make boat setpoint msg less pedantic

updated pure pursuit

temp

forgot to wrap heading error

working guidance, with every case covered

removed unwanted files

.ci/Jenkinsfile-compile

@@ -46,6 +46,8 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
+                     "ark_pi6x_bootloader",
+                     "ark_pi6x_default"
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

.devcontainer/devcontainer.json

@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",

.editorconfig

@@ -1,7 +1,7 @@
 root = true
 
 [*]
-insert_final_newline = false
+insert_final_newline = true
 
 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_pi6x,
           ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,

.vscode/cmake-variants.yaml

@@ -181,6 +181,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
+    ark_pi6x_bootloader:
+      short: ark_pi6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_bootloader
+    ark_pi6x_default:
+      short: ark_pi6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

.vscode/extensions.json

@@ -4,6 +4,7 @@
     "recommendations": [
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
         "fredericbonnet.cmake-test-adapter",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",

CMakeLists.txt

@@ -485,7 +485,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Jenkinsfile

@@ -171,10 +171,8 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/') // vuepress
               sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
               sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe') // vuepress
               sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
               sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd PX4-user_guide; git push origin main || true')

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -182,10 +182,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2
 
-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -256,6 +252,23 @@ manual_control start
 sensors start
 commander start
 
+#
+# state estimator selection
+if param compare -s EKF2_EN 1
+then
+	ekf2 start &
+fi
+
+if param compare -s LPE_EN 1
+then
+	local_position_estimator start
+fi
+
+if param compare -s ATT_EN 1
+then
+	attitude_estimator_q start
+fi
+
 if ! pwm_out_sim start -m sim
 then
 	tune_control play error
@@ -330,7 +343,7 @@ fi
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 
 # Run script to start logging
-if param compare SYS_MC_EST_GROUP 2
+if param compare -s EKF2_EN 1
 then
 	set LOGGER_ARGS "-p ekf2_timestamps"
 else

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -72,8 +72,6 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		rc.rover_apps
 		rc.rover_defaults
-
-		rc.boat_defaults # hack
 	)
 endif()
 
@@ -84,6 +82,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		rc.boat_apps
+		rc.boat_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Droneblocks DEXI 5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Baldwin <db@droneblocks.io>
+# @maintainer Alex klimaj <alex@arkelectron.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
+# @board bitcraze_crazyflie exclude
+# @board diatone_mamba-f405-mk2 exclude
+# @board ark_fmu-v6x exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_CAPACITY 4000
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_LOAD_DROP 0.5
+param set-default BAT_AVRG_CURRENT 13
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.0762
+param set-default CA_ROTOR0_PY 0.09525
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.0762
+param set-default CA_ROTOR1_PY -0.09525
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.0762
+param set-default CA_ROTOR2_PY -0.09525
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.0762
+param set-default CA_ROTOR3_PY 0.09525
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default EKF2_MIN_RNG 0.01
+param set-default EKF2_OF_POS_X 0.043
+param set-default EKF2_OF_POS_Y 0.011
+param set-default EKF2_OF_QMIN_GND 1
+param set-default EKF2_RNG_POS_X 0.043
+param set-default EKF2_RNG_POS_Y 0.0
+
+param set-default IMU_GYRO_DNF_EN 2
+
+param set-default MC_PITCHRATE_D 0.0013
+param set-default MC_PITCHRATE_I 0.185
+param set-default MC_PITCHRATE_P 0.105
+param set-default MC_PITCH_P 7.5
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLLRATE_I 0.165
+param set-default MC_ROLLRATE_P 0.095
+param set-default MC_ROLL_P 7.5
+param set-default MC_YAWRATE_I 0.35
+param set-default MC_YAWRATE_P 0.13
+
+param set-default MPC_THR_HOVER 0.22
+param set-default MPC_THR_MAX 0.5
+param set-default MPC_THR_MIN 0.025
+param set-default MPC_VEL_MANUAL 5.0
+param set-default MPC_XY_VEL_MAX 8.0
+
+param set-default RTL_RETURN_ALT 15
+
+param set-default SENS_FLOW_MINHGT 0.0
+
+param set-default SER_TEL2_BAUD 3000000
+
+param set-default UXRCE_DDS_CFG 102

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,7 @@
 #
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_MC_EST_GROUP 2
+
 param set-default SYS_HAS_MAG 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d/airframes/70001_boat

@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# @name RC Boat
+#
+# @type Boat
+# @class Boat
+#
+# @output Servo1 Steering
+# @output Motor1 Throttle
+
+. ${R}etc/init.d/rc.boat_defaults
+
+# Failsafe
+param set-default NAV_RCL_ACT 6 # Disarm on stick input loss
+param set-default NAV_DLL_ACT 6 # Disarm on ground station loss
+param set-default COM_DL_LOSS_T 5 # timeout for ground station connection
+param set-default COM_RC_LOSS_T 10 # timeout for stick input
+param set-default COM_RCL_EXCEPT 1 # Continue mission without stick input
+
+param set-default COM_ARM_WO_GPS 1 # Disable GPS prearm check
+param set-default COM_DISARM_LAND -1 # Don't disarm automatically
+param set-default COM_DISARM_PRFLT -1
+
+# Steering PWM output
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_MIN1 1000
+param set-default PWM_AUX_MAX1 2000
+# Engine throttle PWM output
+param set-default PWM_AUX_FUNC2 101
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_MIN2 940 # Engine doesn't rev below that
+param set-default PWM_AUX_MAX2 2000 # Maximum trhottle at which it's not so easy to flip the boat
+
+param set-default CA_AIRFRAME 5
+
+# Estimation
+param set-default EKF2_MULTI_IMU 0 # Disable multi-IMU
+param set-default SENS_IMU_MODE 1
+param set-default CAL_MAG0_PRIO 0 # Disable internal Magnetometer
+param set-default MBE_ENABLE 0 # Disable online mag calibration when disarmed
+param set-default EKF2_GPS_CTRL 15 # Enable GPS heading fusion
+param set-default SENS_GPS_MASK 0 # Disable multi-GPS blending
+
+# Estimation workarounds, should be double-checked if necessary
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_SYNT_MAG_Z 1 # Why? Who said magnetometer Z is not usable?
+
+param set-default EKF2_GPS_V_NOISE 0.751 # Lower certainty for GPS
+param set-default EKF2_GPS_POS_X 2.5 # GPS position, accurate?
+param set-default EKF2_REQ_EPV 10 # Accept GPS easier
+param set-default EKF2_REQ_HDRIFT 1
+param set-default EKF2_REQ_SACC 2
+param set-default EKF2_REQ_VDRIFT 20
+
+param set-default EKF2_MAG_CHK_STR 0.5 # Accept mag easier
+param set-default COM_ARM_MAG_STR 0 # Disable magnetic field strength prearm check
+param set-default COM_ARM_MAG_ANG 360 # Disable internal/external magnetometer consistency check
+param set-default EKF2_ABL_LIM 1 # Higher accelerometer bias limit, was sometimes above the threshold, GPS reporting 0 altitude issue?

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -69,6 +69,7 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
+		4601_droneblocks_dexi_5
 		4901_crazyflie21
 
 		# [5000, 5999] Quadrotor +
@@ -156,3 +157,9 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		70001_boat
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -4,39 +4,3 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-
-#
-# Start the attitude and position estimator.
-#
-
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi

ROMFS/px4fmu_common/init.d/rc.balloon_defaults

@@ -13,4 +13,6 @@ param set-default MAV_TYPE 8
 #
 # Default parameters for balloon UAVs.
 #
-param set-default SYS_MC_EST_GROUP 1
+param set-default LPE_EN 1
+param set-default ATT_EN 1
+param set-default EKF2_EN 0

ROMFS/px4fmu_common/init.d/rc.boat_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a differential drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover differential drive controller.
+boat start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE rover
+set VEHICLE_TYPE boat
 
 # MAV_TYPE_SURFACE_BOAT 11
 param set-default MAV_TYPE 11

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -5,49 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-#
-# LPE
-#
-if param compare SYS_MC_EST_GROUP 1
-then
-	#
-	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
-	#
-	if attitude_estimator_q start
-	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
-		local_position_estimator start
-	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
-		param set SYS_MC_EST_GROUP 2
-		param save
-		reboot
-	fi
-else
-	#
-	# Q estimator (attitude estimation only)
-	#
-	if param compare SYS_MC_EST_GROUP 3
-	then
-		attitude_estimator_q start
-	else
-		#
-		# EKF2
-		#
-		param set SYS_MC_EST_GROUP 2
-		ekf2 start &
-	fi
-fi
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -5,11 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-#
-# Start the attitude and position estimator.
-#
-ekf2 start &
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -1,9 +1,6 @@
 #!/bin/sh
 # Standard apps for a differential drive rover.
 
