Merge branch 'rwanda_sih' into rwanda_base

Signed-off-by: RomanBapst <bapstroman@gmail.com>

.ci/Jenkinsfile-compile

@@ -35,6 +35,7 @@ pipeline {
 
           def nuttx_builds_archive = [
             target: [
+                     "3dr_ctrl-zero-h7-oem-revg_default",
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
@@ -76,6 +77,7 @@ pipeline {
                      "matek_h743-mini_default",
                      "matek_h743-slim_default",
                      "matek_h743_default",
+                     "micoair_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",

.editorconfig

@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120
 
-[*.yaml]
+[*.yaml, *.yml]
 indent_style = space
 indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -20,14 +20,14 @@ body:
           3. Took off '....'
           4. See error
     validations:
-      required: true
+      required: false
 
   - type: textarea
     attributes:
       label: Expected behavior
       description: A clear and concise description of what you expected to happen.
     validations:
-      required: true
+      required: false
 
   - type: textarea
     attributes:
@@ -45,7 +45,7 @@ body:
       placeholder: |
           # PASTE HERE THE LINK TO THE LOG
     validations:
-      required: true
+      required: false
 
   - type: markdown
     attributes:
@@ -60,14 +60,14 @@ body:
       placeholder: |
           # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
     validations:
-      required: true
+      required: false
 
   - type: input
     attributes:
       label: Flight controller
       description: Specify your flight controller model (what type is it, where was it bought from, ...).
     validations:
-      required: true
+      required: false
 
   - type: dropdown
     attributes:

.github/workflows/build_all_targets.yml

@@ -0,0 +1,90 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
+name: Build all targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  group_targets:
+    name: Scan for Board Targets
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Python Dependencies
+        uses: py-actions/py-dependency-install@v4
+        with:
+          path: "./Tools/setup/requirements.txt"
+
+      - id: set-matrix
+        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
+
+      - id: set-timestamp
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+  setup:
+    name: ${{ matrix.group }}
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    needs: group_targets
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+    container:
+      image: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: ccache setup keys
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+
+      - name: setup ccache
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: build target group
+        run: |
+            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
+
+      - name: Upload px4 package
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_${{matrix.group}}_build_artifacts
+          path: |
+            build/**/*.px4
+            build/**/*.bin
+          compression-level: 0
+
+      - name: ccache post-run
+        run: ccache -s

.github/workflows/compile_linux.yml

@@ -1,58 +0,0 @@
-name: Compile Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_linux_arm64.yml

@@ -1,54 +0,0 @@
-name: Compile Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s

.github/workflows/compile_nuttx.yml

@@ -1,136 +0,0 @@
-name: Compile Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          ark_pi6x,
-          ark_septentrio-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-classic,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_mr-canhubk3,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          px4_fmu-v6xrt,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin

.github/workflows/mavros_mission_tests.yml

@@ -88,7 +88,7 @@ jobs:
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
     - name: Upload px4 coredump
       if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v4
       with:
         name: coredump
         path: px4.core
@@ -103,21 +103,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/mavros_offboard_tests.yml

@@ -83,7 +83,7 @@ jobs:
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
     - name: Upload px4 coredump
       if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v4
       with:
         name: coredump
         path: px4.core
@@ -98,21 +98,21 @@ jobs:
 
     - name: Upload px4 binary
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: binary
         path: build/px4_sitl_default/bin/px4
 
     - name: Store PX4 log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: px4_log
         path: ~/.ros/log/*/*.ulg
 
     - name: Store ROS log
       if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: ros_log
         path: ~/.ros/**/rostest-*.log

.github/workflows/sitl_tests.yml

@@ -1,3 +1,8 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
 name: SITL Tests
 
 on:
@@ -10,126 +15,139 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     strategy:
       fail-fast: false
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
           - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
           - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
 
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
 
-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default
 
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s
 
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic
 
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+            mkdir -p coverage
+            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
+      - name: Upload Coverage Information to Codecov
+        if: contains(matrix.config.build_type, 'Coverage')
+        uses: codecov/codecov-action@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info

.vscode/cmake-variants.yaml

@@ -111,6 +111,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6xrt_bootloader
+    3dr_ctrl-zero-h7-oem-revg_default:
+      short: 3dr_ctrl-zero-h7-oem-revg
+      buildType: MinSizeRel
+      settings:
+        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
@@ -281,6 +286,11 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
+	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+	set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
 

Makefile

@@ -324,6 +324,7 @@ px4io_update:
 	git status
 
 bootloaders_update: \
+	3dr_ctrl-zero-h7-oem-revg_bootloader \
 	ark_fmu-v6x_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
@@ -339,6 +340,7 @@ bootloaders_update: \
 	matek_h743_bootloader \
 	matek_h743-mini_bootloader \
 	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -549,14 +551,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3
+param set-default SENS_FLOW_MAXHGT 15
 param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70
 
 param set-default FW_P_TC 0.6
 

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -14,15 +14,19 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_THR_YAW_R 5
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 5
+param set-default RD_MAX_THR_SPD 7
+param set-default RD_SPEED_P 1
+param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
+param set-default RD_MISS_SPD_DEF 5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -15,14 +15,29 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Set Differential Drive Kinematics Library parameters:
-param set RD_WHEEL_BASE 0.9
-param set RD_WHEEL_RADIUS 0.22
-param set RD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
+param set-default RD_MISS_SPD_DEF 8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
@@ -36,7 +51,7 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

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

@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
+	4014_gz_x500_mono_cam_down
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -43,6 +43,10 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6
 
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -62,6 +66,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default SENS_DPRES_OFF 0.001
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -75,3 +81,5 @@ param set SIH_L_ROLL 0.145
 
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
+
+param set-default VT_ARSP_TRANS 6

ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil

@@ -0,0 +1,99 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set HIL_ACT_REV 32
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -20,3 +20,27 @@ param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 1
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_JERK 10
+param set-default RD_MAX_THR_YAW_R 4
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 1.8
+param set-default RD_MAX_THR_SPD 2
+param set-default RD_SPEED_P 0.5
+param set-default RD_SPEED_I 0.1
+param set-default RD_MAX_YAW_RATE 300
+param set-default RD_MISS_SPD_DEF 1.8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1

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

@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rcS

@@ -30,7 +30,7 @@ set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
-set SDCARD_AVAILABLE no
+set STORAGE_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
@@ -62,11 +62,11 @@ then
 			umount /fs/microsd
 
 		else
-			set SDCARD_AVAILABLE yes
+			set STORAGE_AVAILABLE yes
 		fi
 	fi
 
-	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
 		echo "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
@@ -77,7 +77,7 @@ then
 
 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
-				set SDCARD_AVAILABLE yes
+				set STORAGE_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
 				echo "ERROR [init] card mount failed"
@@ -86,19 +86,32 @@ then
 			echo "ERROR [init] format failed"
 		fi
 	fi
-
-	if [ $SDCARD_AVAILABLE = yes ]
+else
+	# Is there a device mounted for storage
+	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
 	then
-		if hardfault_log check
+		set STORAGE_AVAILABLE yes
+	fi
+fi
+
+if [ $STORAGE_AVAILABLE = yes ]
+then
+	if hardfault_log check
+	then
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		if hardfault_log commit
 		then
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-			if hardfault_log commit
-			then
-				hardfault_log reset
-			fi
+			hardfault_log reset
 		fi
 	fi
 
+  if [ -e /fs/microsd/new ]
+  then
+    echo "Updating external autostart files"
+    rm -r $SDCARD_EXT_PATH
+    mv /fs/microsd/new $SDCARD_EXT_PATH
+  fi
+
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -172,7 +185,7 @@ else
 		fi
 	fi
 
-	if [ $SDCARD_AVAILABLE = yes ]
+	if [ $STORAGE_AVAILABLE = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -220,8 +233,8 @@ else
 
 		if [ ${VEHICLE_TYPE} == none ]
 		then
-			# Look for airframe on SD card
-			if [ $SDCARD_AVAILABLE = yes ]
+			# Use external startup file
+			if [ $STORAGE_AVAILABLE = yes ]
 			then
 				. ${R}etc/init.d/rc.autostart_ext
 			else
@@ -615,7 +628,7 @@ unset PARAM_FILE
 unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
-unset SDCARD_AVAILABLE
+unset STORAGE_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE

Tools/ci_build_all_runner.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# This script is meant to be used by the build_all.yml workflow in a github runner
+# Please only modify if you know what you are doing
+set -e
+
+echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
+targets=$1
+for target in ${targets//,/ }
+do
+    echo "::group::Building: [${target}]"
+    start=$(date +%s)
+    make $target
+    stop=$(date +%s)
+    diff=$(($stop-$start))
+    build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
+    echo -e "\033[0;32mBuild Time: [$build_time]"
+    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
+    echo "::endgroup::"
+done

Tools/generate_board_targets_json.py

@@ -23,11 +23,14 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                     help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                     help='Pretty output instead of a single line')
+parser.add_argument('-g', '--groups', dest='group', action='store_true',
+                    help='Groups targets')
 
 args = parser.parse_args()
 verbose = args.verbose
 
 build_configs = []
+grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
@@ -37,10 +40,27 @@ excluded_labels = [
     'uavcanv1', # TODO: fix and enable
     ]
 
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+
+def chunks(arr, size):
+    # splits array into parts
+    for i in range(0, len(arr), size):
+        yield arr[i:i + size]
+
+def comma_targets(targets):
+    # turns array of targets into a comma split string
+    return ",".join(targets)
+
 def process_target(px4board_file, target_name):
+    # reads through the board file and grabs
+    # useful information for building
     ret = None
     platform = None
     toolchain = None
+    group = None
 
     if px4board_file.endswith("default.px4board") or \
         px4board_file.endswith("recovery.px4board") or \
@@ -63,22 +83,34 @@ def process_target(px4board_file, target_name):
         # get the container based on the platform and toolchain
         if platform == 'posix':
             container = 'px4io/px4-dev-base-focal:2021-09-08'
+            group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
                     container = 'px4io/px4-dev-aarch64:2022-08-12'
+                    group = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
                     container = 'px4io/px4-dev-armhf:2023-06-26'
+                    group = 'armhf'
                 else:
                     if verbose: print(f'unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
             container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
+            group = 'nuttx'
         else:
             if verbose: print(f'unmatched platform: {platform}')
 
         ret = {'target': target_name, 'container': container}
+        if(args.group):
+            ret['arch'] = group
 
     return ret
 
+# Look for board targets in the ./boards directory
+if(verbose):
+    print("=======================")
+    print("= scanning for boards =")
+    print("=======================")
+
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
     if not manufacturer.is_dir():
         continue
@@ -105,12 +137,140 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
                     if verbose: print(f'excluding label {label} ({target_name})')
                     continue
                 target = process_target(files.path, target_name)
+                if (args.group and target is not None):
+                    if (target['arch'] not in grouped_targets):
+                        grouped_targets[target['arch']] = {}
+                        grouped_targets[target['arch']]['container'] = target['container']
+                        grouped_targets[target['arch']]['manufacturers'] = {}
+                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
+                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {}
+                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
+                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
                 if target is not None:
                     build_configs.append(target)
 
