpp
 		timer_config.cpp
 		s32k3xx_userleds.c
+		hw_rev_ver_canhubk3.c
+		manifest.c
 	)
 
 	target_link_libraries(drivers_board

boards/nxp/mr-canhubk3/src/board_config.h

@@ -88,7 +88,7 @@ __BEGIN_DECLS
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -110,6 +110,40 @@ __BEGIN_DECLS
 /* Reboot and ulog we store on a wear-level filesystem */
 #define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot"
 
+/* To detect MR-CANHUBK3-ADAP board */
+#define BOARD_HAS_HW_VERSIONING  1
+#define CANHUBK3_ADAP_DETECT     (PIN_PTA12 | GPIO_INPUT | GPIO_PULLUP)
+
+
+/*
+ * 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. ADC1 has 32 channels, with some a/b selection overlap
+ * in the AD4-AD7 range on the same ADC.
+ *
+ * Only ADC1 is used
+ *         Bits 31:0 are ADC1 channels 31:0
+ */
+
+#define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(0)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
+#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(1)     /* Non-existant but needed for compilation */
+
+
+/* Mask use to initialize the ADC driver */
+
+#define ADC_CHANNELS ((1 << ADC_BATTERY_VOLTAGE_CHANNEL))
+
+/* Safety Switch
+ * TBD
+ */
+#define GPIO_LED_SAFETY         (PIN_PTE26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO)
+#define GPIO_BTN_SAFETY         (PIN_PTA11 | GPIO_INPUT | GPIO_PULLDOWN)
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/

boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hw_rev_ver_canhubk3.c
+ * CANHUBK3 Hardware Revision and Version ID API
+ */
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+#include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <stdio.h>
+#include <board_config.h>
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+
+
+#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int is_adap_connected = 0;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	if (is_adap_connected) {
+		return (const char *)"MR-CANHUBK3-ADAP";
+
+	} else {
+		return (const char *)"MR-CANHUBK344";
+	}
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  0;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  0;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses GPIO to detect MR-CANHUBK3-ADAP
+ *
+ ************************************************************************************/
+
+int board_determine_hw_info()
+{
+	s32k3xx_pinconfig(CANHUBK3_ADAP_DETECT);
+	is_adap_connected = !s32k3xx_gpioread(CANHUBK3_ADAP_DETECT);
+	return 0;
+}
+#endif

boards/nxp/mr-canhubk3/src/i2c.cpp

@@ -34,6 +34,6 @@
 #include <px4_arch/i2c_hw_description.h>
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
-	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
 };

boards/nxp/mr-canhubk3/src/init.c

@@ -44,6 +44,7 @@
 #include "board_config.h"
 
 #include <px4_platform_common/init.h>
+#include <px4_platform/board_determine_hw_info.h>
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 #include <nuttx/mmcsd.h>
@@ -96,6 +97,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	int rv;
 
+	board_determine_hw_info();
+
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 	/* LPSPI1 *****************************************************************/

boards/nxp/mr-canhubk3/src/manifest.c

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW REV and HW VER IDs
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+#include "systemlib/px4_macros.h"
+#include "px4_log.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+	return px4_hw_mft_unsupported;
+}

boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c

@@ -107,6 +107,9 @@ int s32k3xx_bringup(void)
 	s32k3xx_spidev_initialize();
 #endif
 
+	s32k3xx_pinconfig(GPIO_LED_SAFETY);
+	s32k3xx_pinconfig(GPIO_BTN_SAFETY);
+
 #ifdef CONFIG_INPUT_BUTTONS
 	/* Register the BUTTON driver */
 

boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c

@@ -168,6 +168,22 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkgate = true,
 #else
 		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART4_CLK,
+#ifdef CONFIG_S32K3XX_LPUART4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART7_CLK,
+#ifdef CONFIG_S32K3XX_LPUART7
+		.clkgate = true,
+#else
+		.clkgate = false,
 #endif
 	},
 	{
@@ -258,6 +274,10 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkname = EMIOS0_CLK,
 		.clkgate = true,
 	},
+	{
+		.clkname = ADC2_CLK,
+		.clkgate = true,
+	}
 };
 
 unsigned int const num_of_peripheral_clocks_0 =

boards/nxp/mr-canhubk3/src/spi.cpp

@@ -70,11 +70,12 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
 	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20})
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin8}, SPI::DRDY{PIN_WKPU56})
 	}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
+	initSPIBusExternal(SPI::Bus::SPI5, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
 	}),
 };
 
@@ -337,7 +338,14 @@ void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid,
 	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
 		selected ? "assert" : "de-assert");
 
-	s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected);
+	devid = ((devid) & 0xF);
+
+	if (devid == 0) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P26, !selected);
+
+	} else if (devid == 1) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P8B, !selected);
+	}
 }
 
 uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)

boards/nxp/ucans32k146/default.px4board

@@ -13,6 +13,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_UAVCANNODE_ARMING_STATUS=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y

boards/px4/fmu-v2/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v3/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v4pro/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default SYS_USE_IO 1
-
 set LOGGER_BUF 64

boards/px4/fmu-v5/init/rc.board_defaults

@@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V5004000 V5006000
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs

boards/px4/fmu-v5/test.px4board

@@ -4,11 +4,13 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n

boards/px4/fmu-v5x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v5x/init/rc.board_defaults