-# Start the attitude and position estimator.
-ekf2 start &
-
 # Start rover differential drive controller.
 differential_drive start
 

ROMFS/px4fmu_common/init.d/rc.uuv_apps

@@ -5,16 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator Group Selection                       #
-###############################################################################
-
-ekf2 start &
-
-###############################################################################
-#                        End Estimator Group Selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -32,6 +32,15 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi
 
+#
+# Boat setup.
+#
+if [ $VEHICLE_TYPE = boat ]
+then
+	# Start standard Boat apps.
+	. ${R}etc/init.d/rc.boat_apps
+fi
+
 #
 # Differential Rover setup.
 #
@@ -76,5 +85,4 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -5,16 +5,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-###############################################################################
-#                       Begin Estimator group selection                       #
-###############################################################################
-
-ekf2 start &
-
-###############################################################################
-#                        End Estimator group selection                        #
-###############################################################################
-
 #
 # Start Control Allocator
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -391,6 +391,23 @@ else
 		pwm_out start
 	fi
 
+	#
+	# state estimator selection
+	if param compare -s EKF2_EN 1
+	then
+		ekf2 start &
+	fi
+
+	if param compare -s LPE_EN 1
+	then
+		local_position_estimator start
+	fi
+
+	if param compare -s ATT_EN 1
+	then
+		attitude_estimator_q start
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.

Tools/check_submodules.sh

@@ -6,7 +6,7 @@ function check_git_submodule {
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 
 	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1

