Log camera topics

Eliminate intermediate variable
Add fw state for path following
2026-06-08 19:50:05 +08:00 · 2023-03-30 19:05:50 +02:00 · 2023-03-28 18:48:26 +02:00 · 2023-03-28 17:13:07 +02:00 · 2023-03-27 10:28:43 -07:00 · 2023-03-27 10:28:43 -07:00
358 changed files with 13151 additions and 17983 deletions
@@ -87,7 +87,6 @@ pipeline {
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
-                     "nxp_imxrt1170-evk_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -55,7 +55,6 @@ jobs:
          nxp_fmuk66-e,
          nxp_fmuk66-v3,
          nxp_fmurt1062-v1,
-          nxp_imxrt1170-evk,
          nxp_mr-canhubk3,
          nxp_ucans32k146,
          omnibus_f4sd,
@@ -105,3 +105,6 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
+
+# colcon
+log/
@@ -276,11 +276,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
-    nxp_imxrt1170-evk_default:
-      short: nxp_imxrt1170-evk
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_imxrt1170-evk_default
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
@@ -267,7 +267,6 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
-	check_nxp_imxrt1170-evk_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
@@ -104,8 +104,9 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
 These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.

 * [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
 * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
 * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
 * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
@@ -137,11 +137,6 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -208,6 +203,24 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

+# bootloader (optional)
+#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - otherwise remove bootloader binary from extras in final ROMFS
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+			# generate rc.board_bootloader_upgrade
+			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+		else()
+			# remove bootloader from extras
+			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
+		endif()
+
+	endif()
+endforeach()
+
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -11,6 +11,8 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -27,7 +27,6 @@ param set-default FW_W_EN 1
 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -9,6 +9,8 @@

 param set-default MAV_TYPE 20

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -277,7 +277,7 @@ then
 	# Override namespace if environment variable is defined
 	microdds_ns="-n $PX4_MICRODDS_NS"
 fi
-microdds_client start -t udp -p 8888 $microdds_ns
+microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -17,6 +17,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set UAVCAN_ENABLE 0
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
@@ -79,7 +79,6 @@ param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

 param set-default MIS_DIST_1WP 100
-param set-default MIS_DIST_WPS 100000
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
@@ -12,6 +12,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -46,7 +46,6 @@ param set-default RTL_LAND_DELAY -1
 #
 param set-default NAV_ACC_RAD 10

-param set-default MIS_DIST_WPS 5000
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2

@@ -23,7 +23,6 @@ param set-default EKF2_FUSE_BETA 1

 param set-default HTE_VXY_THR 2.0

-param set-default MIS_DIST_WPS 5000
 param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+"""
+Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
+and vice-versa
+
+@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
+"""
+
+
+import argparse
+
+parser = argparse.ArgumentParser(
+    prog = 'convert_ip',
+    description = 'converts IP to int32 and viceversa'
+    )
+parser.add_argument('input',
+                    type=str,
+                    help='IP address to convert')
+parser.add_argument('-r','--reverse',
+                    action='store_true',
+                    help='converts from int32 to dot decimal')
+
+args = parser.parse_args()
+
+if( args.reverse == False ):
+
+    try:
+        ip_parts = [int(x) for x in args.input.split('.')]
+    except:
+        raise ValueError("Not a valid IP")
+    if( len(ip_parts)!=4 ):
+        raise ValueError("Not a valid IP")
+    if( not all(x>=0 and x<255 for x in ip_parts) ):
+        raise ValueError("Not a valid IP")
+
+    ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
+
+    if(ip & 0x80000000):
+        ip = -0x100000000 + ip
+
+    print(ip)
+
+else:
+    try:
+        ip = int(args.input)
+    except:
+        raise ValueError("Not a valid IP")
+    if(ip < 0):
+        ip = ip + 0x100000000
+    print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))
@@ -7,7 +7,7 @@ import os
 class JsonOutput():
    def __init__(self, groups):
        all_json = {}
-        all_json['version'] = 1
+        all_json['version'] = 2
        component = {}
        all_json['components'] = {1: component} #1: autopilot component

@@ -35,7 +35,20 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+
+	set --
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	set -- ${@} --mavlink_tcp_port $((4560+${N}))
+	set -- ${@} --mavlink_udp_port $((14560+${N}))
+	set -- ${@} --mavlink_id $((1+${N}))
+	set -- ${@} --gst_udp_port $((5600+${N}))
+	set -- ${@} --video_uri $((5600+${N}))
+	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
+	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
+
+	python3 ${@}

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

@@ -106,7 +119,7 @@ if [ -z ${SCRIPT} ]; then
 	fi

 	while [ $n -lt $num_vehicles ]; do
-		spawn_model ${vehicle_model} $n
+		spawn_model ${vehicle_model} $(($n + 1))
 		n=$(($n + 1))
 	done
 else
@@ -127,7 +140,7 @@ else
 		m=0
 		while [ $m -lt ${target_number} ]; do
 			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
-			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
+			spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done
@@ -110,10 +110,6 @@ class PubSub(object):

            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))

-            # # TODO: handle this case... but not sure where, yet
-            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
-            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
-
            # match has the form: '[ORB_ID(]<topic_name>'
            if route_group:
                if route_group == 'ORB_ID':
@@ -232,9 +228,6 @@ class Graph(object):

        self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))

-        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
-        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
-
        self._warnings = [] # list of all ambiguous scan sites

        self._current_scope = [] # stack with current module (they can be nested)
@@ -510,18 +503,7 @@ class Graph(object):
                elif current_scope.name == 'uorb_tests': # skip this
                    return
                elif current_scope.name == 'uorb':
-
-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                    for match in matches:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                            raise Exception(
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
-
-                    return # skip uorb module for the rest
+                    return # skip this

            line_number = 0
            for full_line in content.splitlines():
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -13,6 +13,8 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -13,6 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -13,6 +13,14 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -17,10 +18,27 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -2,6 +2,7 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
 pwm_out start

-control_allocator start
+dshot start
@@ -67,7 +67,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -15,6 +15,8 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -14,6 +14,8 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -14,6 +14,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -76,7 +75,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -9,4 +9,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -6,6 +6,7 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -21,9 +21,13 @@ then
 fi

 # SPI1, body-fixed
-if ! icm45686 -s -b 1 -R 3 -q start
+if icm45686 -s -b 1 -R 3 -q start
 then
+	# if we detected the ICM45686 we also ought to have an AK09918
+	ak09916 start -I -R 13
+else
 	icm20649 -s -b 1 start
+
 fi

 ms5611 -s -b 1 start
@@ -187,6 +187,7 @@
 #define STM32_RCC_D1CCIPR_SDMMCSEL   RCC_D1CCIPR_SDMMC_PLL1

 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 #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_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
@@ -264,3 +265,6 @@