+if(verbose):
+    import pprint
+    print("============================")
+    print("= Boards found in ./boards =")
+    print("============================")
+    pprint.pp(grouped_targets)
 
-github_action_config = { 'include': build_configs }
-extra_args = {}
-if args.pretty:
-    extra_args['indent'] = 2
-print(json.dumps(github_action_config, **extra_args))
+if (args.group):
+    # if we are using this script for grouping builds
+    # we loop trough the manufacturers list and split their targets
+    # if a manufacturer has more than a LIMIT of boards then we split that
+    # into sub groups such as "arch-manufacturer name-index"
+    # example:
+    #   nuttx-px4-0
+    #   nuttx-px4-1
+    #   nuttx-px4-2
+    #   nuttx-ark-0
+    #   nuttx-ark-1
+    # if the manufacturer doesn't have more targets than LIMIT then we add
+    # them to a generic group with the following structure "arch-index"
+    # example:
+    #   nuttx-0
+    #   nuttx-1
+    final_groups = []
+    temp_group = []
+    group_number = {}
+    last_man = ''
+    last_arch = ''
+    SPLIT_LIMIT = 10
+    LOWER_LIMIT = 5
+    for arch in grouped_targets:
+        if(last_arch == ''):
+            last_arch = arch
+        if(arch not in group_number):
+                group_number[arch] = 0
+
+        if(last_arch != arch and len(temp_group) > 0):
+            group_name = last_arch + "-" + str(group_number[last_arch])
+            group_number[last_arch] += 1
+            targets = comma_targets(temp_group)
+            final_groups.append({
+                "container": grouped_targets[last_arch]['container'],
+                "targets": targets,
+                "arch": last_arch,
+                "group": group_name,
+                "len": len(temp_group)
+            })
+            last_arch = arch
+            temp_group = []
+        for man in grouped_targets[arch]['manufacturers']:
+            for tar in grouped_targets[arch]['manufacturers'][man]:
+                if(last_man != man):
+                    man_len = len(grouped_targets[arch]['manufacturers'][man])
+                    if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
+                        # Manufacturers can have their own group
+                        group_name = arch + "-" + man
+                        targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
+                        last_man = man
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": targets,
+                            "arch": arch,
+                            "group": group_name,
+                            "len": len(grouped_targets[arch]['manufacturers'][man])
+                        })
+                    elif(man_len >= (SPLIT_LIMIT + 1)):
+                        # Split big man groups into subgroups
+                        # example: Pixhawk
+                        chunk_limit = SPLIT_LIMIT
+                        chunk_counter = 0
+                        for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
+                            group_name = arch + "-" + man + "-" + str(chunk_counter)
+                            targets = comma_targets(chunk)
+                            last_man = man
+                            final_groups.append({
+                                "container": grouped_targets[arch]['container'],
+                                "targets": targets,
+                                "arch": arch,
+                                "group": group_name,
+                                "len": len(chunk),
+                            })
+                            chunk_counter += 1
+                    else:
+                        temp_group.append(tar)
+
+            if(last_arch != arch and len(temp_group) > 0):
+                group_name = last_arch + "-" + str(group_number[last_arch])
+                group_number[last_arch] += 1
+                targets = comma_targets(temp_group)
+                final_groups.append({
+                    "container": grouped_targets[last_arch]['container'],
+                    "targets": targets,
+                    "arch": last_arch,
+                    "group": group_name,
+                    "len": len(temp_group)
+                })
+                last_arch = arch
+                temp_group = []
+            if(len(temp_group) > (LOWER_LIMIT - 1)):
+                group_name = arch + "-" + str(group_number[arch])
+                last_arch = arch
+                group_number[arch] += 1
+                targets = comma_targets(temp_group)
+                final_groups.append({
+                    "container": grouped_targets[arch]['container'],
+                    "targets": targets,
+                    "arch": arch,
+                    "group": group_name,
+                    "len": len(temp_group)
+                })
+                temp_group = []
+    if(verbose):
+        import pprint
+        print("================")
+        print("= final_groups =")
+        print("================")
+        pprint.pp(final_groups)
+
+        print("===============")
+        print("= JSON output =")
+        print("===============")
+
+    print(json.dumps({ "include": final_groups }, **extra_args))
+else:
+    print(json.dumps(github_action_config, **extra_args))

Tools/setup/ubuntu.sh

@@ -225,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	# Gazebo / Gazebo classic installation
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Garden) will be installed"
+		echo "Gazebo (Harmonic) will be installed"
 		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
@@ -233,7 +233,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		sudo apt-get update -y --quiet
 
 		# Install Gazebo
-		gazebo_packages="gz-garden"
+		gazebo_packages="gz-harmonic"
 	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		echo "Gazebo (Garden) will be installed"
 		echo "Earlier versions will be removed"

Tools/upload.sh

@@ -15,7 +15,7 @@ SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 fi
 
 if [ $SYSTYPE = "Linux" ]; then
-SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/ARK*,"
+SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*,"
 fi
 
 if [[ $SYSTYPE = *"CYGWIN"* ]]; then

boards/3dr/ctrl-zero-h7-oem-revg/bootloader.px4board

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

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -0,0 +1,96 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_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_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/3dr/ctrl-zero-h7-oem-revg/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1124,
+    "magic": "3dr-ctrl-zero-h7-oem-revg",
+    "description": "Firmware for the 3dr-ctrl-zero-h7-oem-revg board",
+    "image": "",
+    "build_time": 0,
+    "summary": "3dr-ctrl-zero-h7-oem-revg",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_defaults

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17
+
+safety_button start

boards/3dr/ctrl-zero-h7-oem-revg/init/rc.board_sensors

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal ICM-20602
+icm20602 -s -b 1 -R 8 start
+
+# Internal SPI bus BMI088 accel & gyro
+bmi088 -A -s -b 5 -R 8 start
+bmi088 -G -s -b 5 -R 8 start
+
+# Internal ICM-20948 (with magnetometer)
+icm20948 -s -b 1 -R 8 -M start
+
+# Interal DPS310 (barometer)
+dps310 -s -b 2 start

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/bootloader/defconfig

@@ -0,0 +1,91 @@
+#
+# 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_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/3dr/ctrl-zero-h7-oem-revg/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_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=0x1124
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL 3DR ControlZeroH7 OEM"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3DR"
+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_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_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART3=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_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board.h

@@ -0,0 +1,288 @@
+/************************************************************************************
+ * nuttx-config/include/board.h
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ************************************************************************************/
+#pragma once
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/* Clocking *************************************************************************/
+/* The board provides the following clock sources:
+ *
+ *   X1: 24 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed internal oscillator
+ *   HSE: 24 MHz crystal for HSE
+ */
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
+
+#define STM32_HSEBYP_ENABLE	1
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 24,000,000
+ *
+ * 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_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (24,000,000 / 2) * 80 = 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(2)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(80)
+#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 / 2) * 80)
+#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(32)
+#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) * 32)
+#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(32)
+#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) * 32)
+#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
+ */
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
+/* FLASH wait states */
+#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
+
+
+/* UART/USART */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+
+#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
+
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
+
+#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
+
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+
+
+/* CAN */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
+
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
+
+
+/* SPI */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
+
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+
+/* I2C */
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/nsh/defconfig

@@ -0,0 +1,260 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_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=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1124
+CONFIG_CDCACM_PRODUCTSTR="3DRControlZeroH7OEM_revG"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3DR"
+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_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=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_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=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDMMC1_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_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_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=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_SPI5=y
+CONFIG_STM32H7_SPI5_DMA=y
+CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,221 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2020 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 board 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
+ *
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI 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 = 0x08000000, LENGTH =  128K
+	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)
+
+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(.);
+	} > AXI_SRAM AT > FLASH
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_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) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
+}

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2021 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 board uses an STM32H743XIH6 and 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
+ *
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI 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 = 1920K
+
+	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)
+
+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/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -0,0 +1,65 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			drivers__led
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()

boards/3dr/ctrl-zero-h7-oem-revg/src/board_config.h

@@ -0,0 +1,187 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * Board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+#include <stm32_gpio.h>
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/* ADC channels */
+#define PX4_ADC_GPIO  \
+	/* PA2 */  GPIO_ADC12_INP14,  \
+	/* PA3 */  GPIO_ADC12_INP15,  \
+	/* PA4 */  GPIO_ADC12_INP18,  \
+	/* PC1 */  GPIO_ADC123_INP11
+
+/* Define Channel numbers must match above GPIO pins */
+#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
+#define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
+#define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
+#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
+	 (1 << ADC_SCALED_V5_CHANNEL)             | \
+	 (1 << ADC_RC_RSSI_CHANNEL))
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* CAN Silence: Silent mode control */
+#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+
+/* PWM */
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+/* Power supply control and monitoring GPIOs */
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+
+#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define BOARD_NUMBER_BRICKS             1
+
+#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_VDD_1V2_CORE_POWER_EN  	/* PH5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
+
+/* Define True logic Power Control in arch agnostic form */
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER        2  /* timer 2 */
+#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
+
+#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
+
+/* USB OTG FS */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               3  /* use timer3 for the HRT */
+#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+
+#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
+#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
+
+/* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS3"
+
+#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+
+/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
+#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
+#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
+
+/* Power switch controls ******************************************************/
+#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
+
+/*
+ * Board has a separate RC_IN
+ *
+ * GPIO PPM_IN on PB0 T3CH3
+ * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
+ *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
+ */
+#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
+#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
+#define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
+#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
+
+/* 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
+
+#define BOARD_HAS_STATIC_MANIFEST 1
+
+
+#define BOARD_NUM_IO_TIMERS 3
+
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN2_TX,                     \
+		GPIO_CAN2_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_nPOWER_IN_A,                 \
+		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_VDD_1V2_CORE_POWER_EN,	  \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_SAFETY_SWITCH_IN,            \
+		GPIO_OTGFS_VBUS,                  \
+	}
+
+__BEGIN_DECLS
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+#endif /* __ASSEMBLY__ */
+__END_DECLS

boards/3dr/ctrl-zero-h7-oem-revg/src/bootloader_main.c

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#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_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/3dr/ctrl-zero-h7-oem-revg/src/hw_config.h