Tools/migrate_c_params.py

@@ -0,0 +1,450 @@
+#!/usr/bin/python3
+
+"""
+Migrate c parameter definitions to yaml module definitions.
+
+This script is used to transition legacy c parameter definitions to
+yaml module definitions. It parses each specified legacy c file
+and produces a corresponding yaml definition in the same directory.
+For modules with multiple parameter c files and/or existing module.yaml files,
+the resulting list of yaml files must be merged separately, either manually
+or with a tool like yq4:
+
+    yq eval-all '. as $item ireduce ({}; . *+ $item)' *.yaml
+
+The legacy files and temporary yaml files can then be manually deleted
+and the CMakeLists.txt updated after proofreading.
+"""
+
+import argparse
+import ast
+import sys
+import re
+import math
+import logging
+import os
+from dataclasses import dataclass, field
+from typing import Any
+
+import yaml
+
+global default_var
+default_var = {}
+
+@dataclass
+class Parameter:
+    """
+    Single parameter
+    """
+
+    name: str
+    type: str
+    fields: dict[str, str] = field(init=False, default_factory=dict)
+    default: str = ""
+    category: str = ""
+    enum: dict[str, str] = field(init=False, default_factory=dict)
+    bitmask: dict[int, str] = field(init=False, default_factory=dict)
+    volatile: bool = False
+    boolean: bool = False
+
+    def __lt__(self, other):
+        return self.name < other.name
+
+@dataclass
+class ParameterGroup:
+    """
+    Single parameter group
+    """
+
+    name: str
+    parameters: list[Parameter] = field(init=False, default_factory=list)
+    no_code_generation: bool = False
+
+
+class SourceParser:
+    """
+    Parses provided data and stores all found parameters internally.
+    """
+
+    re_split_lines = re.compile(r'[\r\n]+')
+    re_comment_start = re.compile(r'^\/\*\*')
+    re_comment_content = re.compile(r'^\*\s*(.*)')
+    re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
+    re_comment_end = re.compile(r'(.*?)\s*\*\/')
+    re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
+    re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;')
+    re_px4_param_default_definition = re.compile(r'#define\s*PARAM_([A-Z_][A-Z0-9_]*)\s*([^ ,\)]+)\s*')
+    re_cut_type_specifier = re.compile(r'[a-z]+$')
+    re_is_a_number = re.compile(r'^-?[0-9\.]')
+    re_remove_dots = re.compile(r'\.+$')
+    re_remove_carriage_return = re.compile('\n+')
+
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal",
+                      "increment", "reboot_required", "value", "boolean",
+                      "bit", "category", "volatile"])
+
+    # Order of parameter groups
+    priority = {
+        # All other groups = 0 (sort alphabetically)
+        "Miscellaneous": -10
+    }
+
+    def __init__(self):
+        self.param_groups = {}
+
+    def parse(self, contents):
+        """
+        Incrementally parse program contents and append all found parameters
+        to the list.
+        """
+        # This code is essentially a comment-parsing grammar. "state"
+        # represents parser state. It contains human-readable state
+        # names.
+        state = None
+        for line in self.re_split_lines.split(contents):
+            line = line.strip()
+            # Ignore empty lines
+            if line == "":
+                continue
+            if self.re_comment_start.match(line):
+                state = "wait-short"
+                short_desc = None
+                long_desc = None
+                tags = {}
+                def_values = {}
+                def_bitmask = {}
+            elif state is not None and state != "comment-processed":
+                m = self.re_comment_end.search(line)
+                if m:
+                    line = m.group(1)
+                    last_comment_line = True
+                else:
+                    last_comment_line = False
+                m = self.re_comment_content.match(line)
+                if m:
+                    comment_content = m.group(1)
+                    if comment_content == "":
+                        # When short comment ends with empty comment line,
+                        # start waiting for the next part - long comment.
+                        if state == "wait-short-end":
+                            state = "wait-long"
+                    else:
+                        m = self.re_comment_tag.match(comment_content)
+                        if m:
+                            tag, desc = m.group(1, 2)
+                            if (tag == "value"):
+                                # Take the meta info string and split
+                                # the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_values[metainfo[0]] = metainfo[1]
+                            elif (tag == "bit"):
+                                # Take the meta info string and split
+                                # the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_bitmask[metainfo[0]] = metainfo[1]
+                            else:
+                                tags[tag] = desc
+                            current_tag = tag
+                            state = "wait-tag-end"
+                        elif state == "wait-short":
+                            # Store first line of the short description
+                            short_desc = comment_content
+                            state = "wait-short-end"
+                        elif state == "wait-short-end":
+                            # Append comment line to the short description
+                            short_desc += "\n" + comment_content
+                        elif state == "wait-long":
+                            # Store first line of the long description
+                            long_desc = comment_content
+                            state = "wait-long-end"
+                        elif state == "wait-long-end":
+                            # Append comment line to the long description
+                            long_desc += "\n" + comment_content
+                        elif state == "wait-tag-end":
+                            # Append comment line to the tag text
+                            tags[current_tag] += "\n" + comment_content
+                        else:
+                            raise AssertionError(
+                                    "Invalid parser state: %s" % state)
+                elif not last_comment_line:
+                    # Invalid comment line (inside comment, but not
+                    # startin with "*" or "*/". Reset parsed content.
+                    state = None
+                if last_comment_line:
+                    state = "comment-processed"
+            else:
+                tp = None
+                name = None
+                defval = ""
+                # Non-empty line outside the comment
+                m = self.re_px4_param_default_definition.match(line)
+                # Default value handling
+                if m:
+                    name_m, defval_m = m.group(1, 2)
+                    default_var[name_m] = defval_m
+                m = self.re_parameter_definition.match(line)
+                if m:
+                    tp, name, defval = m.group(1, 2, 3)
+                else:
+                    m = self.re_px4_parameter_definition.match(line)
+                    if m:
+                        tp, name = m.group(1, 2)
+                        if (name+'_DEFAULT') in default_var:
+                            defval = default_var[name+'_DEFAULT']
+                if tp is not None:
+                    # Remove trailing type specifier from numbers: 0.1f => 0.1
+                    if defval != "" and self.re_is_a_number.match(defval):
+                        defval = self.re_cut_type_specifier.sub('', defval)
+                    param = Parameter(name=name, type=tp, default=defval)
+                    param.fields["short_desc"] = name
+                    # If comment was found before the parameter declaration,
+                    # inject its data into the newly created parameter.
+                    group = "Miscellaneous"
+                    if state == "comment-processed":
+                        if short_desc is not None:
+                            if '\n' in short_desc:
+                                raise Exception('short description must be a single line (parameter: {:})'.format(name))
+                            if len(short_desc) > 150:
+                                raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name))
+                            param.fields["short_desc"] = self.re_remove_dots.sub('', short_desc)
+                        if long_desc is not None:
+                            long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
+                            param.fields["long_desc"] = long_desc
+                        for tag in tags:
+                            if tag == "group":
+                                group = tags[tag]
+                            elif tag == "volatile":
+                                param.volatile = True
+                            elif tag == "category":
+                                param.category = tags[tag]
+                            elif tag == "boolean":
+                                param.boolean = True
+                            elif tag not in self.valid_tags:
+                                sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
+                                return False
+                            else:
+                                param.fields[tag] = tags[tag]
+                        for def_value in def_values:
+                            param.enum[def_value] = def_values[def_value]
+                        for def_bit in def_bitmask:
+                            param.bitmask[def_bit] = def_bitmask[def_bit]
+                    # Store the parameter
+                    if group not in self.param_groups:
+                        self.param_groups[group] = ParameterGroup(group)
+                    self.param_groups[group].parameters.append(param)
+                state = None
+        return True
+
+    def validate(self):
+        """
+        Validates the parameter meta data.
+        """
+        seenParamNames = []
+
+        for group in self.parameter_groups:
+            for param in sorted(group.parameters):
+                name  = param.name
+                if len(name) > 16:
+                    sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name))
+                    return False
+                board = param.fields.get("board", "")
+                # Check for duplicates
+                name_plus_board = name + "+" + board
+                for seenParamName in seenParamNames:
+                    if seenParamName == name_plus_board:
+                        sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
+                        return False
+                seenParamNames.append(name_plus_board)
+                # Validate values
+                default = param.default
+                min = param.fields.get("min", "")
+                max = param.fields.get("max", "")
+                units = param.fields.get("unit", "")
+                if default != "" and not self.is_number(default):
+                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
+                    return False
+                if min != "":
+                    if not self.is_number(default):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
+                        return False
+                    if default != "" and float(default) < float(min):
+                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
+                        return False
+                if max != "":
+                    if not self.is_number(max):
+                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
+                        return False
+                    if default != "" and float(default) > float(max):
+                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
+                        return False
+                for code in sorted(param.enum, key=float):
+                    if not self.is_number(code):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, code))
+                        return False
+                    if param.enum.get(code, "") == "":
+                        sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
+                        return False
+                for index in sorted(param.bitmask.keys(), key=float):
+                    if not self.is_number(index):
+                        sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
+                        return False
+                    if not int(min) <= math.pow(2, int(index)) <= int(max):
+                        sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
+                        return False
+                    if param.bitmask.get(index, "") == "":
+                        sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
+                        return False
+        return True
+
+    def is_number(self, num):
+        try:
+            float(num)
+            return True
+        except ValueError:
+            return False
+
+    @property
+    def parameter_groups(self) -> list[ParameterGroup]:
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        groups = self.param_groups.values()
+        groups = sorted(groups, key=lambda x: x.name)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.name, 0),
+                        reverse=True)
+
+        return groups
+
+
+def parse(filename: str) -> list[ParameterGroup]:
+    with open(filename) as f:
+        cdata = f.read()
+
+    parser = SourceParser()
+    if not parser.parse(cdata):
+        logging.error(f"Error parsing c parameter file {filename}")
+        sys.exit(1)
+    if not parser.validate():
+        logging.error(f"Error while validating c parameter file {filename}")
+        sys.exit(1)
+
+    return parser.parameter_groups
+
+
+def cast(val: str) -> Any:
+    if val == "true":
+        return True
+    elif val == "false":
+        return False
+    try:
+        return ast.literal_eval(val)
+    except ValueError:
+        return val
+
+
+def generate_yaml(filename: str, groups: list[ParameterGroup]) -> str:
+    data = dict()
+
+    module_name = os.path.dirname(os.path.realpath(filename)).split(os.sep)[-1]
+
+    data["module_name"] = module_name
+    data["parameters"] = list()
+
+    for group in groups:
+        g = dict()
+        g["group"] = group.name
+        g["definitions"] = dict()
+
+        for parameter in group.parameters:
+            p = dict()
+
+            p["description"] = dict()
+            p["description"]["short"] = parameter.fields["short_desc"]
+            del parameter.fields["short_desc"]
+            if "long_desc" in parameter.fields:
+                p["description"]["long"] = parameter.fields["long_desc"]
+                del parameter.fields["long_desc"]
+
+            if parameter.category != "":
+                p["category"] = parameter.category.title()
+            # the enum check has to happen first
+            # since some parameters are both boolean and enum at the same time
+            # (even with more than 0 and 1 as options for some reason) so let's assume
+            # they are enums not booleans
+            if len(parameter.enum) > 0:
+                p["type"] = "enum"
+                p["values"] = dict()
+                for key, val in parameter.enum.items():
+                    try:
+                        p["values"][int(key)] = val
+                    except ValueError:
+                        p["values"][float(key)] = val
+                        p["type"] = "float"
+            elif parameter.boolean:
+                p["type"] = "boolean"
+            elif len(parameter.bitmask) > 0:
+                p["type"] = "bitmask"
+                p["bit"] = dict()
+                for key, val in parameter.bitmask.items():
+                    p["bit"][int(key)] = val.strip()
+            elif parameter.type == "FLOAT":
+                p["type"] = "float"
+            else:
+                p["type"] = "int32"
+            p["default"] = cast(parameter.default)
+
+            if parameter.volatile:
+                p["volatile"] = bool(parameter.volatile)
+
+            for key, val in parameter.fields.items():
+                try:
+                    p[key] = cast(val)
+                except SyntaxError:
+                    p[key] = val
+
+            g["definitions"][parameter.name] = p
+        data["parameters"].append(g)
+
+    return yaml.dump(data, sort_keys=False)
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Migrate legacy c parameter definitions to yaml")
+    parser.add_argument('input_file', nargs='+', help='input file(s)')
+    parser.add_argument('--update-cmake', action=argparse.BooleanOptionalAction)
+    args = parser.parse_args()
+
+    input_files = args.input_file
+    update_cmake = args.update_cmake
+
+    logging.basicConfig(level=logging.INFO)
+
+    for filename in input_files:
+        logging.info(f"Migrating c parameter file {filename}")
+
+        parameter_groups = parse(filename)
+        output = generate_yaml(filename, parameter_groups)
+
+        dirname, fname = os.path.split(os.path.realpath(filename))
+        fname = fname.split(".")[0]
+        with open(os.path.join(dirname, f"module_{fname}.yaml"), "w") as f:
+            f.write(output)
+        if update_cmake:
+            with open(os.path.join(dirname, "CMakeLists.txt"), "r+") as f:
+                content = f.read()
+                if "MODULE_CONFIG" not in content:
+                    try:
+                        index = content.index("DEPENDS")
+                    except ValueError:
+                        index = content.index("px4_add_module")
+                        index += content[index:].index(")")
+                    content = content[:index] + "MODULE_CONFIG\n\t\tmodule.yaml\n\t" + content[index:]
+                    f.seek(0)
+                    f.write(content)
+                    f.truncate()
+
+
+if __name__ == "__main__":
+    main()

Tools/module_config/output_groups_from_timer_config.py

@@ -34,24 +34,23 @@ def extract_timer(line):
     if search:
         return search.group(1), 'generic'
 
-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
     if search:
-        return search.group(1), 'imxrt'
+        return (search.group(1) + '_' +  search.group(2)), 'imxrt'
 
     return None, 'unknown'
 
-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line, timer_names):
     # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
     search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
     if search:
         return search.group(1)
 
-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
     if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))
 
     return None
 
@@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
     open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
     timers_str = timer_config[open_idx:close_idx]
     timers = []
+    timer_names = []
     for line in timers_str.splitlines():
         line = line.strip()
         if len(line) == 0 or line.startswith('//'):
@@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):
 
         if timer_type == 'imxrt':
             if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
+            timer_names.append(timer)
+            timers.append(str(len(timers)))
+            dshot_support = {str(i): False for i in range(16)}
             for i in range(8): # First 8 channels support dshot
                 dshot_support[str(i)] = True
-            break
-
-        if timer:
+        elif timer:
             if verbose: print('found timer def: {:}'.format(timer))
             dshot_support[timer] = 'DMA' in line
             timers.append(timer)
@@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
             continue
 
         if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line, timer_names)
 
         if timer:
             if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))