 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2        /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2        /* PF15 */
@@ -189,6 +189,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
@@ -189,6 +189,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
@@ -208,7 +209,6 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -180,6 +180,8 @@
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
@@ -36,4 +36,5 @@
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(2),
 	initI2CBusExternal(1),
+	initI2CBusInternal(4),
 };
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -11,6 +11,14 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -13,6 +13,13 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -69,7 +68,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -22,7 +22,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -21,7 +21,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -64,7 +63,6 @@ CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -22,7 +22,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -12,6 +12,14 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -71,7 +70,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -12,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_COMMANDER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
@@ -1,6 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
+CONFIG_BOARD_ROOTFSDIR="/data/px4"
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_DATAMAN=y
@@ -17,4 +18,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_ORB_COMMUNICATOR=y
-CONFIG_BOARD_ROOTFSDIR="/data/px4"
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -72,7 +71,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -71,7 +70,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -176,7 +176,7 @@ __EXPORT void imxrt_ocram_initialize(void)

 	putreg32(0xaa555555, IMXRT_IOMUXC_GPR_GPR17);
 	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
-	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16);
+	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SELF, IMXRT_IOMUXC_GPR_GPR16);

 	for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
 	     dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
@@ -1,51 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_DRIVERS_IMU_FXOS8701CQ=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_UWB=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_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=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_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=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
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 31,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the NXPFMURT1062v1 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "NXPFMURT1062v1",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 7340032,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1097
-param set-default BAT1_A_PER_V 15.391030303
-
-rgbled_pwm start
-safety_button start
@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv5 specific board sensors init
-#------------------------------------------------------------------------------
-#
-# UART mapping on NXP FMURT1062:
-#
-# LPUART7       /dev/ttyS0      CONSOLE
-# LPUART2       /dev/ttyS1      GPS
-# LPUART3       /dev/ttyS2      TELEM2 (GPIO flow control)
-# LPUART4       /dev/ttyS3      TELEM1 (UART flow control)
-# LPUART5       /dev/ttyS4      TELEM4 GPS2
-# LPUART6       /dev/ttyS5      TELEM3 (RC_INPUT)
-# LPUART8       /dev/ttyS6      PX4IO
-#
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal SPI bus ICM-20602
-icm20602 -R 2 -s start
-
-# Internal SPI bus ICM-20689
-icm20689 -R 2 -s start
-
-# Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 2 -s start
-bmi055 -G -R 2 -s start
-
-# internal compass
-ist8310 -I -R 10 start
-
-# Baro on internal SPI
-ms5611 -s start
@@ -1,47 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see the file kconfig-language.txt in the NuttX tools repository.
-#
-
-choice
-	prompt "Boot Flash"
-	default NXP_FMURT1062_V3_QSPI_FLASH
-
-config NXP_FMURT1062_V3_HYPER_FLASH
-	bool "HYPER Flash"
-
-config NXP_FMURT1062_V3_QSPI_FLASH
-	bool "QSPI Flash"
-
-endchoice # Boot Flash
-
-config IMXRT1170_FLEXSPI_FRAM
-	bool "Enable FlexSPI FRAM Storage"
-	default n
-	depends on IMXRT_FLEXSPI
-	select MTD
-
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals
-		from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-8 as PROBE_1-8"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals
-		from selected drivers.
-
-config BOARD_FORCE_ALIGNMENT
-	bool "Forces all acesses to be Aligned"
-	default n
-
-	---help---
-		Adds -mno-unaligned-access to build flags. to force alignment.
-		This can be needed if data is stored in a region of memory, that
-		is Strongly ordered and dcache is off.
@@ -1,352 +0,0 @@
-/************************************************************************************
- * nuttx-configs/nxp_fmurt1062-v1/include/board.h
- *
- *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-#ifndef __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-
-/* Set VDD_SOC to 1.3V */
-
-#define IMXRT_VDD_SOC (0x14)
-
-/* Set Arm PLL (PLL1) to  fOut    = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        576Mhz  = (24Mhz * ARM_PLL_DIV_SELECT/2) / ARM_PODF_DIVISOR
- *                        ARM_PLL_DIV_SELECT = 96
- *                        ARM_PODF_DIVISOR   = 2
- *                        576Mhz  = (24Mhz * 96/2) / 2
- *
- *     AHB_CLOCK_ROOT             = PLL1fOut / IMXRT_AHB_PODF_DIVIDER
- *     1Hz to 600 Mhz             = 576Mhz / IMXRT_ARM_CLOCK_DIVIDER
- *                        IMXRT_ARM_CLOCK_DIVIDER = 1
- *                        576Mhz  = 576Mhz / 1
- *
- *     PRE_PERIPH_CLK_SEL         = PRE_PERIPH_CLK_SEL_PLL1
- *     PERIPH_CLK_SEL             = 1 (0 select PERIPH_CLK2_PODF, 1 select PRE_PERIPH_CLK_SEL_PLL1)
- *     PERIPH_CLK                 = 576Mhz
- *
- *     IPG_CLOCK_ROOT             = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER
- *                       IMXRT_IPG_PODF_DIVIDER = 4
- *                       144Mhz = 576Mhz / 4
- *
- *     PRECLK_CLOCK_ROOT          = IPG_CLOCK_ROOT / IMXRT_PERCLK_PODF_DIVIDER
- *                       IMXRT_PERCLK_PODF_DIVIDER = 1
- *                       16Mhz = 144Mhz / 9
- *
- *     SEMC_CLK_ROOT              = 576Mhz / IMXRT_SEMC_PODF_DIVIDER (labeled AIX_PODF in 18.2)
- *                       IMXRT_SEMC_PODF_DIVIDER = 8
- *                       72Mhz    = 576Mhz / 8
- *
- * Set Sys PLL (PLL2) to  fOut    = (24Mhz * (20+(2*(DIV_SELECT)))
- *                        528Mhz  = (24Mhz * (20+(2*(1)))
- *
- * Set USB1 PLL (PLL3) to fOut    = (24Mhz * 20)
- *                         480Mhz = (24Mhz * 20)
- *
- * Set LPSPI PLL3 PFD0 to fOut    = (480Mhz / 12 * 18)
- *                        720Mhz  = (480Mhz / 12 * 18)
- *                         90Mhz  = (720Mhz / LSPI_PODF_DIVIDER)
- *
- * Set LPI2C PLL3 / 8 to   fOut   = (480Mhz / 8)
- *                         60Mhz  = (480Mhz / 8)
- *                         12Mhz  = (60Mhz / LSPI_PODF_DIVIDER)
- *