@@ -16,6 +16,4 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 safety_button start

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
-if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+if ver hwbasecmp 008 009 00a 010
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -5,7 +5,7 @@
 
 set HAVE_PM2 yes
 
-if ver hwtypecmp V5X005000 V5X005001 V5X005002
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -49,33 +49,11 @@ then
 	fi
 fi
 
-if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002 V5X005001 V5X005002
+if ver hwbasecmp 008 009 00a 010 011
 then
-	#FMUv5Xbase board orientation
-
-	if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001 V5X005001
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 4 -s start
-		bmi088 -G -R 4 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	fi
-
-	# Internal SPI bus ICM42688p
-	icm42688p -R 6 -s start
-
-	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 10 -s start
-
-	# Internal magnetometer on I2c
-	bmm150 -I start
-
-else
 	#SKYNODE base fmu board orientation
 
-	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	if ver hwtypecmp V5X000 V5X001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 2 -s start
@@ -94,6 +72,27 @@ else
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start
 
+else
+	#FMUv5Xbase board orientation
+
+	if ver hwtypecmp V5X000 V5X001
+	then
+		# Internal SPI BMI088
+		bmi088 -A -R 4 -s start
+		bmi088 -G -R 4 -s start
+	else
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	fi
+
+	# Internal SPI bus ICM42688p
+	icm42688p -R 6 -s start
+
+	# Internal SPI bus ICM-20602 (hard-mounted)
+	icm20602 -R 10 -s start
+
+	# Internal magnetometer on I2c
+	bmm150 -I start
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
@@ -105,7 +104,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
+	if ver hwtypecmp V5X000
 	then
 		bmp388 -I start
 	else

boards/px4/fmu-v5x/src/CMakeLists.txt

@@ -36,7 +36,6 @@ add_library(drivers_board
 	i2c.cpp
 	init.cpp
 	led.c
-	manifest.c
 	mtd.cpp
 	sdio.c
 	spi.cpp

boards/px4/fmu-v5x/src/board_config.h

@@ -179,31 +179,17 @@
 
 /* HW Version and Revision drive signals Default to 1 to detect */
 
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
 #define HW_INFO_INIT_PREFIX           "V5X"
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
-// Base                   FMUM
-#define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
-#define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,                       Rev 0
-#define V5X01   HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388,             Rev 1
-#define V5X02   HW_VER_REV(0x0,0x2) // FMUV5X,                         Rev 2
-#define V5X40   HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base             Rev 0
-#define V5X41   HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
-#define V5X42   HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base             Rev 2
-#define V5X50   HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini                 Rev 0
-#define V5X51   HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini     Rev 1
-#define V5X52   HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini                 Rev 2
-#define V5X90   HW_VER_REV(0x9,0x0) // NO USB,                         Rev 0
-#define V5X91   HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388,             Rev 1
-#define V5X92   HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388,             Rev 2
-#define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),                     Rev 0
-#define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388,         Rev 1
-#define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388,         Rev 2
-#define V5X101   HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388,        Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+
+#define V5X_0     HW_FMUM_ID(0x0)   // FMUV5X, Auterion     FMUv5x RC13 (baro2 BMP388 on I2C4) Sensor Set Rev 0
+#define V5X_1     HW_FMUM_ID(0x1)   // FMUV5X, Auterion, HB FMUv5x RC15 (baro2 BMP388 on I2C2) Sensor Set Rev 1
+#define V5X_2     HW_FMUM_ID(0x2)   // FMUV5X, HB           FMUv5x                             Sensor Set Rev 2
 
 #define UAVCAN_NUM_IFACES_RUNTIME 1
 

boards/px4/fmu-v5x/src/manifest.c

@@ -1,222 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2021 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0550[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0510[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0509[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V5X00, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 0
-	{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 1
-	{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 2
-	{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO,               Rev 0
-	{V5X41, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,  HB CM4 base    Rev 1
-	{V5X42, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,  HB CM4 base    Rev 2
-	{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 1
-	{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 2
-	{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB,                 Rev 0
-	{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
-	{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 2
-	{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q),             Rev 0
-	{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
-	{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
-	{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/px4/fmu-v5x/src/mtd.cpp

@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -120,10 +123,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

boards/px4/fmu-v5x/src/spi.cpp

@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(V5X00, {
+	initSPIFmumID(V5X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -60,7 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X01, {
+	initSPIFmumID(V5X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -84,7 +84,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X02, {
+	initSPIFmumID(V5X_2, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -107,99 +107,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X41, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X42, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X51, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X52, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/px4/fmu-v5x/test.px4board

@@ -7,7 +7,6 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_TEST_PPM=y

boards/px4/fmu-v6c/init/rc.board_defaults

@@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v6x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v6x/default.px4board

@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -19,28 +20,32 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y