Tools/msg/generate_msg_docs.py

@@ -81,15 +81,15 @@ if __name__ == "__main__":
         with open(output_file, 'w') as content_file:
             content_file.write(markdown_output)
 
-        readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
+        index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
         if summary_description:
-            readme_markdown_file_link+=" — %s" % summary_description
-        filelist_in_markdown+=readme_markdown_file_link+"\n"
+            index_markdown_file_link+=" — %s" % summary_description
+        filelist_in_markdown+=index_markdown_file_link+"\n"
 
-    # Write out the README.md file
-    readme_text="""# uORB Message Reference
+    # Write out the index.md file
+    index_text="""# uORB Message Reference
 
-:::note
+::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::
 
@@ -98,6 +98,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 %s
     """ % (filelist_in_markdown)
-    readme_file = os.path.join(output_dir, 'README.md')
-    with open(readme_file, 'w') as content_file:
-            content_file.write(readme_text)
+    index_file = os.path.join(output_dir, 'index.md')
+    with open(index_file, 'w') as content_file:
+            content_file.write(index_text)

Tools/px4airframes/markdownout.py

@@ -7,7 +7,7 @@ class MarkdownTablesOutput():
     def __init__(self, groups, board, image_path):
         result = """# Airframes Reference
 
-:::note
+::: info
 **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
 :::
 

Tools/px4moduledoc/markdownout.py

@@ -19,7 +19,7 @@ The following pages document the PX4 modules, drivers and commands.
 They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.
 
-:::note
+::: info
 **This is auto-generated from the source code** and contains the most recent modules documentation.
 :::
 

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -6,6 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
+param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 

boards/ark/can-rtk-gps/src/board_config.h

@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
 
 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
 
 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */

boards/ark/cannode/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y

boards/ark/pi6x/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/ark/pi6x/default.px4board

@@ -0,0 +1,71 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/pi6x/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 58,
+    "magic": "ARKPi6XFWv1",
+    "description": "Firmware for the ARKPi6X board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKPi6X",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/pi6x/init/rc.board_defaults

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# transision from params file to flash-based params (2022-08)
+if [ -f $PARAM_FILE ]
+then
+	param load $PARAM_FILE
+	param save
+	# create a backup
+	mv $PARAM_FILE ${PARAM_FILE}.bak
+	reboot
+fi
+
+param set-default SENS_EN_INA226 1
+
+# TODO: Set params to start UXRCE DDS on Telem2
+
+# TODO: Start Mavlink on USB by default
+
+# TODO: Tune the following parameters
+param set-default SENS_EN_THERMAL 1
+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 ARKPI6X000
+then
+	# TODO: Add the correct sensor ID
+	param set-default SENS_TEMP_ID 2490378
+fi
+
+param set-default EKF2_BARO_DELAY 39
+param set-default EKF2_BARO_NOISE 0.9
+param set-default EKF2_HGT_REF 0
+param set-default EKF2_MAG_DELAY 60
+param set-default EKF2_MAG_NOISE 0.06
+param set-default EKF2_MULTI_IMU 2
+param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_DELAY 28
+param set-default EKF2_OF_N_MIN 0.05
+param set-default EKF2_RNG_A_HMAX 25
+param set-default EKF2_RNG_DELAY 105
+param set-default EKF2_RNG_NOISE 0.03
+param set-default EKF2_RNG_QLTY_T 0.1
+param set-default EKF2_RNG_SFE 0.03
+
+param set-default SENS_FLOW_RATE 150

boards/ark/pi6x/init/rc.board_sensors

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# ARKPI6X specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -I -b 3 -t 1 -k start
+fi
+
+if ver hwtypecmp ARKPI6X000
+then
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 1 -s -b 2 -C 32051 start
+fi
+
+# Internal magnetometer on I2C
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi
+
+# Internal Baro on I2C
+bmp388 -I -b 4 start
+
+# Internal optical flow
+paw3902 -s -b 3 start -Y 90
+
+# Internal distance sensor
+afbrs50 start

boards/ark/pi6x/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.

boards/ark/pi6x/nuttx-config/bootloader/defconfig

@@ -0,0 +1,95 @@
+#
+# 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_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3185
+CONFIG_CDCACM_VENDORSTR="ARK"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_UART7=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART7_RXBUFSIZE=512
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=512
+CONFIG_UART7_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/ark/pi6x/nuttx-config/include/board.h

@@ -0,0 +1,512 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v6x/include/board.h
+ *
+ *   Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name 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 __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6X  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
+// GPIO_UART5_RTS  No remap                 /* PC8  */
+#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+
+/* SPI
+ * SPI1 is sensors1
+ * SPI2 is sensors2
+ * SPI3 is sensors3
+ * SPI4 is Not Used
+ * SPI5 is Not Used
+ * SPI6 is EXTERNAL1
+ *
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_3               /* PG9  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               /* PB5  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11 */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_3               /* PB2  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10 */
+
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2               /* PA6  */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PG11
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H  */

boards/ark/pi6x/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
+
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
+//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+
+// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */

boards/ark/pi6x/nuttx-config/nsh/defconfig

@@ -0,0 +1,274 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/pi6x/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3185
+CONFIG_CDCACM_VENDORSTR="ARK"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC2_SDIO_PULLUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLASH_OVERRIDE_I=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
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_IFLOWCONTROL=y
+CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART5_RXDMA=y
+CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXDMA=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_IFLOWCONTROL=y
+CONFIG_UART7_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y

boards/ark/pi6x/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/pi6x/nuttx-config/scripts/script.ld

@@ -0,0 +1,229 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2024 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
+ * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743II also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * 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
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* 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/ark/pi6x/src/CMakeLists.txt

@@ -0,0 +1,77 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		mtd.cpp
+		sdio.c
+		spi.cpp
+		spix_sync.c
+		spix_sync.h
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()