- * Set USDHC1 PLL2 PFD2 to fOut   = (528Mhz / 24 * 18)
- *                        396Mhz  = (528Mhz / 24 * 18)
- *                        198Mhz  = (396Mhz / IMXRT_USDHC1_PODF_DIVIDER)
- */
-
-#define BOARD_XTAL_FREQUENCY      24000000
-#define IMXRT_PRE_PERIPH_CLK_SEL  CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1
-#define IMXRT_PERIPH_CLK_SEL      CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH
-#define IMXRT_ARM_PLL_DIV_SELECT  96
-#define IMXRT_ARM_PODF_DIVIDER    2
-#define IMXRT_AHB_PODF_DIVIDER    1
-#define IMXRT_IPG_PODF_DIVIDER    4
-#define IMXRT_PERCLK_CLK_SEL      CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT
-#define IMXRT_PERCLK_PODF_DIVIDER 9
-#define IMXRT_SEMC_PODF_DIVIDER   8
-
-#define IMXRT_LPSPI_CLK_SELECT    CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0
-#define IMXRT_LSPI_PODF_DIVIDER   8
-
-#define IMXRT_LPI2C_CLK_SELECT    CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
-#define IMXRT_LSI2C_PODF_DIVIDER  5
-
-#define IMXRT_USDHC1_CLK_SELECT    CCM_CSCMR1_USDHC1_CLK_SEL_PLL2_PFD0
-#define IMXRT_USDHC1_PODF_DIVIDER 2
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define IMXRT_SYS_PLL_SELECT      CCM_ANALOG_PLL_SYS_DIV_SELECT_22
-
-#define IMXRT_USB1_PLL_DIV_SELECT  CCM_ANALOG_PLL_USB1_DIV_SELECT_20
-
-#define BOARD_CPU_FREQUENCY \
-	(BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER
-
-#define BOARD_GPT_FREQUENCY \
-	(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
-
-/* Define this to enable tracing */
-#if CONFIG_USE_TRACE
-#  define IMXRT_TRACE_PODF_DIVIDER 1
-#  define IMXRT_TRACE_CLK_SELECT   CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0
-#endif
-
-/* SDIO *********************************************************************/
-
-/* Pin drive characteristics - drive strength in particular may need tuning
- * for specific boards.  Settings have been copied from i.MX RT 1170 EVK.
- */
-
-#define PIN_USDHC1_D0     (GPIO_USDHC1_DATA0_1 | IOMUX_USDHC1_DATAX_DEFAULT)
-#define PIN_USDHC1_D1     (GPIO_USDHC1_DATA1_1 | IOMUX_USDHC1_DATAX_DEFAULT)
-#define PIN_USDHC1_D2     (GPIO_USDHC1_DATA2_1 | IOMUX_USDHC1_DATAX_DEFAULT)
-#define PIN_USDHC1_D3     (GPIO_USDHC1_DATA3_1 | IOMUX_USDHC1_DATAX_DEFAULT)
-#define PIN_USDHC1_DCLK   (GPIO_USDHC1_CLK_1   | IOMUX_USDHC1_CLK_DEFAULT)
-#define PIN_USDHC1_CMD    (GPIO_USDHC1_CMD_1   | IOMUX_USDHC1_CMD_DEFAULT)
-#define PIN_USDHC1_CD     (GPIO_USDHC1_CD_2    | IOMUX_USDHC1_CLK_DEFAULT)
-
-/* 386 KHz for initial inquiry stuff */
-
-#define BOARD_USDHC_IDMODE_PRESCALER    USDHC_SYSCTL_SDCLKFS_DIV256
-#define BOARD_USDHC_IDMODE_DIVISOR      USDHC_SYSCTL_DVS_DIV(2)
-
-/* 24.8MHz for other modes */
-
-#define BOARD_USDHC_MMCMODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_MMCMODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD1MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD1MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-#define BOARD_USDHC_SD4MODE_PRESCALER   USDHC_SYSCTL_SDCLKFS_DIV8
-#define BOARD_USDHC_SD4MODE_DIVISOR     USDHC_SYSCTL_DVS_DIV(1)
-
-/* LED definitions ******************************************************************/
-/* The nxp fmutr1062 board has numerous LEDs but only three, LED_GREEN a Green LED,
- * LED_BLUE a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* PIO Disambiguation ***************************************************************/
-/* LPUARTs
- */
-
-#define GPIO_LPUART1_RX      (GPIO_LPUART1_RX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* GPIO_AD_25 */
-#define GPIO_LPUART1_TX      (GPIO_LPUART1_TX_1|IOMUX_UART_DEFAULT|PADMUX_SION) /* GPIO_AD_24 */
-#define GPIO_LPUART3_RX      (GPIO_LPUART3_RX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B1_07 */
-#define GPIO_LPUART3_TX      (GPIO_LPUART3_TX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B1_06 */
-
-/* ETH Disambiguation *******************************************************/
-
-// TO DO: Check & fix
-
-#define GPIO_ENET_TX_DATA00  (GPIO_ENET_TX_DATA0_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_07 */
-#define GPIO_ENET_TX_DATA01  (GPIO_ENET_TX_DATA1_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_08 */
-#define GPIO_ENET_RX_DATA00  (GPIO_ENET_RX_DATA0_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_04 */
-#define GPIO_ENET_RX_DATA01  (GPIO_ENET_RX_DATA1_1| \
-			      IOMUX_ENET_DATA_DEFAULT)                    /* GPIO_B1_05 */
-#define GPIO_ENET_MDIO       (GPIO_ENET_MDIO_2|IOMUX_ENET_MDIO_DEFAULT)   /* GPIO_EMC_41 */
-#define GPIO_ENET_MDC        (GPIO_ENET_MDC_2|IOMUX_ENET_MDC_DEFAULT)     /* GPIO_EMC_40 */
-#define GPIO_ENET_RX_EN      (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT)    /* GPIO_B1_06 */
-#define GPIO_ENET_RX_ER      (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */
-#define GPIO_ENET_TX_CLK     (GPIO_ENET_REF_CLK_2|\
-			      IOMUX_ENET_TX_CLK_DEFAULT)                  /* GPIO_B1_10 */
-#define GPIO_ENET_TX_EN      (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT)    /* GPIO_B1_09 */
-
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
- * CAN3 is routed to transceiver.
- */
-
-
-#define GPIO_FLEXCAN3_RX  (GPIO_FLEXCAN3_RX_1) /* GPIO_AD_B0_11  */
-#define GPIO_FLEXCAN3_TX  (GPIO_FLEXCAN3_TX_3) /* GPIO_EMC_36 */
-
-/* LPSPI */
-#define GPIO_LPSPI6_SCK      (GPIO_LPSPI6_SCK_1|IOMUX_LPSPI_DEFAULT)
-#define GPIO_LPSPI6_MISO     (GPIO_LPSPI6_SDI_1|IOMUX_LPSPI_DEFAULT)
-#define GPIO_LPSPI6_MOSI     (GPIO_LPSPI6_SDO_1|IOMUX_LPSPI_DEFAULT)
-
-#define GPIO_LPSPI1_SCK      (GPIO_LPSPI1_SCK_1|IOMUX_LPSPI_DEFAULT)
-#define GPIO_LPSPI1_MISO     (GPIO_LPSPI1_SDI_1|IOMUX_LPSPI_DEFAULT)
-#define GPIO_LPSPI1_MOSI     (GPIO_LPSPI1_SDO_1|IOMUX_LPSPI_DEFAULT)
-
-/* LPI2Cs */
-#define GPIO_LPI2C5_SDA_RESET (GPIO_PORT6 | GPIO_PIN4 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* GPIO_LPSR_04 GPIO1_IO17 */
-#define GPIO_LPI2C5_SCL_RESET (GPIO_PORT6 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* GPIO_LPSR_05 GPIO1_IO16 */
-
-
-#define GPIO_LPI2C5_SDA       (GPIO_LPI2C5_SDA_1|IOMUX_LPI2C_DEFAULT) /* GPIO_LPSR_04 */
-#define GPIO_LPI2C5_SCL       (GPIO_LPI2C5_SCL_1|IOMUX_LPI2C_DEFAULT) /* GPIO_LPSR_05 */
-
-#define GPIO_LPI2C1_SDA_RESET (GPIO_PORT3 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* GPIO_LPSR_04 GPIO1_IO17 */
-#define GPIO_LPI2C1_SCL_RESET (GPIO_PORT3 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE) /* GPIO_LPSR_05 GPIO1_IO16 */
-
-#define GPIO_LPI2C1_SDA      (GPIO_LPI2C1_SDA_2|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_09 */
-#define GPIO_LPI2C1_SCL      (GPIO_LPI2C1_SCL_2|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_08 */
-
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-#include <imxrt_gpio.h>
-#include <imxrt_iomuxc.h>
-// add     -I<full path> build/nxp_fmurt1062-v1_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in
-#define PROBE_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE)