@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/****************************************************************************
+ * 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/ttyS0,115200"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1124
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       24
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+#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

boards/3dr/ctrl-zero-h7-oem-revg/src/i2c.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(3),
+	initI2CBusExternal(4),
+};

boards/3dr/ctrl-zero-h7-oem-revg/src/init.c

@@ -0,0 +1,204 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board-specific early startup code. This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+#include "board_config.h"
+
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.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/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#include <mpu.h>
+
+__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)
+{
+	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
+	/* Keep Spektum on to discharge rail*/
+	VDD_3V3_SPEKTRUM_POWER_EN(false);
+
+	/* 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 */
+	VDD_3V3_SPEKTRUM_POWER_EN(last);
+}
+
+/************************************************************************************
+ * 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)
+{
+	/* Reset PWM first thing */
+	board_on_reset(-1);
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+	board_control_spi_sensors_power_configgpio();
+
+	/* configure LEDs */
+	board_autoled_initialize();
+}
+
+/****************************************************************************
+ * 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;
+ *
+ * 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 */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_3V3_SPEKTRUM_POWER_EN(true);
+
+	px4_platform_init();
+
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+
+	/* 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);
+	}
+
+#ifdef CONFIG_MMCSD
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+	}
+
+	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+	}
+
+	/* Assume that the SD card is inserted.  What choice do we have? */
+	sdio_mediachange(sdio_dev, true);
+#endif /* CONFIG_MMCSD */
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}

boards/3dr/ctrl-zero-h7-oem-revg/src/led.c

@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+__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(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(led, !phy_get_led(led));
+}

boards/3dr/ctrl-zero-h7-oem-revg/src/spi.cpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
+	}, {GPIO::PortE, GPIO::Pin3}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
+		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/3dr/ctrl-zero-h7-oem-revg/src/timer_config.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	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::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/3dr/ctrl-zero-h7-oem-revg/src/usb.c

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#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"
+
+/************************************************************************************
+ * 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_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
+}
+
+
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/ark/fmu-v6x/default.px4board

@@ -85,8 +85,6 @@ 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

boards/cuav/x7pro/default.px4board

@@ -39,7 +39,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -79,7 +77,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -91,7 +88,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -99,4 +95,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y

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

@@ -197,6 +197,12 @@
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 

boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h

@@ -197,6 +197,12 @@
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 

boards/mro/ctrl-zero-h7/nuttx-config/include/board.h

@@ -196,6 +196,12 @@
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 

boards/mro/pixracerpro/nuttx-config/include/board.h

@@ -196,6 +196,12 @@
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 

boards/px4/fmu-v4pro/test.px4board

@@ -3,6 +3,8 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y

boards/px4/fmu-v5/cryptotest.px4board

@@ -1,4 +1,6 @@
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y

boards/px4/fmu-v5x/default.px4board

@@ -29,7 +29,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/px4/fmu-v6x/default.px4board

@@ -23,27 +23,27 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=n
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=n
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
+CONFIG_DRIVERS_UAVCAN=n
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -377,7 +377,6 @@
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
-*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamScaledIMU24sendEv)
 *(.text._ZN5PX4IO10io_reg_getEhhPtj)
 *(.text.imxrt_dma_send)

msg/ActionRequest.msg

@@ -11,7 +11,7 @@ uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
 
 uint8 source # how the request was triggered
-uint8 SOURCE_RC_STICK_GESTURE = 0
+uint8 SOURCE_STICK_GESTURE = 0
 uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3

msg/BatteryStatus.msg

@@ -1,67 +1,67 @@
-uint64 timestamp			# time since system start (microseconds)
-bool connected				# Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v			# Battery voltage in volts, 0 if unknown
-float32 current_a			# Battery current in amperes, -1 if unknown
-float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
-float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
-float32 remaining			# From 1 to 0, -1 if unknown
-float32 scale				# Power scaling factor, >= 1, or -1 if unknown
-float32 time_remaining_s	# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
-float32 temperature			# temperature of the battery. NaN if unknown
-uint8 cell_count			# Number of cells, 0 if unknown
+uint64 timestamp				# time since system start (microseconds)
+bool connected					# Whether or not a battery is connected, based on a voltage threshold
+float32 voltage_v				# Battery voltage in volts, 0 if unknown
+float32 current_a				# Battery current in amperes, -1 if unknown
+float32 current_average_a			# Battery current average in amperes (for FW average in level flight), -1 if unknown
+float32 discharged_mah				# Discharged amount in mAh, -1 if unknown
+float32 remaining				# From 1 to 0, -1 if unknown
+float32 scale					# Power scaling factor, >= 1, or -1 if unknown
+float32 time_remaining_s			# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
+float32 temperature				# Temperature of the battery in degrees Celcius, NaN if unknown
+uint8 cell_count				# Number of cells, 0 if unknown
 
 uint8 BATTERY_SOURCE_POWER_MODULE = 0
 uint8 BATTERY_SOURCE_EXTERNAL = 1
 uint8 BATTERY_SOURCE_ESCS = 2
-uint8 source				# Battery source
-uint8 priority				# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity				# actual capacity of the battery
-uint16 cycle_count			# number of discharge cycles the battery has experienced
-uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
-uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
-uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
+uint8 source					# Battery source
+uint8 priority					# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity					# actual capacity of the battery
+uint16 cycle_count				# number of discharge cycles the battery has experienced
+uint16 average_time_to_empty			# predicted remaining battery capacity based on the average rate of discharge in min
+uint16 serial_number				# serial number of the battery pack
+uint16 manufacture_date				# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health				# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
+uint16 max_error				# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error		# interface error counter
+uint16 interface_error				# interface error counter
 
-float32[14] voltage_cell_v		# Battery individual cell voltages, 0 if unknown
-float32 max_cell_voltage_delta	# Max difference between individual cell voltages
+float32[14] voltage_cell_v			# Battery individual cell voltages, 0 if unknown
+float32 max_cell_voltage_delta			# Max difference between individual cell voltages
 
-bool is_powering_off			# Power off event imminent indication, false if unknown
-bool is_required			# Set if the battery is explicitly required before arming
+bool is_powering_off				# Power off event imminent indication, false if unknown
+bool is_required				# Set if the battery is explicitly required before arming
 
 
-uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
-uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
-uint8 BATTERY_WARNING_CRITICAL = 2	# critical voltage, return / abort immediately
-uint8 BATTERY_WARNING_EMERGENCY = 3	# immediate landing required
-uint8 BATTERY_WARNING_FAILED = 4	# the battery has failed completely
-uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
+uint8 BATTERY_WARNING_NONE = 0			# no battery low voltage warning active
+uint8 BATTERY_WARNING_LOW = 1			# warning of low voltage
+uint8 BATTERY_WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
+uint8 BATTERY_WARNING_EMERGENCY = 3		# immediate landing required
+uint8 BATTERY_WARNING_FAILED = 4		# the battery has failed completely
+uint8 BATTERY_STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 BATTERY_STATE_CHARGING = 7 		# Battery is charging
 
-uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
-uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
-uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
-uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
-uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
+uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
+uint8 BATTERY_FAULT_SPIKES = 1 			# Voltage spikes
+uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
+uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
+uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
+uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with battery one
+uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
+uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
+uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
+uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
+uint8 BATTERY_FAULT_COUNT = 11 			# Counter - keep it as last element!
 
-uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
-uint8 warning		# Current battery warning
+uint16 faults					# Smart battery supply status/fault flags (bitmask) for health indication.
+uint8 warning					# Current battery warning
 
 uint8 MAX_INSTANCES = 4
 
-float32 full_charge_capacity_wh     # The compensated battery capacity
-float32 remaining_capacity_wh       # The compensated battery capacity remaining
-uint16 over_discharge_count         # Number of battery overdischarge
-float32 nominal_voltage             # Nominal voltage of the battery pack
+float32 full_charge_capacity_wh     		# The compensated battery capacity
+float32 remaining_capacity_wh       		# The compensated battery capacity remaining
+uint16 over_discharge_count         		# Number of battery overdischarge
+float32 nominal_voltage             		# Nominal voltage of the battery pack
 
 float32 internal_resistance_estimate            # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate                            # [V] Open circuit voltage estimate

msg/CMakeLists.txt

@@ -73,6 +73,7 @@ set(msg_files
 	DebugVect.msg
 	DifferentialPressure.msg
 	DistanceSensor.msg
+	DistanceSensorModeChangeRequest.msg
 	Ekf2Timestamps.msg
 	EscReport.msg
 	EscStatus.msg
@@ -146,11 +147,16 @@ set(msg_files
 	MountOrientation.msg
 	ModeCompleted.msg
 	NavigatorMissionItem.msg
+	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
 	OffboardControlMode.msg
 	OnboardComputerStatus.msg
+	OpenDroneIdArmStatus.msg
+	OpenDroneIdOperatorId.msg
+	OpenDroneIdSelfId.msg
+	OpenDroneIdSystem.msg
 	OrbitStatus.msg
 	OrbTest.msg
 	OrbTestLarge.msg
@@ -181,6 +187,7 @@ set(msg_files
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannStatus.msg
 	RoverDifferentialGuidanceStatus.msg
+	RoverDifferentialSetpoint.msg
 	RoverDifferentialStatus.msg
 	Rpm.msg
 	RtlStatus.msg

msg/DistanceSensor.msg

@@ -40,3 +40,8 @@ uint8 ROTATION_UPWARD_FACING   = 24 # MAV_SENSOR_ROTATION_PITCH_90
 uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
 
 uint8 ROTATION_CUSTOM          = 100 # MAV_SENSOR_ROTATION_CUSTOM
+
+uint8 mode
+uint8 MODE_UNKNOWN  = 0
+uint8 MODE_ENABLED  = 1
+uint8 MODE_DISABLED = 2

msg/DistanceSensorModeChangeRequest.msg

@@ -0,0 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 request_on_off 			# request to disable/enable the distance sensor
+uint8 REQUEST_OFF = 0
+uint8 REQUEST_ON  = 1

msg/EstimatorStatusFlags.msg

@@ -45,6 +45,8 @@ bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag d
 bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
 bool cs_rng_terrain             # 39 - true if we are fusing range finder data for terrain
 bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain
+bool cs_valid_fake_pos          # 41 - true if a valid constant position is being fused
+bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -57,7 +59,6 @@ bool fs_bad_airspeed          #  5 - true if fusion of the airspeed has encounte
 bool fs_bad_sideslip          #  6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis has encountered a numerical error
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
-bool fs_bad_acc_bias          #  9 - true if bad delta velocity bias estimates have been detected
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
 

msg/FailsafeFlags.msg

@@ -49,6 +49,7 @@ bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure fai
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
 bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid
+bool navigator_failure        	      # Navigator failed to execute a mode
 