boards/ark/pi6x/src/board_config.h

@@ -0,0 +1,402 @@
+/****************************************************************************
+ *
+ *   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
+ * 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
+ *
+ * ARK Pi6X internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_NBAT_V              1d // 2 Digital Voltage
+#define BOARD_HAS_NBAT_I              1d // 2 Digital Current
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+/* Trace Clock and D0-D3 are available on the trace connector
+ *
+ * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
+ * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
+ * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
+ * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
+ * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
+
+ */
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
+
+#if !defined(TRACE_PINS)
+#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#  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)
+
+#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#  define BOARD_OVERLOAD_LED     LED_RED
+#  define BOARD_ARMED_STATE_LED  LED_BLUE
+
+#else
+
+#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
+#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
+#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
+#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
+#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
+//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
+
+#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
+#  undef  BOARD_OVERLOAD_LED
+#  undef  BOARD_ARMED_STATE_LED
+
+#  define GPIO_nLED_RED    GPIO_TRACED0
+#  define GPIO_nLED_GREEN  GPIO_TRACED1
+#  define GPIO_nLED_BLUE   GPIO_TRACED2
+#  define GPIO_nARMED      GPIO_TRACED3
+#  define GPIO_nARMED_INIT GPIO_TRACED3
+#endif
+
+/* I2C busses */
+
+/* Devices on the onboard buses.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_SE050         0x48
+
+/*
+ * 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
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER.
+ * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
+ * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
+ * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
+ * PA0SO of 0.
+ *
+ *  0 Analog switch closed (pads are connected through the analog switch)
+ *
+ * So ADC3_INP0 is GPIO_ADC123_INP12
+ *    ADC3_INP1 is GPIO_ADC12_INP13
+ */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PA0  */  GPIO_ADC1_INP16,   \
+	/* PA4  */  GPIO_ADC12_INP18,  \
+	/* PB0  */  GPIO_ADC12_INP9,   \
+	/* PB1  */  GPIO_ADC12_INP5,   \
+	/* PC2  */  GPIO_ADC123_INP12, \
+	/* PC3  */  GPIO_ADC12_INP13,  \
+	/* PF12 */  GPIO_ADC1_INP6,    \
+	/* PH3  */  GPIO_ADC3_INP14,   \
+	/* PH4  */  GPIO_ADC3_INP15
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
+#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
+#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
+#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
+
+#define ADC_CHANNELS \
+	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL))
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
+#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+#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    "ARKPI6X"
+
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
+//                 Base/FMUM
+#define ARKPI6X_0   HW_FMUM_ID(0x0) // ARKPI6X,     Sensor Set  Rev 0
+#define ARKPI6X_1   HW_FMUM_ID(0x1) // ARKPI6X,     Sensor Set  Rev 1
+
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+/* HEATER
+ * PWM in future
+ */
+#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+
+/* PE6 is nARMED
+ *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
+ *  While armed it shall be configured at a GPIO OUT set LOW
+ */
+#if !defined(TRACE_PINS)
+#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
+#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#endif
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   8
+
+#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)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
+#define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
+
+#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 6
+#define BROADCOM_AFBR_S50_S2PI_CS   /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
+#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PD11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN11|GPIO_EXTI)
+#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB3  */  GPIO_SPI6_SCK_3
+#define BROADCOM_AFBR_S50_S2PI_MOSI /* PG14 */  GPIO_SPI6_MOSI_1
+#define BROADCOM_AFBR_S50_S2PI_MISO /* PA6  */  GPIO_SPI6_MISO_2
+
+/* Power supply control and monitoring GPIOs */
+
+#define BOARD_NUMBER_BRICKS             0
+#define BOARD_NUMBER_DIGITAL_BRICKS     1
+
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* Spare GPIO */
+
+#define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
+
+/* NFC GPIO */
+
+#define GPIO_NFC_GPIO                   /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
+
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        14  /* Timer 14 */
+#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
+
+#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+/* ARKPI6X never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#if defined(TRACE_PINS)
+#define GPIO_TRACE                          \
+	GPIO_TRACECLK1,                           \
+	GPIO_TRACED0,                             \
+	GPIO_TRACED1,                             \
+	GPIO_TRACED2,                             \
+	GPIO_TRACED3
+#else
+#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#endif
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_TRACE,                       \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_VER_REV_DRIVE,            \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_VDD_5V_HIPOWER_nEN,          \
+		GPIO_VDD_5V_HIPOWER_nOC,          \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_PD15,                        \
+		GPIO_NFC_GPIO,                    \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CAP,     	          \
+		GPIO_SPIX_SYNC                    \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS  3
+#define BOARD_SPIX_SYNC_FREQ 32000
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/ark/pi6x/src/bootloader_main.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,39 +31,55 @@
  *
  ****************************************************************************/
 
-#pragma once
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
 
-#include <px4_log.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <termios.h>
+#include "board_config.h"
+#include "bl.h"
 
-#ifdef __PX4_QURT
-#include <drivers/device/qurt/uart.h>
-#define FAR
-#endif
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform/gpio.h>
+#include <px4_platform_common/init.h>
 
-class VoxlEscSerial
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
 {
-public:
-	VoxlEscSerial();
-	virtual ~VoxlEscSerial();
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
 
-	int		uart_open(const char *dev, speed_t speed);
-	int		uart_set_baud(speed_t speed);
-	int		uart_close();
-	int		uart_write(FAR void *buf, size_t len);
-	int		uart_read(FAR void *buf, size_t len);
-	bool		is_open() { return _uart_fd >= 0; };
-	int		uart_get_baud() {return _speed; }
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
 
-private:
-	int			_uart_fd = -1;
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
 
-#if ! defined(__PX4_QURT)
-	struct termios		_orig_cfg;
-	struct termios		_cfg;
-#endif
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
 
-	int   _speed = -1;
-};
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/ark/pi6x/src/can.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#if !defined(CONFIG_CAN)
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	uint16_t enabled_interfaces = 0x3;
+
+	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_CAN2)) {
+		enabled_interfaces &= ~(1 << 1);
+	}
+
+	return enabled_interfaces;
+}
+
+#else
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+#endif /* CONFIG_CAN */

boards/ark/pi6x/src/hw_config.h

@@ -0,0 +1,129 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS5,921600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     58
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */

boards/ark/pi6x/src/i2c.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,18 +31,10 @@
  *
  ****************************************************************************/
 
-/*
- * This header defines the events::EventType type.
- */
-
-#pragma once
-
-#include <uORB/topics/event.h>
-
-namespace events
-{
-using EventType = event_s;
-} // namespace events
-
-
+#include <px4_arch/i2c_hw_description.h>
 
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(3),
+	initI2CBusInternal(4),
+};

boards/ark/pi6x/src/init.c

@@ -0,0 +1,293 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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 init.c
+ *
+ * ARKFMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+#include "spix_sync.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_HIPOWER_EN(false);
+	board_control_spi_sensors_power(false, 0xffff);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_HIPOWER_EN(true);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	VDD_5V_HIPOWER_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* Configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	// Ensure Power is off for > 10 mS
+	usleep(15 * 1000);
+	VDD_3V3_SD_CARD_EN(true);
+	usleep(500 * 1000);
+
+#ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#endif /* CONFIG_MMCSD */
+
+	/* Configure the SPIX_SYNC output */
+	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
+	spix_sync_servo_set(0, 150);
+
+	return OK;
+}

boards/ark/pi6x/src/led.c

@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * ARKFMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/ark/pi6x/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 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
@@ -31,28 +31,25 @@
  *
  ****************************************************************************/
 
-/**
- * Multi-EKF IMUs
- *
- * Maximum number of IMUs to use for Multi-EKF. Set 0 to disable.
- * Requires SENS_IMU_MODE 0.
- *
- * @group EKF2
- * @reboot_required true
- * @min 0
- * @max 4
- */
-PARAM_DEFINE_INT32(EKF2_MULTI_IMU, 0);
+#include <nuttx/config.h>
+#include <board_config.h>
 
-/**
- * Multi-EKF Magnetometers.
- *
- * Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable.
- * Requires SENS_MAG_MODE 0.
- *
- * @group EKF2
- * @reboot_required true
- * @min 0
- * @max 4
- */
-PARAM_DEFINE_INT32(EKF2_MULTI_MAG, 0);
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mft_mft,
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/ark/pi6x/src/sdio.c

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */

boards/ark/pi6x/src/spi.cpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
+	initSPIFmumID(ARKPI6X_0, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 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}),
+		}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}),
+		//  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})
+		// }),
+		initSPIBus(SPI::Bus::SPI6, {
+			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		}),
+	}),
+	initSPIFmumID(ARKPI6X_1, { // Placeholder
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 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}),
+		}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}),
+		//  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})
+		// }),
+		initSPIBus(SPI::Bus::SPI6, {
+			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/ark/pi6x/src/spix_sync.c