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1 /* GPIO_B0_06    */  (GPIO_PORT2 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_2 /* GPIO_EMC_08   */  (GPIO_PORT4 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_3 /* GPIO_EMC_10   */  (GPIO_PORT4 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_4 /* GPIO_AD_B0_09 */  (GPIO_PORT1 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_5 /* GPIO_EMC_33   */  (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_6 /* GPIO_EMC_30   */  (GPIO_PORT4 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_7 /* GPIO_EMC_04   */  (GPIO_PORT4 | GPIO_PIN4  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_8 /* GPIO_EMC_01   */  (GPIO_PORT4 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { imxrt_config_gpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { imxrt_config_gpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { imxrt_config_gpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { imxrt_config_gpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { imxrt_config_gpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \
-	} while(0)
-
-# define PROBE(n,s)  do {imxrt_gpio_write(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-/************************************************************************************
- * Public Types
- ************************************************************************************/
-
-/************************************************************************************
- * Public Data
- ************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-#undef EXTERN
-#if defined(__cplusplus)
-#define EXTERN extern "C"
-extern "C"
-{
-#else
-#define EXTERN extern
-#endif
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-#undef EXTERN
-#if defined(__cplusplus)
-}
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif /* __NUTTX_CONFIG_NXP_FMURT1062_V1_INCLUDE_BOARD_H */
@@ -1,159 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_ARCH_RAMFUNCS is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_MB is not set
-# CONFIG_NSH_DISABLE_MH is not set
-# CONFIG_NSH_DISABLE_MW is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/imxrt1170-evk/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="imxrt"
-CONFIG_ARCH_CHIP_IMXRT=y
-CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_ITCM=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARD_LOOPSPERMSEC=104926
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_BULKIN_REQLEN=96
-CONFIG_CDCACM_PRODUCTID=0x001d
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMURT1062 v1.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1FC9
-CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
-CONFIG_DEBUG_ASSERTIONS=y
-CONFIG_DEBUG_ERROR=y
-CONFIG_DEBUG_FEATURES=y
-CONFIG_DEBUG_INFO=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEBUG_WARN=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_KSZ8081=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_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_IMXRT_DTCM=0
-CONFIG_IMXRT_ENET=y
-CONFIG_IMXRT_ENET_PHYINIT=y
-CONFIG_IMXRT_GPIO13_IRQ=y
-CONFIG_IMXRT_GPIO1_0_15_IRQ=y
-CONFIG_IMXRT_GPIO1_16_31_IRQ=y
-CONFIG_IMXRT_GPIO2_0_15_IRQ=y
-CONFIG_IMXRT_GPIO2_16_31_IRQ=y
-CONFIG_IMXRT_GPIO3_0_15_IRQ=y
-CONFIG_IMXRT_GPIO3_16_31_IRQ=y
-CONFIG_IMXRT_GPIO4_0_15_IRQ=y
-CONFIG_IMXRT_GPIO4_16_31_IRQ=y
-CONFIG_IMXRT_GPIO5_0_15_IRQ=y
-CONFIG_IMXRT_GPIO5_16_31_IRQ=y
-CONFIG_IMXRT_GPIO6_0_15_IRQ=y
-CONFIG_IMXRT_GPIO6_16_31_IRQ=y
-CONFIG_IMXRT_GPIO_IRQ=y
-CONFIG_IMXRT_ITCM=0
-CONFIG_IMXRT_LPI2C1=y
-CONFIG_IMXRT_LPI2C5=y
-CONFIG_IMXRT_LPSPI1=y
-CONFIG_IMXRT_LPSPI6=y
-CONFIG_IMXRT_LPUART1=y
-CONFIG_IMXRT_USBDEV=y
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INTELHEX_BINARY=y
-CONFIG_LIBC_LOCALTIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_LPUART1_SERIAL_CONSOLE=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_NAME_MAX=40
-CONFIG_NDEBUG=y
-CONFIG_NET=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NET_ICMP=y
-CONFIG_NET_SOCKOPTS=y
-CONFIG_NET_TCP=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=524288
-CONFIG_RAM_START=0x20240000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_SCHED_BACKTRACE=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1800
-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_SEM_PREALLOCHOLDERS=32
-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_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_USBDEV=y
-CONFIG_USBDEV_DUALSPEED=y
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
@@ -1,150 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/scripts/flash.ld
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/* Specify the memory areas */
-
-MEMORY
-{
-  flash (rx)  : ORIGIN = 0x30000000, LENGTH = 16M
-  sram  (rwx) : ORIGIN = 0x20240000 + 32K, LENGTH = 1024K - 32K /* OCRAM1 + OCRAM2*/
-  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 0K   /* TODO FlexRAM partition */
-  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 0K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-    /* Image Vector Table and Boot Data for booting from external flash */
-
-    .boot_hdr : ALIGN(4)
-    {
-        FILL(0xff)
-        . = 0x400 ;
-        __boot_hdr_start__ = ABSOLUTE(.) ;
-        KEEP(*(.boot_hdr.conf))
-        . = 0x1000 ;
-        KEEP(*(.boot_hdr.ivt))
-        . = 0x1020 ;
-        KEEP(*(.boot_hdr.boot_data))
-        . = 0x1030 ;
-        KEEP(*(.boot_hdr.dcd_data))
-        __boot_hdr_end__ = ABSOLUTE(.) ;
-        . = 0x2000 ;
-    } >flash
-
-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
-    .text : ALIGN(4)
-    {
-        _stext = ABSOLUTE(.);
-        *(.vectors)
-        *(.text .text.*)
-        *(.fixup)
-        *(.gnu.warning)
-        *(.rodata .rodata.*)
-        *(.gnu.linkonce.t.*)
-        *(.glue_7)
-        *(.glue_7t)
-        *(.got)
-        *(.gcc_except_table)
-        *(.gnu.linkonce.r.*)
-        _etext = ABSOLUTE(.);
-    } > flash
-
-    .init_section :
-    {
-        _sinit = ABSOLUTE(.);
-        *(.init_array .init_array.*)
-        _einit = ABSOLUTE(.);
-    } > flash
-
-    .ARM.extab :
-    {
-        *(.ARM.extab*)
-    } > flash
-
-    .ARM.exidx :
-    {
-        __exidx_start = ABSOLUTE(.);
-        *(.ARM.exidx*)
-        __exidx_end = ABSOLUTE(.);
-    } > flash
-
-    _eronly = ABSOLUTE(.);
-
-    .data :
-    {
-        _sdata = ABSOLUTE(.);
-        *(.data .data.*)
-        *(.gnu.linkonce.d.*)
-        CONSTRUCTORS
-        . = ALIGN(4);
-        _edata = ABSOLUTE(.);
-    } > sram AT > flash
-
-    .ramfunc ALIGN(4):
-    {
-        _sramfuncs = ABSOLUTE(.);
-        *(.ramfunc  .ramfunc.*)
-        _eramfuncs = ABSOLUTE(.);
-    } > sram AT > flash
-
-    _framfuncs = LOADADDR(.ramfunc);
-
-    .bss :
-    {
-        _sbss = ABSOLUTE(.);
-        *(.bss .bss.*)
-        *(.gnu.linkonce.b.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = ABSOLUTE(.);
-    } > sram
-
-    /* Stabs debugging sections. */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
-
-    _boot_loadaddr = ORIGIN(flash);
-    _boot_size = LENGTH(flash);
-    _ram_size = LENGTH(sram);
-}
@@ -1,299 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1060-evk/scripts/flash-ocram.ld
- *
- *   Copyright (C) 2018, 2020 Gregory Nutt. All rights reserved.
- *   Authors: Ivan Ucherdzhiev <ivanucherdjiev@gmail.com>
- *            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.
- *