 # Failure detector
 bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)

msg/NavigatorStatus.msg

@@ -0,0 +1,9 @@
+# Current status of a Navigator mode
+# The possible values of nav_state are defined in the VehicleStatus msg.
+uint64 timestamp  # time since system start (microseconds)
+
+uint8 nav_state   # Source mode (values in VehicleStatus)
+uint8 failure     # Navigator failure enum
+
+uint8 FAILURE_NONE = 0
+uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground

msg/OpenDroneIdArmStatus.msg

@@ -0,0 +1,3 @@
+uint64 timestamp
+uint8 status
+char[50] error

msg/OpenDroneIdOperatorId.msg

@@ -0,0 +1,4 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 operator_id_type
+char[20] operator_id

msg/OpenDroneIdSelfId.msg

@@ -0,0 +1,4 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 description_type
+char[23] description

msg/OpenDroneIdSystem.msg

@@ -0,0 +1,13 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 operator_location_type
+uint8 classification_type
+int32 operator_latitude
+int32 operator_longitude
+uint16 area_count
+uint16 area_radius
+float32 area_ceiling
+float32 area_floor
+uint8 category_eu
+uint8 class_eu
+float32 operator_altitude_geo

msg/PositionSetpoint.msg

@@ -30,7 +30,8 @@ bool loiter_direction_counter_clockwise # loiter direction is clockwise by defau
 float32 loiter_orientation 	# Orientation of the major axis with respect to true north in rad [-pi,pi)
 uint8 	loiter_pattern		# loitern pattern to follow
 
-float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation
+float32 acceptance_radius   # horizontal acceptance_radius (meters)
+float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
 
 float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
 bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)

msg/RoverDifferentialGuidanceStatus.msg

@@ -1,10 +1,7 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 desired_speed 	      # [m/s] Desired forward speed for the rover
 float32 lookahead_distance    # [m] Lookahead distance of pure the pursuit controller
 float32 heading_error_deg 	      # [deg] Heading error of the pure pursuit controller
-float32 pid_heading_integral  # Integral of the PID for the desired yaw rate during missions
-float32 pid_throttle_integral # Integral of the PID for the throttle during missions
 uint8   state_machine         # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
 
 # TOPICS rover_differential_guidance_status

msg/RoverDifferentialSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint 		  # [m/s] Desired forward speed for the rover
+float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
+float32 yaw_rate_setpoint      		  # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
+float32 yaw_rate_setpoint_normalized      # [-1, 1] Normalized yaw rate for the rover
+float32 yaw_setpoint 	       		  # [rad] Desired yaw (heading) for the rover
+
+# TOPICS rover_differential_setpoint

msg/RoverDifferentialStatus.msg

@@ -1,8 +1,13 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 actual_speed	       # [m/s] Actual forward speed of the rover
-float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate
-float32 actual_yaw_rate_deg_s  # [deg/s] Actual yaw rate of the rover
-float32 pid_yaw_rate_integral  # Integral of the PID for the desired yaw rate controller
+float32 actual_speed	         # [m/s] Actual forward speed of the rover
+float32 actual_yaw               # [rad] Actual yaw of the rover
+float32 actual_yaw_rate          # [rad/s] Actual yaw rate of the rover
+float32 desired_yaw_rate         # [rad/s] Yaw rate setpoint for the closed loop yaw rate controller
+float32 forward_speed_normalized # [-1, 1] Normalized forward speed setpoint
+float32 speed_diff_normalized    # [-1, 1] Normalized speed difference setpoint between the left and right motor
+float32 pid_yaw_integral         # Integral of the PID for the closed loop yaw controller
+float32 pid_yaw_rate_integral    # Integral of the PID for the closed loop yaw rate controller
+float32 pid_throttle_integral    # Integral of the PID for the closed loop speed controller
 
 # TOPICS rover_differential_status

msg/SensorAirflow.msg

@@ -1,5 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 uint32 device_id                # unique device ID for the sensor that does not change between power cycles
 float32 speed			# the speed being reported by the wind / airflow sensor
-float32 direction		# the direction bein report by the wind / airflow sensor
+float32 direction		# the direction being reported by the wind / airflow sensor
 uint8 status			# Status code from the sensor

msg/TecsStatus.msg

@@ -27,3 +27,4 @@ float32 pitch_sp_rad			# Current pitch setpoint [rad]
 float32 throttle_trim			# estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
 
 float32 underspeed_ratio		# 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.
+float32 fast_descend_ratio 		#  value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]

msg/VehicleAttitudeSetpoint.msg

@@ -1,9 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 
-float32 roll_body		# body angle in NED frame (can be NaN for FW)
-float32 pitch_body		# body angle in NED frame (can be NaN for FW)
-float32 yaw_body		# body angle in NED frame (can be NaN for FW)
-
 float32 yaw_sp_move_rate	# rad/s (commanded by user)
 
 # For quaternion-based attitude control

msg/VehicleOpticalFlowVel.msg

@@ -4,6 +4,9 @@ uint64 timestamp_sample                # the timestamp of the raw data (microsec
 float32[2] vel_body                    # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
 float32[2] vel_ne                      # same as vel_body but in local frame (m/s)
 
+float32[2] vel_body_filtered           # filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
+float32[2] vel_ne_filtered             # filtered same as vel_body_filtered but in local frame (m/s)
+
 float32[2] flow_rate_uncompensated     # integrated optical flow measurement (rad/s)
 float32[2] flow_rate_compensated       # integrated optical flow measurement compensated for angular motion (rad/s)
 

msg/VehicleStatus.msg

@@ -12,7 +12,7 @@ uint8 ARMING_STATE_ARMED    = 2
 uint8 latest_arming_reason
 uint8 latest_disarming_reason
 uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
-uint8 ARM_DISARM_REASON_RC_STICK = 1
+uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
 uint8 ARM_DISARM_REASON_RC_SWITCH = 2
 uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
 uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
 static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
 static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
 
-static constexpr wq_config_t lp_default{"wq:lp_default", 2000, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50};
 
 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};

platforms/common/pab_manifest.c

@@ -357,6 +357,7 @@ static const px4_hw_mft_item_t base_configuration_17[] = {
 };
 
 // BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0
+// BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
@@ -372,6 +373,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{HW_BASE_ID(16),     base_configuration_0, arraySize(base_configuration_0)},   // Auterion Skynode ver 16
 	{HW_BASE_ID(17),     base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
 	{HW_BASE_ID(0x100),  base_configuration_0, arraySize(base_configuration_0)},   // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0
+	{HW_BASE_ID(0x150),  base_configuration_0, arraySize(base_configuration_0)},   // ZeroOne Pixhawk Baseboard ver 0x150
 };
 
 /************************************************************************************

platforms/nuttx/init/stm32f7/rc.board_arch_defaults

@@ -13,4 +13,4 @@ param set-default -s MC_AT_EN 1
 
 param set-default -s UAVCAN_ENABLE 2
 
-set LOGGER_BUF 64
+set LOGGER_BUF 40

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -75,11 +75,11 @@ static int ramtron_attach(mtd_instance_s &instance)
 	return ENXIO;
 #else
 
-	/* start the RAMTRON driver, attempt 10 times */
+	/* start the RAMTRON driver at 30MHz */
 
-	int spi_speed_mhz = 10;
+	unsigned long spi_speed_hz = 30'000'000;
 
-	for (int i = 0; i < 10; i++) {
+	for (int i = 0; spi_speed_hz > 0; i++) {
 		/* initialize the right spi */
 		struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));
 
@@ -90,7 +90,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 
 		/* this resets the spi bus, set correct bus speed again */
 		SPI_LOCK(spi, true);
-		SPI_SETFREQUENCY(spi, spi_speed_mhz * 1000 * 1000);
+		SPI_SETFREQUENCY(spi, spi_speed_hz);
 		SPI_SETBITS(spi, 8);
 		SPI_SETMODE(spi, SPIDEV_MODE3);
 		SPI_SELECT(spi, instance.devid, false);
@@ -108,7 +108,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 		}
 
 		// try reducing speed for next attempt
-		spi_speed_mhz--;
+		spi_speed_hz -= 1'000'000;
 		px4_usleep(10000);
 	}
 
@@ -118,7 +118,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 		return -EIO;
 	}
 
-	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000);
+	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, spi_speed_hz);
 
 	if (ret != OK) {
 		// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried

platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c

@@ -73,7 +73,7 @@ static char hw_base_info[HW_INFO_SIZE] = {0};
 /****************************************************************************
  * Protected Functions
  ****************************************************************************/
-
+#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
 static int dn_to_ordinal(uint16_t dn)
 {
 	/* Table is scaled for 12, so if ADC is in 16 bit mode
@@ -111,6 +111,7 @@ static int dn_to_ordinal(uint16_t dn)
 
 	return -1;
 }
+#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */
 
 /************************************************************************************
  * Name: read_id_dn
@@ -143,7 +144,7 @@ static int dn_to_ordinal(uint16_t dn)
  *   -EIO  - FAiled to init or read the ADC
  *
  ************************************************************************************/
-
+#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
 static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
 {
 	int rv = -EIO;
@@ -328,9 +329,15 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
 	stm32_configgpio(gpio_drive);
 	return rv;
 }
+#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */
 
 static int determine_hw_info(int *revision, int *version)
 {
+#if defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
+	*revision = HW_ID_EEPROM;
+	*version  = HW_ID_EEPROM;
+	return OK;
+#else
 	int dn;
 	int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);
 
@@ -344,6 +351,7 @@ static int determine_hw_info(int *revision, int *version)
 	}
 
 	return rv;
+#endif
 }
 
 /****************************************************************************

src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp

@@ -55,6 +55,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/distance_sensor_mode_change_request.h>
 
 using namespace time_literals;
 
@@ -143,8 +144,11 @@ private:
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN};
+	uORB::Subscription _dist_sense_mode_change_sub{ORB_ID(distance_sensor_mode_change_request)};
+	typeof(px4::msg::DistanceSensorModeChangeRequest::request_on_off) _req_mode{px4::msg::DistanceSensorModeChangeRequest::REQUEST_OFF};
 	bool _restriction{false};
 	bool _auto_restriction{false};
+	bool _prev_restriction{false};
 };
 
 LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
@@ -411,6 +415,17 @@ void LightwareLaser::start()
 
 int LightwareLaser::updateRestriction()
 {
+	if (_dist_sense_mode_change_sub.updated()) {
+		distance_sensor_mode_change_request_s dist_sense_mode_change;
+
+		if (_dist_sense_mode_change_sub.copy(&dist_sense_mode_change)) {
+			_req_mode = dist_sense_mode_change.request_on_off;
+
+		} else {
+			_req_mode = distance_sensor_mode_change_request_s::REQUEST_OFF;
+		}
+	}
+
 	px4::msg::VehicleStatus vehicle_status;
 
 	if (_vehicle_status_sub.update(&vehicle_status)) {
@@ -438,7 +453,7 @@ int LightwareLaser::updateRestriction()
 		updateParams();
 	}
 
-	bool _prev_restriction{_restriction};
+	_prev_restriction = _restriction;
 
 	switch (_param_sf1xx_mode.get()) {
 	case 0: // Sensor disabled
@@ -451,7 +466,7 @@ int LightwareLaser::updateRestriction()
 		break;
 
 	case 2:
-		_restriction = _auto_restriction;
+		_restriction = _auto_restriction && _req_mode != distance_sensor_mode_change_request_s::REQUEST_ON;
 		break;
 	}
 
@@ -498,6 +513,8 @@ void LightwareLaser::RunImpl()
 
 	case State::Running:
 		if (!_restriction) {
+			_px4_rangefinder.set_mode(distance_sensor_s::MODE_ENABLED);
+
 			if (PX4_OK != collect()) {
 				PX4_DEBUG("collection error");
 
@@ -506,6 +523,14 @@ void LightwareLaser::RunImpl()
 					_consecutive_errors = 0;
 				}
 			}
+
+		} else {
+			_px4_rangefinder.set_mode(distance_sensor_s::MODE_DISABLED);
+
+			if (!_prev_restriction) { // Publish disabled status once
+				_px4_rangefinder.update(hrt_absolute_time(), -1.f, 0);
+			}
+
 		}
 
 		ScheduleDelayed(_conversion_interval);

src/drivers/distance_sensor/lightware_laser_i2c/parameters.c

@@ -54,7 +54,7 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
  *
  * @value 0 Disabled
  * @value 1 Enabled
- * @value 2 Disabled during VTOL fast forward flight
+ * @value 2 Enabled in VTOL MC mode, listen to request from system in FW mode
  *
  * @min 0
  * @max 2

src/drivers/drv_sensor.h

@@ -242,6 +242,8 @@
 #define DRV_INS_DEVTYPE_VN300 0xE3
 #define DRV_DIFF_PRESS_DEVTYPE_ASP5033  0xE4
 
+#define DRV_MAG_DEVTYPE_BMM350      	0xE5
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/gps/gps.cpp

@@ -1214,11 +1214,13 @@ GPS::publish()
 void
 GPS::publishSatelliteInfo()
 {
-	if (_instance == Instance::Main) {
+	if (_instance == Instance::Main || _is_gps_main_advertised.load()) {
 		if (_p_report_sat_info != nullptr) {
 			_report_sat_info_pub.publish(*_p_report_sat_info);
 		}
 
+		_is_gps_main_advertised.store(true);
+
 	} else {
 		//we don't publish satellite info for the secondary gps
 	}

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -203,57 +203,45 @@ void ICM40609D::RunImpl()
 
 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
-			uint8_t samples = 0;
-
-			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
-				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
-
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
-					timestamp_sample = drdy_timestamp_sample;
-					samples = _fifo_gyro_samples;
-
-				} else {
-					perf_count(_drdy_missed_perf);
-				}
-
-				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
-			}
+			uint8_t samples = FIFOReadCount();
 
 			if (samples == 0) {
-				// check current FIFO count
-				const uint16_t fifo_count = FIFOReadCount();
+				perf_count(_fifo_empty_perf);
 
-				if (fifo_count >= FIFO::SIZE) {
+			} else {
+				// tolerate minor jitter, leave sample to next iteration if behind by only 1
+				if (samples == _fifo_gyro_samples + 1) {
+					timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
+					samples--;
+				}
+
+				if (samples > FIFO_MAX_SAMPLES) {
+					// not technically an overflow, but more samples than we expected or can publish
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
-
-				} else if (fifo_count == 0) {
-					perf_count(_fifo_empty_perf);
-
-				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
-
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
-					}
-
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
-					}
+					samples = 0;
 				}
 			}
 
 			bool success = false;
 
-			if (samples >= 1) {
+			if (samples > 0) {
+				if (_data_ready_interrupt_enabled) {
+					// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+					const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+					if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+						timestamp_sample = drdy_timestamp_sample;
+						samples = _fifo_gyro_samples;
+
+					} else {
+						perf_count(_drdy_missed_perf);
+					}
+
+					// push backup schedule back
+					ScheduleDelayed(_fifo_empty_interval_us * 2);
+				}
+
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -374,17 +362,11 @@ void ICM40609D::ConfigureSampleRate(int sample_rate)
 
 void ICM40609D::ConfigureFIFOWatermark(uint8_t samples)
 {
-	// FIFO watermark threshold in number of bytes
-	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
-
 	for (auto &r : _register_bank0_cfg) {
 		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
 			// FIFO_WM[7:0]  FIFO_CONFIG2
-			r.set_bits = fifo_watermark_threshold & 0xFF;
+			r.set_bits = samples & 0xFF;
 
-		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
-			// FIFO_WM[11:8] FIFO_CONFIG3
-			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
 		}
 	}
 }
@@ -537,25 +519,10 @@ bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
-
-	if (fifo_count_bytes >= FIFO::SIZE) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
-		perf_count(_fifo_empty_perf);
-		return false;
-	}
-
 	// check FIFO header in every sample
 	uint8_t valid_samples = 0;
 
-	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+	for (int i = 0; i < samples; i++) {
 		bool valid = true;
 
 		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
@@ -599,6 +566,9 @@ void ICM40609D::FIFOReset()
 	// SIGNAL_PATH_RESET: FIFO flush
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
 
+	// Read INT_STATUS to clear
+	RegisterRead(Register::BANK_0::INT_STATUS);
+
 	// reset while FIFO is disabled
 	_drdy_timestamp_sample.store(0);
 }

src/drivers/imu/invensense/icm40609d/ICM40609D.hpp

@@ -160,10 +160,11 @@ private:
 	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 
 	uint8_t _checked_register_bank0{0};
-	static constexpr uint8_t size_register_bank0_cfg{10};
+	static constexpr uint8_t size_register_bank0_cfg{11};
 	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
 		// Register                        | Set bits, Clear bits
 		{ Register::BANK_0::INT_CONFIG,    INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
+		{ Register::BANK_0::INTF_CONFIG0,  INTF_CONFIG0_BIT::FIFO_COUNT_REC | INTF_CONFIG0_BIT::UI_SIFS_CFG_DISABLE_I2C, 0},
 		{ Register::BANK_0::FIFO_CONFIG,   FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,     PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
 		{ Register::BANK_0::GYRO_CONFIG0,  GYRO_CONFIG0_BIT::GYRO_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 },

src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp

@@ -82,6 +82,8 @@ enum class BANK_0 : uint8_t {
 
 	SIGNAL_PATH_RESET = 0x4B,
 
+	INTF_CONFIG0      = 0x4C,
+
 	PWR_MGMT0         = 0x4E,
 	GYRO_CONFIG0      = 0x4F,
 	ACCEL_CONFIG0     = 0x50,
@@ -132,6 +134,16 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t {
 	FIFO_FLUSH      = Bit1,
 };
 
+// INTF_CONFIG0
+enum INTF_CONFIG0_BIT : uint8_t {
+	FIFO_HOLD_LAST_DATA_EN = Bit7,
+	FIFO_COUNT_REC = Bit6,
+	FIFO_COUNT_ENDIAN = Bit5,
+	SENSOR_DATA_ENDIAN = Bit4,
+	UI_SIFS_CFG_DISABLE_SPI = Bit1,
+	UI_SIFS_CFG_DISABLE_I2C = Bit1 | Bit0
+};
+
 // PWR_MGMT0
 enum PWR_MGMT0_BIT : uint8_t {
 	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode

src/drivers/magnetometer/bosch/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 add_subdirectory(bmm150)
+add_subdirectory(bmm350)