@@ -0,0 +1,309 @@
+/****************************************************************************
+ *
+ *   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 Airmind 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 spix_sync.c
+*
+*
+*/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <board_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+
+#include "spix_sync.h"
+
+#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
+
+#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
+#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
+#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
+#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
+#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
+#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
+#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
+#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
+#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
+#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
+#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
+#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
+#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
+#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
+#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
+#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
+#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
+#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
+
+#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
+
+unsigned
+spix_sync_timer_get_period(unsigned timer)
+{
+	return (rARR(timer));
+}
+
+static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
+{
+	if (spix_sync_timers[timer].base) {
+
+		irqstate_t flags = px4_enter_critical_section();
+
+		/* enable the timer clock before we try to talk to it */
+
+		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
+
+		/* disable and configure the timer */
+		rCR1(timer) = 0;
+		rCR2(timer) = 0;
+		rSMCR(timer) = 0;
+		rDIER(timer) = 0;
+		rCCER(timer) = 0;
+		rCCMR1(timer) = 0;
+		rCCMR2(timer) = 0;
+		rCCR1(timer) = 0;
+		rCCR2(timer) = 0;
+		rCCR3(timer) = 0;
+		rCCR4(timer) = 0;
+		rCCER(timer) = 0;
+		rDCR(timer) = 0;
+
+		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
+
+			/* master output enable = on */
+
+			rBDTR(timer) = ATIM_BDTR_MOE;
+		}
+
+		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
+		 * then configure the timer to free-run at 1MHz.
+		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
+		 */
+
+		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_SPIX_SYNC_PWM_FREQ / rate) - 1;
+
+		/* generate an update event; reloads the counter and all registers */
+		rEGR(timer) = GTIM_EGR_UG;
+
+		px4_leave_critical_section(flags);
+	}
+
+}
+
+void spix_sync_channel_init(unsigned channel)
+{
+	/* Only initialize used channels */
+
+	if (spix_sync_channels[channel].timer_channel) {
+
+		unsigned timer = spix_sync_channels[channel].timer_index;
+
+		/* configure the GPIO first */
+		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
+
+		uint16_t polarity = spix_sync_channels[channel].masks;
+
+		/* configure the channel */
+		switch (spix_sync_channels[channel].timer_channel) {
+		case 1:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
+			break;
+
+		case 2:
+			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
+			break;
+
+		case 3:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
+			break;
+
+		case 4:
+			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
+			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
+			break;
+		}
+	}
+}
+
+int
+spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	if (channel >= arraySize(spix_sync_channels)) {
+		return -1;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].gpio_out == 0)) {
+		return -1;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+
+	unsigned value = (unsigned)cvalue * period / 255;
+
+	/* configure the channel */
+	if (value > 0) {
+		value--;
+	}
+
+
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		rCCR1(timer) = value;
+		break;
+
+	case 2:
+		rCCR2(timer) = value;
+		break;
+
+	case 3:
+		rCCR3(timer) = value;
+		break;
+
+	case 4:
+		rCCR4(timer) = value;
+		break;
+
+	default:
+		return -1;
+	}
+
+	return 0;
+}
+
+unsigned spix_sync_servo_get(unsigned channel)
+{
+	if (channel >= 3) {
+		return 0;
+	}
+
+	unsigned timer = spix_sync_channels[channel].timer_index;
+	uint16_t value = 0;
+
+	/* test timer for validity */
+	if ((spix_sync_timers[timer].base == 0) ||
+	    (spix_sync_channels[channel].timer_channel == 0)) {
+		return 0;
+	}
+
+	/* configure the channel */
+	switch (spix_sync_channels[channel].timer_channel) {
+	case 1:
+		value = rCCR1(timer);
+		break;
+
+	case 2:
+		value = rCCR2(timer);
+		break;
+
+	case 3:
+		value = rCCR3(timer);
+		break;
+
+	case 4:
+		value = rCCR4(timer);
+		break;
+	}
+
+	unsigned period = spix_sync_timer_get_period(timer);
+	return ((value + 1) * 255 / period);
+}
+
+int spix_sync_servo_init(unsigned rate)
+{
+	/* do basic timer initialisation first */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		spix_sync_timer_init_timer(i, rate);
+	}
+
+	/* now init channels */
+	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
+		spix_sync_channel_init(i);
+	}
+
+	spix_sync_servo_arm(true);
+	return OK;
+}
+
+void
+spix_sync_servo_deinit(void)
+{
+	/* disable the timers */
+	spix_sync_servo_arm(false);
+}
+void
+spix_sync_servo_arm(bool armed)
+{
+	/* iterate timers and arm/disarm appropriately */
+	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
+		if (spix_sync_timers[i].base != 0) {
+			if (armed) {
+				/* force an update to preload all registers */
+				rEGR(i) = GTIM_EGR_UG;
+
+				/* arm requires the timer be enabled */
+				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
+
+			} else {
+				rCR1(i) = 0;
+			}
+		}
+	}
+}

boards/ark/pi6x/src/spix_sync.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,13 +31,12 @@
  *
  ****************************************************************************/
 
-/**
- * Magnetic declination
- *
- * @group EKF2
- * @volatile
- * @category system
- * @unit deg
- * @decimal 1
- */
-PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
+__BEGIN_DECLS
+void spix_sync_channel_init(unsigned channel);
+int spix_sync_servo_set(unsigned channel, uint8_t  value);
+unsigned spix_sync_servo_get(unsigned channel);
+int spix_sync_servo_init(unsigned rate);
+void spix_sync_servo_deinit(void);
+void spix_sync_servo_arm(bool armed);
+unsigned spix_sync_timer_get_period(unsigned timer);
+__END_DECLS

boards/ark/pi6x/src/timer_config.cpp

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Timer allocation
+ *
+ * TIM5_CH4  T FMU_CH1
+ * TIM5_CH3  T FMU_CH2
+ * TIM5_CH2  T FMU_CH3
+ * TIM5_CH1  T FMU_CH4
+ *
+ * TIM4_CH2  T FMU_CH5
+ * TIM4_CH3  T FMU_CH6
+ *
+ * TIM12_CH1 T FMU_CH7
+ * TIM12_CH2 T FMU_CH8
+ *
+ * TIM1_CH3  T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
+ * TIM1_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
+ *
+ * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
+ *
+ * TIM14_CH1 T BUZZER_1              - Driven by other driver
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer12),
+	//initIOTimer(Timer::Timer1),
+	//initIOTimer(Timer::Timer2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	//initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+
+constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+};
+
+constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
+	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+};

boards/ark/pi6x/src/usb.c

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include "arm_internal.h"
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the ARKFMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/ark/septentrio-gps/default.px4board

@@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1

boards/ark/septentrio-gps/init/rc.board_sensors

@@ -8,4 +8,7 @@ icm42688p -R 0 -s start
 
 bmp388 -I -b 1 start
 
-bmm150 -I -b 1 start
+if ! iis2mdc -R 4 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -9,9 +9,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/flywoo/gn-f405/init/rc.board_defaults

@@ -12,14 +12,9 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# EKF2 can be enabled when baro is avaialble and EKF2_MAG_TYPE is set to 5
-param set-default SYS_MC_EST_GROUP 2
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6
 
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0
 
 # GPS is on Uart6

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

@@ -46,8 +46,8 @@ add_library(drivers_board
 # Add custom drivers for SLPI
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp

@@ -125,7 +125,7 @@ void elrs_led_task()
 
 			orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
 
-			_cmd = (ControllerInput)setpoint_req.aux1;
+			_cmd = (ControllerInput)setpoint_req.buttons;
 
 			// skip duplicate cmds
 			if (_cmd == _prev_cmd) {

boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp

@@ -110,16 +110,18 @@ void task_main(int argc, char *argv[])
 		}
 	}
 
-	int uart_fd = dsm_init(device_path);
+	int uart_fd = qurt_uart_open(device_path, 115200);
 
 	if (uart_fd < 0) {
-		PX4_ERR("dsm init failed");
+		PX4_ERR("uart open failed");
 		return;
 
 	} else if (verbose) {
-		PX4_INFO("Spektrum RC: dsm_init succeeded");
+		PX4_INFO("Spektrum RC: uart open succeeded");
 	}
 
+	dsm_proto_init();
+
 	orb_advert_t rc_pub = nullptr;
 
 	// Use a buffer size of the double of the minimum, just to be safe.

boards/modalai/voxl2/README.md

@@ -9,7 +9,7 @@ When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low
 The portion running on the DSP hosts the flight critical portions of PX4 such as
 the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
 state estimation. The DSP acts as the real time portion of the system. Non flight
-critical applications such as Mavlink, logging, and commander are running on the
+critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.
 
@@ -27,6 +27,7 @@ The full instructions are available here:
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
@@ -69,16 +70,15 @@ pxh>
 ## Notes
 
 You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
-to power cycle the board and restart everything.
+to power cycle the board and restart everything. Starting with SDK 1.3.0 it is possible
+to cleanly shutdown PX4 on VOXL 2.
 