- ****************************************************************************/
-
-/* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
- * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
- * configuration.
- *
- * The default flexram setting on the iMXRT 1062 is
- * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
- * This can be changed by using a dcd by minipulating
- * IOMUX GPR16 and GPR17.
- * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
- * 128Kib DTCM.
- *
- * This is the OCRAM inker script.
- * The NXP ROM bootloader will move the FLASH image to OCRAM.
- * We must reserve 32K for the bootloader' OCRAM usage from  the OCRAM Size
- * and an additinal 8K for the ivt_s which is IVT_SIZE(8K) This 40K can be
- * reused once the application is running.
- *
- *      0x2020:A000 to 0x202d:ffff - The application Image's vector table
- *      0x2020:8000 to 0x2020:A000 - IVT
- *      0x2020:0000 to 0x2020:7fff - NXP ROM bootloader.
- *
- * We artificially split the FLASH to allow locating sections that we do not
- * want loaded inoto OCRAM. This is to save on OCRAM where the speen of the
- * code does not matter.
- *
- */
-
-MEMORY
-{
-  flash    (rx)  : ORIGIN = 0x60000000, LENGTH = 7M
-  flashxip (rx)  : ORIGIN = 0x60700000, LENGTH = 1M
-  /*                     Vectors @ boot+ivt   OCRAM2   Flex RAM     Boot  IVT */
-  sram     (rwx) : ORIGIN = 0x2020A000, LENGTH = 512K + 256K + 128K - (32K + 8K)
-  itcm     (rwx) : ORIGIN = 0x00000000, LENGTH = 0K
-  dtcm     (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-EXTERN(g_dcd_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-    /* Image Vector Table and Boot Data for booting from external flash */
-
-    .boot_hdr : ALIGN(4)
-    {
-        FILL(0xff)
-        __boot_hdr_start__ = ABSOLUTE(.) ;
-        KEEP(*(.boot_hdr.conf))
-        . = 0x1000 ;
-        KEEP(*(.boot_hdr.ivt))
-        . = 0x1020 ;
-        KEEP(*(.boot_hdr.boot_data))
-        . = 0x1030 ;
-        KEEP(*(.boot_hdr.dcd_data))
-        __boot_hdr_end__ = ABSOLUTE(.) ;
-        . = 0x2000 ;
-    } > flash
-
-	/* Catch all the section we want not in OCRAM so that the *(.text .text.*) in flash does not */
-	/* Sift and sort with arm-none-eabi-nm -C  -S -n  build/nxp_fmurt1062-v1_default/nxp_fmurt1062-v1_default.elf > list.txt */
-
-    .flashxip : ALIGN(4)
-	{
-		FILL(0xff)
-		/* Order matters */
-		*(.text.__start)
-		*(.text.imxrt_ocram_initialize)
-		*(.slow_memory)
-		*(.text.romfs*)
-		*(.text.cromfs*)
-		*(.text.mpu*)
-		*(.text.arm_memfault*)
-		*(.text.arm_hardfault*)
-		*(.text.up_assert*)
-		*(.text.up_stackdump*)
-		*(.text.up_taskdump*)
-		*(.text.up_mdelay*)
-		*(.text.up_udelay*)
-		*(.text.board_on_reset*)
-		*(.text.board_spi_reset*)
-		*(.text.board_query_manifest*)
-		*(.text.board_reset*)
-		*(.text.board_get*)
-		*(.text.board_mcu*)
-		*(.text.imxrt_xbar_connect*)
-		*(.text.bson*)
-		*(.text.*print_load*)
-		*(.text.*px4_mft*)
-		*(.text.*px4_mtd*)
-		*(.text.syslog*)
-		*(.text.register_driver*)
-		*(.text.nx_start*)
-		*(.text.nx_bringup*)
-		*(.text.irq_unexpected_isr*)
-		*(.text.group*)
-		*(.text.*setenv*)
-		*(.text.*env*)
-		*(.text.cmd*)
-		*(.text.readline*)
-		*(.text.mkfatfs*)
-		*(.text.builtin*)
-		*(.text.basename*)
-		*(.text.dirname*)
-		*(.text.gmtime_r*)
-		*(.text.chdir*)
-		*(.text.devnull*)
-		*(.text.ramdisk*)
-		*(.text.files*)
-		*(.text.unregister_driver*)
-		*(.text.register_blockdriver*)
-		*(.text.bchdev_register*)
-		*(.text.part*)
-		*(.text.ftl*)
-		*(.text.*I2CBusIterator*)
-		*(.text.*SPIBusIterator*)
-		*(.text.*BusCLIArguments*)
-		*(.text.*WorkQueueManager*)
-		*(.text.*param_export*)
-		*(.text.*param_import*)
-		*(.text.*param_load*)
-		*(.text.*BusInstanceIterator*)
-		*(.text.*PRINT_MODULE_USAGE*)
-		*(.text.*px4_getopt*)
-		*(.text.*main*)
-		*(.text.*instantiate*)
-		*(.text.*ADC*)
-		*(.text.*MS5611*)
-		*(.text.*I2CSPIDriver*)
-		*(.text.*CameraCapture*)
-		*(.text.*i2cdetect*)
-		*(.text.*usage*)
-/*		*(.text.*Bosch*) 2% CPU .5% RAM */
-		*(.text.*Tunes*)
-		*(.text.*printStatistics*)
-		*(.text.*init*)
-		*(.text.*test*)
-		*(.text.*task_spawn*)
-		*(.text.*custom_command*)
-		*(.text.*print_usage*)
-		*(.text.*print_status*)
-		*(.text.*status*)
-		*(.text.*CameraInterface*)
-		*(.text.*CameraTrigger*)
-		*(.text.*ModuleBase*)
-		*(.text.*print_message*)
-		*(.text._ZN4Ekf2C2Eb)
-		*(.text._ZN9CommanderC2Ev)
-		*(.text.*PreFlightCheck*)
-		*(.text.*calibrat*)
-		*(.text.*initEv)
-		*(.text.*probe*)
-		*(.text.*thread_main*);
-		*(.text.*listener*)
-		*(.text.*BlockLocalPositionEstimator*)
-		*(.text.nsh_*)
-		*(.text.lib_vscanf)
-		*(.text.lib_vsprintf)
-		*(.text.*configure_streams_to_default*)
-		*(.text.*_main)
-		*(.text.*GPSDriverAshtech*)
-		*(.text.*GPSDriver*)
-		*(.text.*Mavlink*)
-		*(.rodata .rodata.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-
-    } > flashxip
-
-	/* Sections that will go to OCRAM */
-
-    .text :
-    {
-        _stext = ABSOLUTE(.);
-        *(.vectors)
-        *(.text .text.*)
-        _etext = ABSOLUTE(.);
-
-    } > sram AT> 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*)
-        __exidx_end = ABSOLUTE(.);
-    } > flash
-
-    _eronly = ABSOLUTE(.);
-
-    .data :
-    {
-        _sdata = ABSOLUTE(.);
-        *(.data .data.*)
-        *(.gnu.linkonce.d.*)
-        CONSTRUCTORS
-        . = ALIGN(4);
-        _edata = ABSOLUTE(.);
-    } > sram AT > flash
-
-    .ramfunc ALIGN(4):
-    {
-        _sramfuncs = ABSOLUTE(.);
-        *(.ramfunc  .ramfunc.*)
-        _eramfuncs = ABSOLUTE(.);
-    } > sram AT > flash
-
-    _framfuncs = LOADADDR(.ramfunc);
-
-    .bss :
-    {
-        _sbss = ABSOLUTE(.);
-        *(.bss .bss.*)
-        *(.gnu.linkonce.b.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = ABSOLUTE(.);
-    } > sram
-
-    /* Stabs debugging sections. */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,150 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/scripts/flash.ld
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/* Specify the memory areas */
-
-MEMORY
-{
-  flash (rx)  : ORIGIN = 0x30000000, LENGTH = 16M
-  sram  (rwx) : ORIGIN = 0x20240000 + 0xBFFF, LENGTH = 1024K - 0xBFFF /* OCRAM1 + OCRAM2*/
-  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
-  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-EXTERN(g_flash_config)
-EXTERN(g_image_vector_table)
-EXTERN(g_boot_data)
-
-ENTRY(_stext)
-
-SECTIONS
-{
-    /* Image Vector Table and Boot Data for booting from external flash */
-
-    .boot_hdr : ALIGN(4)
-    {
-        FILL(0xff)
-        . = 0x400 ;
-        __boot_hdr_start__ = ABSOLUTE(.) ;
-        KEEP(*(.boot_hdr.conf))
-        . = 0x1000 ;
-        KEEP(*(.boot_hdr.ivt))
-        . = 0x1020 ;
-        KEEP(*(.boot_hdr.boot_data))
-        . = 0x1030 ;
-        KEEP(*(.boot_hdr.dcd_data))
-        __boot_hdr_end__ = ABSOLUTE(.) ;
-        . = 0x2000 ;
-    } >flash
-
-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
-    .text : ALIGN(4)
-    {
-        _stext = ABSOLUTE(.);
-        *(.vectors)
-        *(.text .text.*)
-        *(.fixup)
-        *(.gnu.warning)
-        *(.rodata .rodata.*)
-        *(.gnu.linkonce.t.*)
-        *(.glue_7)