src/drivers/magnetometer/bosch/bmm350/BMM350.cpp

@@ -0,0 +1,773 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 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.
+ *
+ ****************************************************************************/
+
+#include "BMM350.hpp"
+using namespace time_literals;
+
+BMM350::BMM350(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	ModuleParams(nullptr),
+	_px4_mag(get_device_id(), config.rotation)
+
+{
+}
+
+BMM350::~BMM350()
+{
+	perf_free(_reset_perf);
+	perf_free(_bad_read_perf);
+	perf_free(_self_test_failed_perf);
+}
+
+int BMM350::init()
+{
+	ModuleParams::updateParams();
+	ParametersUpdate(true);
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool BMM350::Reset()
+{
+	RegisterWrite(Register::CMD, SOFT_RESET);
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleDelayed(1_ms);
+	return true;
+}
+
+void BMM350::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_bad_read_perf);
+	perf_print_counter(_self_test_failed_perf);
+}
+
+void BMM350::ParametersUpdate(bool force)
+{
+	if (_parameter_update_sub.updated() || force) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		updateParams();
+		UpdateMagParams();
+	}
+}
+
+void BMM350::UpdateMagParams()
+{
+	uint8_t odr = GetODR(_param_bmm350_odr.get());
+	uint8_t avg = GetAVG(_param_bmm350_avg.get());
+
+	_mag_odr_mode = odr;
+	_mag_avg_mode = avg;
+	_mag_pad_drive = static_cast<uint8_t>(_param_bmm350_drive.get());
+	PX4_DEBUG("Set params odr = %d, avg = %d, drive = %d", _mag_odr_mode, _mag_avg_mode, _mag_pad_drive);
+}
+
+uint8_t BMM350::GetODR(int value)
+{
+	switch (value) {
+	case 0: return ODR_400HZ;
+
+	case 1: return ODR_200HZ;
+
+	case 2: return ODR_100HZ;
+
+	case 3: return ODR_50HZ;
+
+	case 4: return ODR_25HZ;
+
+	case 5: return ODR_12_5HZ;
+
+	case 6: return ODR_6_25HZ;
+
+	case 7: return ODR_3_125HZ;
+
+	case 8: return ODR_1_5625HZ;
+
+	default: return ODR_200HZ;
+	}
+}
+
+hrt_abstime BMM350::OdrToUs(uint8_t odr)
+{
+	switch (odr) {
+	case ODR_400HZ:
+		return 2500_us;
+
+	case ODR_200HZ:
+		return 5000_us;
+
+	case ODR_100HZ:
+		return 10000_us;
+
+	case ODR_50HZ:
+		return 20000_us;
+
+	case ODR_25HZ:
+		return 40000_us;
+
+	case ODR_12_5HZ:
+		return 80000_us;
+
+	case ODR_6_25HZ:
+		return 160000_us;
+
+	case ODR_3_125HZ:
+		return 320000_us;
+
+	case ODR_1_5625HZ:
+		return 640000_us;
+
+	default:
+		return 5000_us;
+	}
+}
+
+uint8_t BMM350::GetAVG(int value)
+{
+	switch (value) {
+	case 0: return AVG_NO_AVG;
+
+	case 1: return AVG_2;
+
+	case 2: return AVG_4;
+
+	case 3: return AVG_8;
+
+	default: return AVG_2;
+	}
+}
+
+
+int BMM350::probe()
+{
+	for (int i = 0; i < 3; i++) {
+		uint8_t chip_id;
+
+		if (PX4_OK == RegisterRead(Register::CHIP_ID, &chip_id)) {
+			PX4_DEBUG("CHIP_ID: 0x%02hhX", chip_id);
+
+			if (chip_id == chip_identification_number) {
+				return PX4_OK;
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void BMM350::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+	int ret = PX4_OK;
+	ParametersUpdate();
+
+	switch (_state) {
+	case STATE::RESET: {
+			if (RegisterWrite(Register::CMD, SOFT_RESET) == PX4_OK) {
+				_reset_timestamp = now;
+				_state = STATE::WAIT_FOR_RESET;
+				perf_count(_reset_perf);
+			}
+
+			ScheduleDelayed(10_ms);
+		}
+		break;
+
+	case STATE::WAIT_FOR_RESET: {
+			ret = probe();
+
+			if (ret == PX4_OK) {
+				_state = STATE::RESET;
+				uint8_t status_0;
+				ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
+
+				if (ret == PX4_OK && (status_0 & PWR_NORMAL) != 0) {
+					ret = PX4_ERROR;
+				}
+
+				if (ret == PX4_OK) {
+					ret = UpdateMagOffsets();
+				}
+
+				if (ret == PX4_OK) {
+					PX4_DEBUG("Going to FGR");
+					_state = STATE::FGR;
+
+				}
+
+				ScheduleDelayed(10_ms);
+
+			} else {
+				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(100_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 10 ms");
+					ScheduleDelayed(10_ms);
+				}
+			}
+		}
+		break;
+
+	case STATE::FGR: {
+			_state = STATE::RESET;
+			uint8_t odr_reg_data = (ODR_100HZ & 0xf);
+			odr_reg_data = ((odr_reg_data & ~(0x30)) | ((AVG_2 << 0x4) & 0x30));
+			ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data);
+
+			if (ret == PX4_OK) {
+				ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, EN_XYZ);
+			}
+
+			if (ret == PX4_OK) {
+				ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FGR);
+			}
+
+			if (ret == PX4_OK) {
+				PX4_DEBUG("Going to BR");
+				_state = STATE::BR;
+			}
+
+			ScheduleDelayed(30_ms);
+		}
+		break;
+
+	case STATE::BR: {
+			uint8_t status_0;
+			_state = STATE::RESET;
+			ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
+
+			if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_FGR) {
+				ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_BR_FAST);
+
+				if (ret == PX4_OK) {
+					PX4_DEBUG("Going to after reset");
+					_state = STATE::AFTER_RESET;
+				}
+			}
+
+			ScheduleDelayed(4_ms);
+		}
+		break;
+
+	case STATE::AFTER_RESET: {
+			uint8_t status_0;
+			_state = STATE::RESET;
+			ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
+
+			if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_BR_FAST) {
+				_state = STATE::MEASURE_FORCED;
+				_self_test_state = SELF_TEST_STATE::INIT;
+				PX4_DEBUG("Going to fast FM");
+			}
+
+			ScheduleNow();
+		}
+		break;
+
+	case STATE::MEASURE_FORCED: {
+			ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FAST_FM);
+
+			if (ret == PX4_OK) {
+				_state = STATE::SELF_TEST_CHECK;
+
+			} else {
+				_state = STATE::RESET;
+			}
+
+			ScheduleDelayed(OdrToUs(_mag_odr_mode));
+			break;
+		}
+
+	case STATE::SELF_TEST_CHECK: {
+
+			float xyzt[4];
+			_state = STATE::RESET;
+
+			if (ReadOutRawData(xyzt) != PX4_OK) {
+				perf_count(_self_test_failed_perf);
+				ScheduleNow();
+				break;
+			}
+
+			switch (_self_test_state) {
+			case SELF_TEST_STATE::INIT:
+				memcpy(_initial_self_test_values, xyzt, sizeof(_initial_self_test_values));
+
+				if (RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_X) == PX4_OK) {
+					_self_test_state = SELF_TEST_STATE::POS_X;
+					_state = STATE::MEASURE_FORCED;
+				}
+
+				break;
+
+			case SELF_TEST_STATE::POS_X:
+				if (xyzt[0] - _initial_self_test_values[0] >= 130.0f &&
+				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_X) == PX4_OK) {
+					_self_test_state = SELF_TEST_STATE::NEG_X;
+					_state = STATE::MEASURE_FORCED;
+				}
+
+				break;
+
+			case SELF_TEST_STATE::NEG_X:
+				if (xyzt[0] - _initial_self_test_values[0] <= -130.0f &&
+				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_Y) == PX4_OK) {
+					_self_test_state = SELF_TEST_STATE::POS_Y;
+					_state = STATE::MEASURE_FORCED;
+				}
+
+				break;
+
+			case SELF_TEST_STATE::POS_Y:
+				if (xyzt[1] - _initial_self_test_values[1] >= 130.0f &&
+				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_Y) == PX4_OK) {
+					_self_test_state = SELF_TEST_STATE::NEG_Y;
+					_state = STATE::MEASURE_FORCED;
+				}
+
+				break;
+
+			case SELF_TEST_STATE::NEG_Y:
+				if (xyzt[1] - _initial_self_test_values[1] <= -130.0f &&
+				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_DISABLE) == PX4_OK) {
+					PX4_DEBUG("Self test good, going to configure");
+					_state = STATE::CONFIGURE;
+				}
+
+				break;
+
+			}
+
+			if (_state == STATE::RESET) {
+				PX4_DEBUG("Self test failed");
+				perf_count(_self_test_failed_perf);
+			}
+
+			ScheduleDelayed(1_ms);
+		}
+		break;
+
+
+	case STATE::CONFIGURE:
+		if (Configure() == PX4_OK) {
+			_state = STATE::READ;
+			PX4_DEBUG("Configure went fine");
+			ScheduleOnInterval(OdrToUs(_mag_odr_mode), 50_ms);
+
+		} else {
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::READ: {
+			// -- start get_compensated_mag_xyz_temp_data
+			float out_data[4] = {0.0f};
+			float dut_offset_coeff[3], dut_sensit_coeff[3], dut_tcos[3], dut_tcss[3];
+			float cr_ax_comp_x, cr_ax_comp_y, cr_ax_comp_z;
+
+			ret = ReadOutRawData(out_data);
+
+			if (ret == PX4_OK) {
+				// Apply compensation to temperature reading
+				out_data[3] = (1 + _mag_comp_vals.dut_sensit_coef.t_sens) * out_data[3] +
+					      _mag_comp_vals.dut_offset_coef.t_offs;
+
+				// Store magnetic compensation structure to an array
+				dut_offset_coeff[0] = _mag_comp_vals.dut_offset_coef.offset_x;
+				dut_offset_coeff[1] = _mag_comp_vals.dut_offset_coef.offset_y;
+				dut_offset_coeff[2] = _mag_comp_vals.dut_offset_coef.offset_z;
+
+				dut_sensit_coeff[0] = _mag_comp_vals.dut_sensit_coef.sens_x;
+				dut_sensit_coeff[1] = _mag_comp_vals.dut_sensit_coef.sens_y;
+				dut_sensit_coeff[2] = _mag_comp_vals.dut_sensit_coef.sens_z;
+
+				dut_tcos[0] = _mag_comp_vals.dut_tco.tco_x;
+				dut_tcos[1] = _mag_comp_vals.dut_tco.tco_y;
+				dut_tcos[2] = _mag_comp_vals.dut_tco.tco_z;
+
+				dut_tcss[0] = _mag_comp_vals.dut_tcs.tcs_x;
+				dut_tcss[1] = _mag_comp_vals.dut_tcs.tcs_y;
+				dut_tcss[2] = _mag_comp_vals.dut_tcs.tcs_z;
+
+				for (int idx = 0; idx < 3; idx++) {
+					out_data[idx] *= 1 + dut_sensit_coeff[idx];
+					out_data[idx] += dut_offset_coeff[idx];
+					out_data[idx] += dut_tcos[idx] * (out_data[3] - _mag_comp_vals.dut_t0);
+					out_data[idx] /= 1 + dut_tcss[idx] * (out_data[3] - _mag_comp_vals.dut_t0);
+				}
+