 ## Tips
 
-Start with a VOXL 2 that only has the system image installed, not the SDK
-
-Run the command ```voxl-px4 -s``` on target to run the self-test
+Always use the latest SDK release
 
 In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
-can be used:
+can be used (Most messages are passed to the apps proc but certain low level messages are not):
 ```
 modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
 [sudo] password for modalai:

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start
 
 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai
 
@@ -128,6 +127,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -44,3 +44,6 @@ add_library(drivers_board
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
+
+# Add custom modules
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__voxl_save_cal_params
+	MAIN voxl_save_cal_params
+	COMPILE_FLAGS
+	SRCS
+		VoxlSaveCalParams.cpp
+		VoxlSaveCalParams.hpp
+	DEPENDS
+		px4_work_queue
+	)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "VoxlSaveCalParams.hpp"
+
+#include <algorithm>
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <iostream>
+
+using namespace std;
+
+static bool debug = false;
+
+VoxlSaveCalParams::VoxlSaveCalParams() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+bool
+VoxlSaveCalParams::init()
+{
+	if (!_parameter_primary_set_value_request_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void
+VoxlSaveCalParams::save_calibration_parameter_to_file(const char *name, param_type_t type,
+		param_value_u value)
+{
+	// If the parameter being set is a calibration parameter then save it out to
+	// a separate calibration file so that they can be preserved and reloaded
+	// after system updates
+	string cal_file_name = param_get_default_file();
+	string cal_file_append;
+	string param_name(name);
+	string cal_strings[] = {"CAL_GYRO", "CAL_MAG", "CAL_BARO", "CAL_ACC"};
+
+	for (auto i : cal_strings) {
+		// Check to see if the parameter is one of the desired calibration parameters
+		if (param_name.substr(0, i.size()) == i) {
+			// We want the filename to be the standard parameters file name with
+			// the calibration type appended to it.
+			cal_file_append = i.substr(3, i.size());
+			// Make sure it is lowercase
+			transform(cal_file_append.begin(), cal_file_append.end(), cal_file_append.begin(), ::tolower);
+			// And add a cal file extension
+			cal_file_append += ".cal";
+			break;
+		}
+	}
+
+	// Check for level horizon calibration parameters
+	if (cal_file_append.empty() &&
+	    (param_name == "SENS_BOARD_X_OFF" || param_name == "SENS_BOARD_Y_OFF")) {
+		cal_file_append = "_level.cal";
+	}
+
+	// Check for RC calibration parameters
+	if (cal_file_append.empty() && name[0] == 'R' && name[1] == 'C' && isdigit(name[2])) {
+		cal_file_append = "_rc.cal";
+	}
+
+	if (! cal_file_append.empty()) {
+		cal_file_name += cal_file_append;
+
+		stringstream param_data_stream;
+
+		switch (type) {
+		case PARAM_TYPE_INT32:
+			param_data_stream << value.i;
+			param_data_stream << "\t" << 6;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_data_stream << value.f;
+			param_data_stream << "\t" << 9;
+			break;
+
+		default:
+			PX4_ERR("Calibration parameter must be either int or float");
+			break;
+		}
+
+		string param_data;
+		param_data += "1\t1\t";
+		param_data += param_name;
+		param_data += "\t";
+		param_data += param_data_stream.str();
+
+		if (debug) { PX4_INFO("Writing %s to file %s", param_data.c_str(), cal_file_name.c_str()); }
+
+		// open a file in write (append) mode.
+		ofstream cal_file;
+		cal_file.open(cal_file_name, ios_base::app);
+
+		if (cal_file) {
+			cal_file << param_data << endl;
+			cal_file.close();
+
+		} else {
+			PX4_ERR("Couldn't open %s for writing calibration value", cal_file_name.c_str());
+		}
+	}
+}
+
+void
+VoxlSaveCalParams::Run()
+{
+	if (should_exit()) {
+		_parameter_primary_set_value_request_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	parameter_set_value_request_s req;
+
+	if (_parameter_primary_set_value_request_sub.copy(&req)) {
+		// PX4_INFO("Got set value request in autosave module");
+
+		// debug_counters.set_value_received++;
+
+		param_t param = req.parameter_index;
+		param_value_u value;
+		value.i = 0;
+		value.f = 0.0f;
+
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+			param_set_no_remote_update(param, (const void *) &req.int_value, true);
+			value.i = req.int_value;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_set_no_remote_update(param, (const void *) &req.float_value, true);
+			value.f = req.float_value;
+			break;
+
+		default:
+			PX4_ERR("Parameter must be either int or float");
+			break;
+		}
+
+		save_calibration_parameter_to_file(param_name(param), param_type(param), value);
+	}
+}
+
+int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
+{
+	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VoxlSaveCalParams::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VoxlSaveCalParams::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements autosaving of calibration parameters on VOXL2 platform.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
+{
+	return VoxlSaveCalParams::main(argc, argv);
+}

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/parameter_set_value_request.h>
+
+using namespace time_literals;
+
+class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	VoxlSaveCalParams();
+	~VoxlSaveCalParams() = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	void save_calibration_parameter_to_file(const char *name, param_type_t type, param_value_u value);
+
+	uORB::SubscriptionCallbackWorkItem _parameter_primary_set_value_request_sub{this, ORB_ID(parameter_primary_set_value_request)};
+};

boards/modalai/voxl2/target/voxl-px4

@@ -129,12 +129,6 @@ else
     DAEMON="-d"
 fi
 
-if [ ! -f /data/px4/param/parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
-   /bin/sync
-fi
-
 if [ $SENSOR_CAL == "FAKE" ]; then
    /bin/echo "[INFO] Setting up fake sensor calibration values"
    px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -43,13 +43,6 @@ else
     param load
 fi
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted.
-logger start -e -t -b 200
-
 /bin/sleep 1
 
 # Start all of the processing modules on DSP
@@ -97,6 +90,9 @@ mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
+# Start logging and use timestamps for log files when possible.
+logger start -t -b 256
+
 /bin/sleep 1
 
 mavlink boot_complete

boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config

@@ -1,192 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /data/px4/param/parameters
-
-# Make sure we are running at 800Hz on IMU
-param set IMU_GYRO_RATEMAX 800
-
-# EKF2 Parameters
-param set EKF2_IMU_POS_X 0.027
-param set EKF2_IMU_POS_Y 0.009
-param set EKF2_IMU_POS_Z -0.019
-param set EKF2_EV_DELAY 5
-param set EKF2_AID_MASK 280
-param set EKF2_ABL_LIM 0.8
-param set EKF2_TAU_POS 0.25
-param set EKF2_TAU_VEL 0.25
-
-param set MC_AIRMODE 0
-
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.15
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_D 0.0
-param set MC_YAWRATE_K 1.0
-
-param set MC_PITCH_P 5.5
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.2
-param set MC_PITCHRATE_D 0.0013
-param set MC_PITCHRATE_K 1.0
-
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.2
-param set MC_ROLLRATE_D 0.0013
-param set MC_ROLLRATE_K 1.0
-
-param set MPC_VELD_LP 5.0
-
-# tweak MPC_THR_MIN to prevent roll/pitch losing control
-# authority under rapid downward acceleration
-param set MPC_THR_MAX 0.75
-param set MPC_THR_MIN 0.08
-param set MPC_THR_HOVER 0.42
-param set MPC_MANTHR_MIN 0.05
-
-# default position mode with a little expo, smooth mode is terrible
-param set MPC_POS_MODE 0
-param set MPC_YAW_EXPO 0.20
-param set MPC_XY_MAN_EXPO 0.20
-param set MPC_Z_MAN_EXPO 0.20
-
-# max velocities
-param set MPC_VEL_MANUAL 5.0
-param set MPC_XY_VEL_MAX 5.0
-param set MPC_XY_CRUISE 5.0
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_MAX_UP 4.0
-param set MPC_LAND_SPEED 1.0
-
-# Horizontal position PID
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 3.00
-param set MPC_XY_VEL_I_ACC 0.10
-param set MPC_XY_VEL_D_ACC 0.00
-
-# Vertical position PID
-# PX4 Defaults
-param set MPC_Z_P 1.0
-param set MPC_Z_VEL_P_ACC 8.0
-param set MPC_Z_VEL_I_ACC 2.0
-param set MPC_Z_VEL_D_ACC 0.0
-
-param set MPC_TKO_RAMP_T 1.50
-param set MPC_TKO_SPEED	1.50
-
-# Set the ESC outputs to function as motors
-param set VOXL_ESC_FUNC1 101
-param set VOXL_ESC_FUNC2 103
-param set VOXL_ESC_FUNC3 104
-param set VOXL_ESC_FUNC4 102
-
-param set VOXL_ESC_SDIR1 0
-param set VOXL_ESC_SDIR2 0
-param set VOXL_ESC_SDIR3 0
-param set VOXL_ESC_SDIR4 0
-
-param set VOXL_ESC_CONFIG 1
-param set VOXL_ESC_REV 0
-param set VOXL_ESC_MODE 0
-param set VOXL_ESC_BAUD 2000000
-param set VOXL_ESC_RPM_MAX 10500