-        *(.glue_7t)
-        *(.got)
-        *(.gcc_except_table)
-        *(.gnu.linkonce.r.*)
-        _etext = ABSOLUTE(.);
-    } > flash
-
-    .init_section :
-    {
-        _sinit = ABSOLUTE(.);
-        KEEP(*(.init_array .init_array.*))
-        _einit = ABSOLUTE(.);
-    } > flash
-
-    .ARM.extab :
-    {
-        *(.ARM.extab*)
-    } > flash
-
-    .ARM.exidx :
-    {
-        __exidx_start = ABSOLUTE(.);
-        *(.ARM.exidx*)
-        __exidx_end = ABSOLUTE(.);
-    } > flash
-
-    _eronly = ABSOLUTE(.);
-
-    .data :
-    {
-        _sdata = ABSOLUTE(.);
-        *(.data .data.*)
-        *(.gnu.linkonce.d.*)
-        CONSTRUCTORS
-        . = ALIGN(4);
-        _edata = ABSOLUTE(.);
-    } > sram AT > flash
-
-    .ramfunc ALIGN(4):
-    {
-        _sramfuncs = ABSOLUTE(.);
-        *(.ramfunc  .ramfunc.*)
-        _eramfuncs = ABSOLUTE(.);
-    } > sram AT > flash
-
-    _framfuncs = LOADADDR(.ramfunc);
-
-    .bss :
-    {
-        _sbss = ABSOLUTE(.);
-        *(.bss .bss.*)
-        *(.gnu.linkonce.b.*)
-        *(COMMON)
-        . = ALIGN(4);
-        _ebss = ABSOLUTE(.);
-    } > sram
-
-    /* Stabs debugging sections. */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
-
-    _boot_loadaddr = ORIGIN(flash);
-    _boot_size = LENGTH(flash);
-    _ram_size = LENGTH(sram);
-}
@@ -1,66 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016, 2019 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-if(CONFIG_IMXRT1170_FLEXSPI_FRAM)
-    list(APPEND SRCS
-		imxrt_flexspi_fram.c
-    )
-endif()
-
-px4_add_library(drivers_board
-	autoleds.c
-	automount.c
-	#can.c
-	i2c.cpp
-	init.c
-	led.c
-	sdhc.c
-	spi.cpp
-	timer_config.cpp
-	usb.c
-	manifest.c
-	imxrt_flexspi_nor_boot.c
-	imxrt_flexspi_nor_flash.c
-	imxrt_clockconfig.c
-	imxrt_ethernet.c
-	${SRCS}
-)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_board_hw_info
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)
@@ -1,191 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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.
- *
- ****************************************************************************/
-/*
- * This module shall be used during board bring up of Nuttx.
- *
- * The NXP FMUK66-V3 has a separate Red, Green and Blue LEDs driven by the K66
- * as follows:
- *
- *   LED    K66
- *   ------ -------------------------------------------------------
- *   RED    FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
- *   GREEN  FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
- *   BLUE   CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
- *
- * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
- * the NXP fmurt1062-v1.  The following definitions describe how NuttX controls
- * the LEDs:
- *
- *   SYMBOL                Meaning                 LED state
- *                                                 RED   GREEN  BLUE
- *   -------------------  -----------------------  -----------------
- *   LED_STARTED          NuttX has been started    OFF  OFF  OFF
- *   LED_HEAPALLOCATE     Heap has been allocated   OFF  OFF  ON
- *   LED_IRQSENABLED      Interrupts enabled        OFF  OFF  ON
- *   LED_STACKCREATED     Idle stack created        OFF  ON   OFF
- *   LED_INIRQ            In an interrupt          (no change)
- *   LED_SIGNAL           In a signal handler      (no change)
- *   LED_ASSERTION        An assertion failed      (no change)
- *   LED_PANIC            The system has crashed    FLASH OFF OFF
- *   LED_IDLE             K66 is in sleep mode     (Optional, not used)
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "imxrt_gpio.h"
-#include "board_config.h"
-#ifdef CONFIG_ARCH_LEDS
-__BEGIN_DECLS
-extern void led_init(void);
-__END_DECLS
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-bool nuttx_owns_leds = true;
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-void phy_set_led(int l, bool s)
-{
-
-}
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,304 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
-#  define CONFIG_DEBUG_FS 1
-#endif
-
-#include <debug.h>
-#include <stddef.h>
-
-#include <nuttx/irq.h>
-#include <nuttx/clock.h>
-#include <nuttx/fs/automount.h>
-
-#include "board_config.h"
-#ifdef HAVE_AUTOMOUNTER
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Types
- ************************************************************************************/
-/* This structure represents the changeable state of the automounter */
-
-struct fmuk66_automount_state_s {
-	volatile automount_handler_t handler;    /* Upper half handler */
-	FAR void *arg;                           /* Handler argument */
-	bool enable;                             /* Fake interrupt enable */
-	bool pending;                            /* Set if there an event while disabled */
-};
-
-/* This structure represents the static configuration of an automounter */
-
-struct fmuk66_automount_config_s {
-	/* This must be first thing in structure so that we can simply cast from struct
-	 * automount_lower_s to struct fmuk66_automount_config_s
-	 */
-
-	struct automount_lower_s lower;          /* Publicly visible part */
-	FAR struct fmuk66_automount_state_s *state; /* Changeable state */
-};
-
-/************************************************************************************
- * Private Function Prototypes
- ************************************************************************************/
-
-static int  fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg);
-static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable);
-static bool fmuk66_inserted(FAR const struct automount_lower_s *lower);
-
-/************************************************************************************
- * Private Data
- ************************************************************************************/
-
-static struct fmuk66_automount_state_s g_sdhc_state;
-static const struct fmuk66_automount_config_s g_sdhc_config = {
-	.lower        =
-	{
-		.fstype     = CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE,
-		.blockdev   = CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV,
-		.mountpoint = CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT,
-		.ddelay     = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY),
-		.udelay     = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY),
-		.attach     = fmuk66_attach,
-		.enable     = fmuk66_enable,
-		.inserted   = fmuk66_inserted
-	},
-	.state        = &g_sdhc_state
-};
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name:  fmuk66_attach
- *
- * Description:
- *   Attach a new SDHC event handler
- *
- * Input Parameters:
- *   lower - An instance of the auto-mounter lower half state structure
- *   isr   - The new event handler to be attach
- *   arg   - Client data to be provided when the event handler is invoked.
- *
- *  Returned Value:
- *    Always returns OK
- *
- ************************************************************************************/
-
-static int fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg)
-{
-	FAR const struct fmuk66_automount_config_s *config;
-	FAR struct fmuk66_automount_state_s *state;
-