+				cr_ax_comp_x = (out_data[0] - _mag_comp_vals.cross_axis.cross_x_y * out_data[1]) /
+					       (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y);
+				cr_ax_comp_y = (out_data[1] - _mag_comp_vals.cross_axis.cross_y_x * out_data[0]) /
+					       (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y);
+				cr_ax_comp_z =
+					(out_data[2] +
+					 (out_data[0] *
+					  (_mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_z_y -
+					   _mag_comp_vals.cross_axis.cross_z_x) -
+					  out_data[1] *
+					  (_mag_comp_vals.cross_axis.cross_z_y - _mag_comp_vals.cross_axis.cross_x_y *
+					   _mag_comp_vals.cross_axis.cross_z_x)) /
+					 (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y));
+
+				out_data[0] = cr_ax_comp_x;
+				out_data[1] = cr_ax_comp_y;
+				out_data[2] = cr_ax_comp_z;
+				_px4_mag.set_error_count(perf_event_count(_bad_read_perf) + perf_event_count(_self_test_failed_perf));
+				_px4_mag.set_temperature(out_data[3]);
+				_px4_mag.update(now, out_data[0], out_data[1], out_data[2]);
+
+			} else {
+				perf_count(_bad_read_perf);
+			}
+		}
+
+		break;
+	}
+}
+
+int BMM350::Configure()
+{
+	PX4_DEBUG("Configuring");
+	uint8_t readData = 0;
+	int ret;
+
+	// Set pad drive
+	ret = RegisterWrite(Register::PAD_CTRL, (_mag_pad_drive & 0x7));
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("Couldn't set pad drive, defaults to 7");
+		return ret;
+	}
+
+	// Set PMU data aggregation
+	uint8_t odr = _mag_odr_mode;
+	uint8_t avg = _mag_avg_mode;
+
+	if (odr == ODR_400HZ && avg >= AVG_2) {
+		avg = AVG_NO_AVG;
+
+	} else if (odr == ODR_200HZ && avg >= AVG_4) {
+		avg = AVG_2;
+
+	} else if (odr == ODR_100HZ && avg >= AVG_8) {
+		avg = AVG_4;
+	}
+
+	uint8_t odr_reg_data = (odr & 0xf);
+	odr_reg_data = ((odr_reg_data & ~(0x30)) | ((avg << 0x4) & 0x30));
+
+	ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("Cannot set PMU AGG REG");
+		return ret;
+	}
+
+	ret = RegisterRead(Register::PMU_CMD_AGGR_SET, &readData);
+
+	if (ret != PX4_OK || readData != odr_reg_data) {
+		PX4_DEBUG("Couldn't check PMU AGGR REG");
+		return ret;
+	}
+
+	odr_reg_data = PMU_CMD_UPDATE_OAE;
+	ret = RegisterWrite(Register::PMU_CMD, odr_reg_data);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("Couldn't write PMU CMD REG");
+		return ret;
+	}
+
+	ret = RegisterRead(Register::PMU_CMD, &readData);
+
+	if (ret != PX4_OK || readData != odr_reg_data) {
+		PX4_DEBUG("Couldn't check PMU CMD REG");
+		return ret;
+	}
+
+	// Enable AXIS
+	uint8_t axis_data = EN_X | EN_Y | EN_Z;
+	// PMU_CMD_AXIS_EN
+	ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, axis_data);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("Couldn't write AXIS data");
+		return ret;
+	}
+
+	ret = RegisterRead(Register::PMU_CMD_AXIS_EN, &readData);
+
+	if (ret != PX4_OK || readData != axis_data) {
+		PX4_DEBUG("Couldn't cross check the set AXIS");
+		return ret;
+	}
+
+	ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_NM);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("Failed to start mag in normal mode");
+		return ret;
+	}
+
+	// microTesla -> Gauss
+	_px4_mag.set_scale(0.01f);
+
+	return ret;
+}
+
+int32_t BMM350::FixSign(uint32_t inval, int8_t num_bits)
+{
+	int32_t power = 1 << (num_bits - 1); // Calculate 2^(num_bits - 1)
+	int32_t retval = static_cast<int32_t>(inval);
+
+	if (retval >= power) {
+		retval -= (power << 1); // Equivalent to retval = retval - (power * 2)
+	}
+
+	return retval;
+}
+
+int BMM350::ReadOutRawData(float *out_data)
+{
+	if (out_data == NULL) {
+		return -1;
+	}
+
+	float temp = 0.0;
+	struct BMM350::raw_mag_data raw_data = {0};
+
+	// --- Start read_uncomp_mag_temp_data
+	uint8_t mag_data[14] = {0};
+
+	uint32_t raw_mag_x, raw_mag_y, raw_mag_z, raw_temp;
+	uint8_t cmd = static_cast<uint8_t>(Register::DATAX_XLSB);
+
+	uint8_t res = transfer(&cmd, 1, (uint8_t *)&mag_data, sizeof(mag_data));
+
+	if (res != PX4_OK) {
+		return -1;
+	}
+
+	raw_mag_x = mag_data[2] + ((uint32_t)mag_data[3] << 8) + ((uint32_t)mag_data[4] << 16);
+	raw_mag_y = mag_data[5] + ((uint32_t)mag_data[6] << 8) + ((uint32_t)mag_data[7] << 16);
+	raw_mag_z = mag_data[8] + ((uint32_t)mag_data[9] << 8) + ((uint32_t)mag_data[10] << 16);
+	raw_temp = mag_data[11] + ((uint32_t)mag_data[12] << 8) + ((uint32_t)mag_data[13] << 16);
+
+	raw_data.raw_x = FixSign(raw_mag_x, 24);
+	raw_data.raw_y = FixSign(raw_mag_y, 24);
+	raw_data.raw_z = FixSign(raw_mag_z, 24);
+	raw_data.raw_t = FixSign(raw_temp, 24);
+	// --- End read_uncomp_mag_temp_data
+
+	// --- Start read_out_raw_data
+	out_data[0] = (float)raw_data.raw_x * lsb_to_utc_degc[0];
+	out_data[1] = (float)raw_data.raw_y * lsb_to_utc_degc[1];
+	out_data[2] = (float)raw_data.raw_z * lsb_to_utc_degc[2];
+	out_data[3] = (float)raw_data.raw_t * lsb_to_utc_degc[3];
+
+	// Adjust temperature
+	if (out_data[3] > 0.0f) {
+		temp = (float)(out_data[3] - (1 * 25.49f));
+
+	} else if (out_data[3] < 0.0f) {
+		temp = (float)(out_data[3] - (-1 * 25.49f));
+
+	} else {
+		temp = (float)(out_data[3]);
+	}
+
+	out_data[3] = temp;
+
+	return res;
+}
+
+int BMM350::ReadOTPWord(uint8_t addr, uint16_t *lsb_msb)
+{
+	uint8_t otp_cmd = OTP_DIR_READ | (addr & OTP_WORD_MSK);
+	int ret = RegisterWrite(Register::OTP_CMD, otp_cmd);
+	uint8_t otp_status = 0;
+
+	if (ret == PX4_OK) {
+		do {
+			ret = RegisterRead(Register::OTP_STATUS, &otp_status);
+
+			if (ret != PX4_OK) {
+				return PX4_ERROR;
+			}
+		} while (!(otp_status & 0x01));
+
+		uint8_t msb = 0, lsb = 0;
+		ret = RegisterRead(Register::OTP_DATA_MSB, &msb);
+
+		if (ret == PX4_OK) {
+			ret  = RegisterRead(Register::OTP_DATA_LSB, &lsb);
+
+			if (ret == PX4_OK) {
+				*lsb_msb = ((msb << 8) | lsb) & 0xffff;
+			}
+		}
+	}
+
+	return ret;
+}
+
+int BMM350::UpdateMagOffsets()
+{
+	PX4_DEBUG("DUMPING OTP");
+	uint16_t otp_data[32] = {0};
+
+	for (int idx = 0; idx < 32; idx++) {
+		if (ReadOTPWord(idx, &otp_data[idx]) != PX4_OK) {
+			return PX4_ERROR;
+		}
+
+		PX4_DEBUG("i: %i, val = %i", idx, otp_data[idx]);
+	}
+
+	if (RegisterWrite(Register::OTP_CMD, PWR_OFF_OTP) != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	PX4_DEBUG("var_id: %i", (otp_data[30] & 0x7f00) >> 9);
+
+	PX4_DEBUG("UPDATING OFFSETS");
+	uint16_t off_x_lsb_msb, off_y_lsb_msb, off_z_lsb_msb, t_off;
+	uint8_t sens_x, sens_y, sens_z, t_sens;
+	uint8_t tco_x, tco_y, tco_z;
+	uint8_t tcs_x, tcs_y, tcs_z;
+	uint8_t cross_x_y, cross_y_x, cross_z_x, cross_z_y;
+
+	off_x_lsb_msb = otp_data[0x0E] & 0x0FFF;
+	off_y_lsb_msb = ((otp_data[0x0E] & 0xF000) >> 4) +
+			(otp_data[0x0F] & 0x00FF);
+	off_z_lsb_msb = (otp_data[0x0F] & 0x0F00) +
+			(otp_data[0x10] & 0x00FF);
+	t_off = otp_data[0x0D] & 0x00FF;
+
+	_mag_comp_vals.dut_offset_coef.offset_x = FixSign(off_x_lsb_msb, 12);
+	_mag_comp_vals.dut_offset_coef.offset_y = FixSign(off_y_lsb_msb, 12);
+	_mag_comp_vals.dut_offset_coef.offset_z = FixSign(off_z_lsb_msb, 12);
+	_mag_comp_vals.dut_offset_coef.t_offs = FixSign(t_off, 8) / 5.0f;
+
+	sens_x = (otp_data[0x10] & 0xFF00) >> 8;
+	sens_y = (otp_data[0x11] & 0x00FF);
+	sens_z = (otp_data[0x11] & 0xFF00) >> 8;
+	t_sens = (otp_data[0x0D] & 0xFF00) >> 8;
+
+	_mag_comp_vals.dut_sensit_coef.sens_x = FixSign(sens_x, 8) / 256.0f;
+	_mag_comp_vals.dut_sensit_coef.sens_y = (FixSign(sens_y, 8) / 256.0f) + 0.01f;
+	_mag_comp_vals.dut_sensit_coef.sens_z = FixSign(sens_z, 8) / 256.0f;
+	_mag_comp_vals.dut_sensit_coef.t_sens = FixSign(t_sens, 8) / 512.0f;
+
+	tco_x = (otp_data[0x12] & 0x00FF);
+	tco_y = (otp_data[0x13] & 0x00FF);
+	tco_z = (otp_data[0x14] & 0x00FF);
+
+	_mag_comp_vals.dut_tco.tco_x = FixSign(tco_x, 8) / 32.0f;
+	_mag_comp_vals.dut_tco.tco_y = FixSign(tco_y, 8) / 32.0f;
+	_mag_comp_vals.dut_tco.tco_z = FixSign(tco_z, 8) / 32.0f;
+
+	tcs_x = (otp_data[0x12] & 0xFF00) >> 8;
+	tcs_y = (otp_data[0x13] & 0xFF00) >> 8;
+	tcs_z = (otp_data[0x14] & 0xFF00) >> 8;
+
+	_mag_comp_vals.dut_tcs.tcs_x = FixSign(tcs_x, 8) / 16384.0f;
+	_mag_comp_vals.dut_tcs.tcs_y = FixSign(tcs_y, 8) / 16384.0f;
+	_mag_comp_vals.dut_tcs.tcs_z = (FixSign(tcs_z, 8) / 16384.0f) - 0.0001f;
+
+	_mag_comp_vals.dut_t0 = (FixSign(otp_data[0x18], 16) / 512.0f) + 23.0f;
+
+	cross_x_y = (otp_data[0x15] & 0x00FF);
+	cross_y_x = (otp_data[0x15] & 0xFF00) >> 8;
+	cross_z_x = (otp_data[0x16] & 0x00FF);
+	cross_z_y = (otp_data[0x16] & 0xFF00) >> 8;
+
+	_mag_comp_vals.cross_axis.cross_x_y = FixSign(cross_x_y, 8) / 800.0f;
+	_mag_comp_vals.cross_axis.cross_y_x = FixSign(cross_y_x, 8) / 800.0f;
+	_mag_comp_vals.cross_axis.cross_z_x = FixSign(cross_z_x, 8) / 800.0f;
+	_mag_comp_vals.cross_axis.cross_z_y = FixSign(cross_z_y, 8) / 800.0f;
+	return PX4_OK;
+}
+
+int BMM350::RegisterRead(Register reg, uint8_t *value)
+{
+	const uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t buffer[3] = {0};
+	int ret = transfer(&cmd, 1, buffer, 3);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("register read 0x%02hhX failed, ret = %d", cmd, ret);
+
+	} else {
+		*value = buffer[2];
+	}
+
+	return ret;
+}
+
+int BMM350::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t buffer[2] {(uint8_t)reg, value};
+	int ret = transfer(buffer, sizeof(buffer), nullptr, 0);
+
+	if (ret != PX4_OK) {
+		PX4_DEBUG("register write 0x%02hhX failed, ret = %d", (uint8_t)reg, ret);
+	}
+
+	return ret;
+}