-param set VOXL_ESC_RPM_MIN 1000
-
-# Set the Voxl2 IO outputs to function as motors
-param set VOXL2_IO_FUNC1 101
-param set VOXL2_IO_FUNC2 102
-param set VOXL2_IO_FUNC3 103
-param set VOXL2_IO_FUNC4 104
-
-param set VOXL2_IO_BAUD 921600
-param set VOXL2_IO_MIN 1000
-param set VOXL2_IO_MAX 2000
-
-# Some parameters for control allocation
-param set CA_ROTOR_COUNT 4
-param set CA_R_REV 0
-param set CA_AIRFRAME 0
-param set CA_ROTOR_COUNT 4
-param set CA_ROTOR0_PX 0.15
-param set CA_ROTOR0_PY 0.15
-param set CA_ROTOR1_PX -0.15
-param set CA_ROTOR1_PY -0.15
-param set CA_ROTOR2_PX 0.15
-param set CA_ROTOR2_PY -0.15
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.15
-param set CA_ROTOR3_PY 0.15
-param set CA_ROTOR3_KM -0.05
-
-# Some parameter settings to disable / ignore certain preflight checks
-
-# No GPS driver yet so disable it
-param set SYS_HAS_GPS 0
-
-# Allow arming wihtout a magnetometer (Need magnetometer driver)
-param set SYS_HAS_MAG 0
-param set EKF2_MAG_TYPE	5
-
-# Allow arming without battery check (Need voxlpm driver)
-param set CBRK_SUPPLY_CHK 894281
-
-# Allow arming without an SD card
-param set COM_ARM_SDCARD 0
-
-# Allow arming wihtout CPU load information
-param set COM_CPU_MAX 0.0
-
-# Disable auto disarm. This is number of seconds to wait for takeoff
-# after arming. If no takeoff happens then it will disarm. A negative
-# value disables this.
-param set COM_DISARM_PRFLT -1
-
-# This parameter doesn't exist anymore. Need to see what the new method is.
-# param set MAV_BROADCAST 0
-
-# Doesn't work without setting this to Quadcopter
-param set MAV_TYPE 2
-
-# Parameters that we don't use but QGC complains about if they aren't there
-param set SYS_AUTOSTART 4001
-
-# Default RC channel mappings
-param set RC_MAP_ACRO_SW 0
-param set RC_MAP_ARM_SW 0
-param set RC_MAP_AUX1 0
-param set RC_MAP_AUX2 0
-param set RC_MAP_AUX3 0
-param set RC_MAP_AUX4 0
-param set RC_MAP_AUX5 0
-param set RC_MAP_AUX6 0
-param set RC_MAP_FAILSAFE 0
-param set RC_MAP_FLAPS 0
-param set RC_MAP_FLTMODE 6
-param set RC_MAP_GEAR_SW 0
-param set RC_MAP_KILL_SW 7
-param set RC_MAP_LOITER_SW 0
-param set RC_MAP_MAN_SW 0
-param set RC_MAP_MODE_SW 0
-param set RC_MAP_OFFB_SW 0
-param set RC_MAP_PARAM1 0
-param set RC_MAP_PARAM2 0
-param set RC_MAP_PARAM3 0
-param set RC_MAP_PITCH 2
-param set RC_MAP_POSCTL_SW 0
-param set RC_MAP_RATT_SW 0
-param set RC_MAP_RETURN_SW 0
-param set RC_MAP_ROLL 1
-param set RC_MAP_STAB_SW 0
-param set RC_MAP_THROTTLE 3
-param set RC_MAP_TRANS_SW 0
-param set RC_MAP_YAW 4
-
-param save
-
-sleep 2
-
-# Need px4-shutdown otherwise Linux system shutdown is called
-px4-shutdown

boards/modalai/voxl2/target/voxl-px4-start

@@ -62,13 +62,6 @@ param select /data/px4/param/parameters
 # Load in all of the parameters that have been saved in the file
 param load
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted.
-logger start -t
-
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
@@ -211,10 +204,12 @@ dataman start
 navigator start
 
 # This bridge allows raw data packets to be sent over UART to the ESC
-voxl2_io_bridge start
+# voxl2_io_bridge start
 
-# Start microdds_client for ros2 offboard messages from agent over localhost
-microdds_client start -t udp -h 127.0.0.1 -p 8888
+# Start uxrce_dds_client for ros2 offboard messages from agent over localhost
+uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
+
+voxl_save_cal_params start
 
 # On M0052 there is only one IMU. So, PX4 needs to
 # publish IMU samples externally for VIO to use.
@@ -235,6 +230,14 @@ mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
+# Start logging and use timestamps for log files when possible.
+# Add the "-e" option to start logging immediately. Default is
+# to log only when armed. Caution must be used with the "-e" option
+# because if power is removed without stopping the logger gracefully then
+# the log file may be corrupted. Rather than using "-e" option it's better
+# to use the SDLOG_MODE to do that.
+logger start -t -b 256
+
 mavlink boot_complete
 
 # Optional MSP OSD driver for DJI goggles

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
 
+param set-default GPS_2_CONFIG 202
 param set-default TEL_FRSKY_CONFIG 103

boards/omnibus/f4sd/init/rc.board_defaults

@@ -12,9 +12,4 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

boards/px4/fmu-v5/debug.px4board

@@ -37,7 +37,6 @@ CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y

boards/px4/fmu-v5x/boat.px4board

@@ -0,0 +1,17 @@
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_BOAT=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+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
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set

boards/px4/fmu-v6x/boat.px4board

@@ -0,0 +1,17 @@
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_BOAT=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+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
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set

boards/px4/fmu-v6x/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/px4/fmu-v6xrt/default.px4board

@@ -33,6 +33,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -84,6 +85,7 @@ CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/px4/fmu-v6xrt/init/rc.board_defaults

@@ -12,9 +12,11 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550
 
+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
+param set-default SENS_EN_INA226 0
 
 safety_button start
 

boards/px4/fmu-v6xrt/init/rc.board_sensors

@@ -17,6 +17,7 @@
 #------------------------------------------------------------------------------
 
 set HAVE_PM2 yes
+set INA_CONFIGURED no
 
 if mft query -q -k MFT -s MFT_PM2 -v 0
 then
@@ -39,6 +40,8 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA228 1
@@ -49,6 +52,8 @@ then
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA238 1
@@ -59,6 +64,25 @@ then
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
+fi
+
+#Start Auterion Power Module selector for Skynode boards
+if ver hwbasecmp 009 010
+then
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
+fi
 fi
 
 # Internal SPI bus ICM42686p (hard-mounted)
@@ -88,4 +112,5 @@ fi
 
 bmp388 -X -b 2 start
 
+unset INA_CONFIGURED
 unset HAVE_PM2

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -46,7 +46,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3643
 CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
@@ -185,7 +188,6 @@ CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
@@ -258,7 +260,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=2032
-CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -277,6 +278,7 @@ CONFIG_SYSTEM_CLE=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y

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

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y

boards/spracing/h7extreme/init/rc.board_defaults

@@ -12,9 +12,4 @@ 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_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
         self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
 
         # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 10.0, str(res))
+        self.assertTrue(res['yaw_error_std'] < 13.0, str(res))
 
 
 if __name__ == '__main__':

msg/BoatSetpoint.msg

@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed # [m/s] collective roll-off speed in body x-axis
+bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
+float32 yaw_rate # [rad] yaw_rate
+bool closed_loop_yaw_rate_control # true if rudder angle is controlled using feedback, false if direct feed-forward
+float32 heading_setpoint # [rad] desired heading
+bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward
+
+# TOPICS boat_setpoint boat_control_output

msg/CMakeLists.txt

@@ -53,6 +53,7 @@ set(msg_files
 	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
 	BatteryStatus.msg
+	BoatSetpoint.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg

msg/EstimatorAidSource1d.msg

@@ -20,5 +20,5 @@ bool fused                   # true if the sample was successfully fused
 # TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
 # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
-# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
+# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
 # TOPICS estimator_aid_src_terrain_range_finder

msg/IridiumsbdStatus.msg

@@ -1,5 +1,5 @@
 uint64 timestamp				# time since system start (microseconds)
-uint64 last_heartbeat				# timestamp of the last successful sbd session
+uint64 last_at_ok_timestamp			# timestamp of the last "OK" received after the "AT" command
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer

msg/LogMessage.msg

@@ -1,4 +1,4 @@
-# A logging message, output with PX4_{WARN,ERR,INFO}
+# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
 
 uint64 timestamp		# time since system start (microseconds)