-	/* Recover references to our structure */
-
-	config = (FAR struct fmuk66_automount_config_s *)lower;
-	DEBUGASSERT(config != NULL && config->state != NULL);
-
-	state = config->state;
-
-	/* Save the new handler info (clearing the handler first to eliminate race
-	 * conditions).
-	 */
-
-	state->handler = NULL;
-	state->pending = false;
-	state->arg     = arg;
-	state->handler = isr;
-	return OK;
-}
-
-/************************************************************************************
- * Name:  fmuk66_enable
- *
- * Description:
- *   Enable card insertion/removal event detection
- *
- * Input Parameters:
- *   lower - An instance of the auto-mounter lower half state structure
- *   enable - True: enable event detection; False: disable
- *
- *  Returned Value:
- *    None
- *
- ************************************************************************************/
-
-static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable)
-{
-	FAR const struct fmuk66_automount_config_s *config;
-	FAR struct fmuk66_automount_state_s *state;
-	irqstate_t flags;
-
-	/* Recover references to our structure */
-
-	config = (FAR struct fmuk66_automount_config_s *)lower;
-	DEBUGASSERT(config != NULL && config->state != NULL);
-
-	state = config->state;
-
-	/* Save the fake enable setting */
-
-	flags = enter_critical_section();
-	state->enable = enable;
-
-	/* Did an interrupt occur while interrupts were disabled? */
-
-	if (enable && state->pending) {
-		/* Yes.. perform the fake interrupt if the interrutp is attached */
-
-		if (state->handler) {
-			bool inserted = fmuk66_cardinserted();
-			(void)state->handler(&config->lower, state->arg, inserted);
-		}
-
-		state->pending = false;
-	}
-
-	leave_critical_section(flags);
-}
-
-/************************************************************************************
- * Name: fmuk66_inserted
- *
- * Description:
- *   Check if a card is inserted into the slot.
- *
- * Input Parameters:
- *   lower - An instance of the auto-mounter lower half state structure
- *
- *  Returned Value:
- *    True if the card is inserted; False otherwise
- *
- ************************************************************************************/
-
-static bool fmuk66_inserted(FAR const struct automount_lower_s *lower)
-{
-	return fmuk66_cardinserted();
-}
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name:  fmuk66_automount_initialize
- *
- * Description:
- *   Configure auto-mounters for each enable and so configured SDHC
- *
- * Input Parameters:
- *   None
- *
- *  Returned Value:
- *    None
- *
- ************************************************************************************/
-
-void fmuk66_automount_initialize(void)
-{
-	FAR void *handle;
-
-	finfo("Initializing automounter(s)\n");
-
-	/* Initialize the SDHC0 auto-mounter */
-
-	handle = automount_initialize(&g_sdhc_config.lower);
-
-	if (!handle) {
-		ferr("ERROR: Failed to initialize auto-mounter for SDHC0\n");
-	}
-}
-
-/************************************************************************************
- * Name:  fmuk66_automount_event
- *
- * Description:
- *   The SDHC card detection logic has detected an insertion or removal event.  It
- *   has already scheduled the MMC/SD block driver operations.  Now we need to
- *   schedule the auto-mount event which will occur with a substantial delay to make
- *   sure that everything has settle down.
- *
- * Input Parameters:
- *   slotno - Identifies the SDHC0 slot: SDHC0_SLOTNO or SDHC1_SLOTNO.  There is a
- *      terminology problem here:  Each SDHC supports two slots, slot A and slot B.
- *      Only slot A is used.  So this is not a really a slot, but an HSCMI peripheral
- *      number.
- *   inserted - True if the card is inserted in the slot.  False otherwise.
- *
- *  Returned Value:
- *    None
- *
- *  Assumptions:
- *    Interrupts are disabled.
- *
- ************************************************************************************/
-
-void fmuk66_automount_event(bool inserted)
-{
-	FAR const struct fmuk66_automount_config_s *config = &g_sdhc_config;
-	FAR struct fmuk66_automount_state_s *state = &g_sdhc_state;
-
-	/* Is the auto-mounter interrupt attached? */
-
-	if (state->handler) {
-		/* Yes.. Have we been asked to hold off interrupts? */
-
-		if (!state->enable) {
-			/* Yes.. just remember the there is a pending interrupt. We will
-			 * deliver the interrupt when interrupts are "re-enabled."
-			 */
-
-			state->pending = true;
-
-		} else {
-			/* No.. forward the event to the handler */
-
-			(void)state->handler(&config->lower, state->arg, inserted);
-		}
-	}
-}
-
-#endif /* HAVE_AUTOMOUNTER */
@@ -1,547 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * NXP imxrt1170-evk internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include "imxrt_gpio.h"
-#include "imxrt_iomuxc.h"
-#include "hardware/imxrt_pinmux.h"
-
-#include <arch/board/board.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-
-/* PX4IO connection configuration */
-
-#if 0 // There is no PX4IO Support on first out
-// This requires serial DMA driver
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS6"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_LPUART8_TX_2
-#define PX4IO_SERIAL_RX_GPIO           GPIO_LPUART8_RX_2
-#define PX4IO_SERIAL_BASE              IMXRT_LPUART8_BASE
-#define PX4IO_SERIAL_VECTOR            IMXRT_IRQ_LPUART8
-#define PX4IO_SERIAL_TX_DMAMAP
-#define PX4IO_SERIAL_RX_DMAMAP
-#define PX4IO_SERIAL_RCC_REG
-#define PX4IO_SERIAL_RCC_EN
-#define PX4IO_SERIAL_CLOCK
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-#endif
-
-/* Configuration ************************************************************************************/
-
-/* FMURT1062 GPIOs ***********************************************************************************/
-/* LEDs */
-/* An RGB LED is connected through GPIO as shown below:
- */
-#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE  | IOMUX_SLEW_SLOW)
-#define GPIO_nLED_RED   /* GPIO_B0_00 QTIMER1_TIMER0 GPIO2_IO0  */ (GPIO_PORT2 | GPIO_PIN0  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-#define GPIO_nLED_GREEN /* GPIO_B0_01 QTIMER1_TIMER1 GPIO2_IO1  */ (GPIO_PORT2 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-#define GPIO_nLED_BLUE  /* GPIO_B1_08 QTIMER1_TIMER3 GPIO2_IO24 */ (GPIO_PORT2 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS   1
-#define BOARD_OVERLOAD_LED              LED_RED
-#define BOARD_ARMED_STATE_LED           LED_BLUE
-
-/*
- *  Define the ability to shut off off the sensor signals
- *  by changing the signals to inputs
- */
-
-#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN))
-
-/*  Define the Chip Selects, Data Ready and Control signals per SPI bus */
-
-#define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST)
-#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST)
-
-
-/* SPI1 off */
-
-#define _GPIO_LPSPI1_SCK   /* GPIO_EMC_27  GPIO4_IO27 */  (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
-#define _GPIO_LPSPI1_MISO  /* GPIO_EMC_29  GPIO4_IO29 */  (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI1_MOSI  /* GPIO_EMC_28  GPIO4_IO28 */  (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
-