src/drivers/magnetometer/bosch/bmm350/BMM350.hpp

@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2022 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 BMM350.hpp
+ *
+ * Driver for the Bosch BMM350 connected via I2C.
+ *
+ */
+
+#pragma once
+
+#include "Bosch_BMM350_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module_params.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/SubscriptionInterval.hpp>
+
+using namespace Bosch_BMM350;
+using namespace time_literals;
+
+class BMM350 : public device::I2C, public I2CSPIDriver<BMM350>, public ModuleParams
+{
+public:
+	BMM350(const I2CSPIDriverConfig &config);
+	~BMM350() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	struct mag_temp_data {
+		float x;
+		float y;
+		float z;
+		float temp;
+	};
+
+	struct raw_mag_data {
+		int32_t raw_x;
+		int32_t raw_y;
+		int32_t raw_z;
+		int32_t raw_t;
+	};
+
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct dut_offset_coef {
+		float t_offs;
+		float offset_x;
+		float offset_y;
+		float offset_z;
+	};
+	struct dut_sensit_coef {
+		float t_sens;
+		float sens_x;
+		float sens_y;
+		float sens_z;
+	};
+
+	struct dut_tco {
+		float tco_x;
+		float tco_y;
+		float tco_z;
+	};
+
+	struct dut_tcs {
+		float tcs_x;
+		float tcs_y;
+		float tcs_z;
+	};
+
+	struct cross_axis {
+		float cross_x_y;
+		float cross_y_x;
+		float cross_z_x;
+		float cross_z_y;
+	};
+
+	struct mag_compensate_vals {
+		struct dut_offset_coef dut_offset_coef;
+		struct dut_sensit_coef dut_sensit_coef;
+		struct dut_tco dut_tco;
+		struct dut_tcs dut_tcs;
+		float dut_t0;
+		struct cross_axis cross_axis;
+	};
+
+	int probe() override;
+	bool Reset();
+	int Configure();
+
+	int RegisterRead(Register reg, uint8_t *value);
+	int RegisterWrite(Register reg, uint8_t value);
+
+	int8_t CompensateAxisAndTemp();
+	int ReadOutRawData(float *out_data);
+	int ReadOTPWord(uint8_t addr, uint16_t *lsb_msb);
+	int32_t FixSign(uint32_t inval, int8_t num_bits);
+
+	int UpdateMagOffsets();
+	void ParametersUpdate(bool force = false);
+	void UpdateMagParams();
+	uint8_t GetODR(int value);
+	hrt_abstime OdrToUs(uint8_t value);
+	uint8_t GetAVG(int value);
+
+	PX4Magnetometer _px4_mag;
+
+	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME ": reset")};
+	perf_counter_t _bad_read_perf{perf_alloc(PC_COUNT, MODULE_NAME ": bad read")};
+	perf_counter_t _self_test_failed_perf{perf_alloc(PC_COUNT, MODULE_NAME ": self test failed")};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+
+	mag_compensate_vals _mag_comp_vals{0};
+
+	float _initial_self_test_values[4];
+
+	uint8_t _mag_odr_mode = ODR_200HZ;
+	uint8_t _mag_avg_mode = AVG_2;
+	uint8_t _mag_pad_drive = 7;
+
+
+	static constexpr float BXY_SENS = 14.55f;
+	static constexpr float BZ_SENS = 9.0f;
+	static constexpr float TEMP_SENS = 0.00204f;
+	static constexpr float INA_XY_GAIN_TRT = 19.46f;
+	static constexpr float INA_Z_GAIN_TRT = 31.0f;
+	static constexpr float ADC_GAIN = 1 / 1.5f;
+	static constexpr float LUT_GAIN = 0.714607238769531f;
+	static constexpr float POWER = 1000000.0f / 1048576.0f;
+	float lsb_to_utc_degc[4] = {
+		(POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
+		(POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
+		(POWER / (BZ_SENS *INA_Z_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
+		1 / (TEMP_SENS *ADC_GAIN *LUT_GAIN * 1048576)
+	};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		FGR,
+		BR,
+		AFTER_RESET,
+		MEASURE_FORCED,
+		SELF_TEST_CHECK,
+		CONFIGURE,
+		READ,
+	} _state{STATE::RESET};
+
+	enum class SELF_TEST_STATE : uint8_t {
+		INIT,
+		POS_X,
+		NEG_X,
+		POS_Y,
+		NEG_Y
+	} _self_test_state{SELF_TEST_STATE::INIT};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::BMM350_ODR>) _param_bmm350_odr,
+		(ParamInt<px4::params::BMM350_AVG>) _param_bmm350_avg,
+		(ParamInt<px4::params::BMM350_DRIVE>) _param_bmm350_drive
+	)
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+};

src/drivers/magnetometer/bosch/bmm350/Bosch_BMM350_registers.hpp

@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2024 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 Bosch_BMM350_registers.hpp
+ *
+ * Bosch BMM350 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace Bosch_BMM350
+{
+#define ENABLE_X_AXIS(axis_data) (axis_data = (axis_data & ~(0x01)) | (1 & 0x01))
+#define ENABLE_Y_AXIS(axis_data) (axis_data = ((axis_data & ~(0x02)) | ((1 << 0x1) & 0x02)))
+#define ENABLE_Z_AXIS(axis_data) (axis_data = ((axis_data & ~(0x04)) | ((1 << 0x2) & 0x04)))
+
+static constexpr uint32_t I2C_SPEED = 400 * 1000;
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x14;
+static constexpr uint8_t chip_identification_number = 0x33;
+
+enum class Register : uint8_t {
+	CHIP_ID = 0x00,
+
+	PAD_CTRL = 0x03,
+	PMU_CMD_AGGR_SET = 0x04,
+	PMU_CMD_AXIS_EN = 0x05,
+	PMU_CMD = 0x06,
+	PMU_STATUS_0 = 0x07,
+	PMU_STATUS_1 = 0x08,
+
+	I2C_WDT_SET = 0x0a,
+
+	DATAX_XLSB = 0x31,
+
+	OTP_CMD = 0x50,
+	OTP_DATA_MSB = 0x52,
+	OTP_DATA_LSB = 0x53,
+	OTP_STATUS = 0x55,
+
+	TMR_SELF_TEST_USER = 0x60,
+	CMD = 0x7e
+};
+
+enum CONTROL_CMD : uint8_t {
+	SOFT_RESET = 0xb6,
+	EN_XYZ = 0x7
+};
+
+enum PMU_CONTROL_CMD : uint8_t {
+	PMU_CMD_SUSPEND = 0x00,
+	PMU_CMD_NM = 0x01,
+	PMU_CMD_UPDATE_OAE = 0x02,
+	PMU_CMD_FM = 0x03,
+	PMU_CMD_FAST_FM = 0x04,
+	PMU_CMD_FGR = 0x05,
+	PMU_CMD_FAST_FGR = 0x06,
+	PMU_CMD_BR = 0x07,
+	PMU_CMD_BR_FAST = 0x08,
+	PMU_CMD_NM_TC = 0x09
+};
+
+static inline uint8_t PMU_CMD_STATUS_0_RES(uint8_t val)
+{
+	return (val >> 5) & 0x7;
+};
+
+enum PMU_STATUS_0_BIT : uint8_t {
+	PMU_BUSY = (1 << 0),
+	ODR_OVWR = (1 << 1),
+	AVG_OVWR = (1 << 2),
+	PWR_NORMAL = (1 << 3),
+	ILLEGAL_CMD = (1 << 4)
+};
+
+enum PMU_STATUS_VALUE {
+	PMU_STATUS_SUS = 0x0,
+	PMU_STATUS_NM = 0x1,
+	PMU_STATUS_UPDATE_OAE = 0x2,
+	PMU_STATUS_FM = 0x3,
+	PMU_STATUS_FM_FAST = 0x4,
+	PMU_STATUS_FGR = 0x5,
+	PMU_STATUS_FGR_FAST = 0x6,
+	PMU_STATUS_BR = 0x7,
+	PMU_STATUS_BR_FAST = 0x7,
+};
+
+enum ODR_CONTROL_CMD : uint8_t {
+	ODR_400HZ = 0x2,
+	ODR_200HZ = 0x3,
+	ODR_100HZ = 0x4,
+	ODR_50HZ = 0x5,
+	ODR_25HZ = 0x6,
+	ODR_12_5HZ = 0x7,
+	ODR_6_25HZ = 0x8,
+	ODR_3_125HZ = 0x9,
+	ODR_1_5625HZ = 0xa
+};
+
+enum AVG_CONTROL_CMD : uint8_t {
+	AVG_NO_AVG = 0x0,
+	AVG_2 = 0x1,
+	AVG_4 = 0x2,
+	AVG_8 = 0x3
+};
+
+enum ENABLE_AXIS_BIT : uint8_t {
+	EN_X = (1 << 0),
+	EN_Y = (1 << 1),
+	EN_Z = (1 << 2)
+};
+
+enum OTP_CONTROL_CMD : uint8_t {
+	PWR_OFF_OTP = 0x80,
+	OTP_DIR_READ = 0x20,
+	OTP_WORD_MSK = 0x1F,
+};
+
+enum SELF_TEST_CMD : uint8_t {
+	SELF_TEST_DISABLE = 0x00,
+	SELF_TEST_POS_X = 0x0d,
+	SELF_TEST_NEG_X = 0x0b,
+	SELF_TEST_POS_Y = 0x15,
+	SELF_TEST_NEG_Y = 0x13,
+};
+} // namespace Bosch_BMM350