-#define GPIO_SPI1_SCK_OFF   _PIN_OFF(_GPIO_LPSPI1_SCK)
-#define GPIO_SPI1_MISO_OFF  _PIN_OFF(_GPIO_LPSPI1_MISO)
-#define GPIO_SPI1_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI1_MOSI)
-
-#define _GPIO_LPSPI3_SCK   /* GPIO_AD_B1_15 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
-#define _GPIO_LPSPI3_MISO  /* GPIO_AD_B1_13 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
-#define _GPIO_LPSPI3_MOSI  /* GPIO_AD_B1_14 GPIO1_IO27 */  (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
-
-#define GPIO_SPI3_SCK_OFF   _PIN_OFF(_GPIO_LPSPI3_SCK)
-#define GPIO_SPI3_MISO_OFF  _PIN_OFF(_GPIO_LPSPI3_MISO)
-#define GPIO_SPI3_MOSI_OFF  _PIN_OFF(_GPIO_LPSPI3_MOSI)
-
-/*  Define the SPI4 Data Ready and Control signals */
-
-#define GPIO_SPI4_DRDY7_EXTERNAL1   /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT  | DRDY_IOMUX)
-#define GPIO_nSPI4_RESET_EXTERNAL1  /* GPIO_B1_00 GPIO2_IO16 */ (GPIO_PORT2 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
-#define GPIO_SPI4_SYNC_EXTERNAL1    /* GPIO_EMC_05 GPIO4_IO5  */(GPIO_PORT4 | GPIO_PIN5  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
-
-#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1   _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
-#define GPIO_nSPI4_RESET_EXTERNAL1_OFF       _PIN_OFF(GPIO_nSPI4_RESET_EXTERNAL1)
-#define GPIO_SPI4_SYNC_EXTERNAL1_OFF         _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1)
-
-
-#define ADC_IOMUX (IOMUX_PULL_NONE )
-
-#define ADC1_CH(n)                  (n)
-#define ADC1_GPIO(n, p)             (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
-
-/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
-
-#define PX4_ADC_GPIO  \
-	/* BATTERY1_VOLTAGE       GPIO_AD_B1_11 GPIO1 Pin 27 */  ADC1_GPIO(0,  27),  \
-	/* BATTERY1_CURRENT       GPIO_AD_B0_12 GPIO1 Pin 12 */  ADC1_GPIO(1,  12),  \
-	/* BATTERY2_VOLTAGE       GPIO_AD_B0_13 GPIO1 Pin 13 */  ADC1_GPIO(2,  13),  \
-	/* BATTERY2_CURRENT       GPIO_AD_B0_14 GPIO1 Pin 14 */  ADC1_GPIO(3,  14),  \
-	/* SPARE_2_CHANNEL        GPIO_AD_B0_15 GPIO1 Pin 15 */  ADC1_GPIO(4,  15),  \
-	/* HW_VER_SENSE           GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20),  \
-	/* SCALED_V5              GPIO_AD_B1_05 GPIO1 Pin 21 */  ADC1_GPIO(10, 21), \
-	/* SCALED_VDD_3V3_SENSORS GPIO_AD_B1_06 GPIO1 Pin 22 */  ADC1_GPIO(11, 22), \
-	/* HW_REV_SENSE           GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24), \
-	/* SPARE_1                GPIO_AD_B1_09 GPIO1 Pin 25 */  ADC1_GPIO(14, 25), \
-	/* RSSI_IN                GPIO_AD_B1_10 GPIO1 Pin 26 */  ADC1_GPIO(15, 26)
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-
-#define ADC_BATTERY1_VOLTAGE_CHANNEL        /* GPIO_AD_B1_11 GPIO1 Pin 27 */  ADC1_CH(0)
-#define ADC_BATTERY1_CURRENT_CHANNEL        /* GPIO_AD_B0_12 GPIO1 Pin 12 */  ADC1_CH(1)
-#define ADC_BATTERY2_VOLTAGE_CHANNEL        /* GPIO_AD_B0_13 GPIO1 Pin 13 */  ADC1_CH(2)
-#define ADC_BATTERY2_CURRENT_CHANNEL        /* GPIO_AD_B0_14 GPIO1 Pin 14 */  ADC1_CH(3)
-#define ADC1_SPARE_2_CHANNEL                /* GPIO_AD_B0_15 GPIO1 Pin 15 */  ADC1_CH(4)
-#define ADC_HW_VER_SENSE_CHANNEL            /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_CH(9)
-#define ADC_SCALED_V5_CHANNEL               /* GPIO_AD_B1_05 GPIO1 Pin 21 */  ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* GPIO_AD_B1_06 GPIO1 Pin 22 */  ADC1_CH(11)
-#define ADC_HW_REV_SENSE_CHANNEL            /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_CH(13)
-#define ADC1_SPARE_1_CHANNEL                /* GPIO_AD_B1_09 GPIO1 Pin 25 */  ADC1_CH(14)
-#define ADC_RSSI_IN_CHANNEL                 /* GPIO_AD_B1_10 GPIO1 Pin 26 */  ADC1_CH(15)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
-	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY2_CURRENT_CHANNEL)       | \
-	 (1 << ADC1_SPARE_2_CHANNEL)               | \
-	 (1 << ADC_RSSI_IN_CHANNEL)                | \
-	 (1 << ADC_SCALED_V5_CHANNEL)              | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
-	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
-	 (1 << ADC1_SPARE_1_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)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-
-#define BOARD_HAS_HW_VERSIONING
-
-#define HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
-
-#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01   */  (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
-#define GPIO_HW_REV_SENSE     /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24)
-#define GPIO_HW_VER_SENSE     /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20)
-#define HW_INFO_INIT_PREFIX   "V5"
-#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
-#define V540   HW_VER_REV(0x4,0x0) // mini no can 2,3,          Rev 0
-
-/* CAN Silence
- *
- * Silent mode control \ ESC Mux select
- */
-
-#define SILENT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_SLEW_FAST)
-#define GPIO_CAN1_SILENT_S0  /* GPIO_AD_B0_10	GPIO1_IO10 */ (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-#define GPIO_CAN2_SILENT_S1  /* GPIO_EMC_06	GPIO4_IO06   */ (GPIO_PORT4 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-#define GPIO_CAN3_SILENT_S2  /* GPIO_EMC_09	GPIO4_IO09   */ (GPIO_PORT4 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
-
-
-/* 10/100 Mbps Ethernet & Gigabit Ethernet */
-
-/* 10/100 Mbps Ethernet Interrupt: GPIO_AD_12
- * Gigabit Ethernet Interrupt: GPIO_DISP_B2_12
- *
- * This pin has a week pull-up within the PHY, is open-drain, and requires
- * an external 1k ohm pull-up resistor (present on the EVK).  A falling
- * edge then indicates a change in state of the PHY.
- */
-
-#define GPIO_ENET_INT  (IOMUX_ENET_INT_DEFAULT | GPIO_OUTPUT | \
-			GPIO_PORT3 | GPIO_PIN11)  /* GPIO_AD_12 */
-#define GPIO_ENET_IRQ  IMXRT_IRQ_GPIO3_0_15
-
-#define GPIO_ENET1G_INT (IOMUX_ENET_INT_DEFAULT | \
-			 GPIO_PORT5 | GPIO_PIN13)  /* GPIO_DISP_B2_12 */
-#define GPIO_ENET1G_IRQ IMXRT_IRQ_GPIO5_13
-
-/* 10/100 Mbps Ethernet Reset:  GPIO_LPSR_12
- * Gigabit Ethernet Reset: GPIO_DISP_B2_13
- *
- * The #RST uses inverted logic.  The initial value of zero will put the
- * PHY into the reset state.
- */
-
-#define GPIO_ENET_RST   (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
-			 GPIO_PORT6 | GPIO_PIN12 | \
-			 IOMUX_ENET_RST_DEFAULT)  /* GPIO_LPSR_12 */
-
-#define GPIO_ENET1G_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \
-			 GPIO_PORT5 | GPIO_PIN14 | \
-			 IOMUX_ENET_RST_DEFAULT)  /* GPIO_DISP_B2_13 */
-
-/* HEATER
- * PWM in future
- */
-#define HEATER_IOMUX (0)
-#define GPIO_HEATER_OUTPUT   /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (0)
-#define HEATER_OUTPUT_EN(on_true)	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PWM Capture
- *
- * 2  PWM Capture inputs are supported
- */
-#define DIRECT_PWM_CAPTURE_CHANNELS  2
-#define CAP_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM  | IOMUX_SLEW_FAST)
-#define PIN_FLEXPWM2_PWMB0  /* P2:7  PWM2 B0 FMU_CAP1 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB00_2)
-#define PIN_FLEXPWM2_PWMB3  /* P3:3  PWM2 A1 FMU_CAP2 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB03_3)
-
-#define nARMED_INPUT_IOMUX  ( 0 )
-#define nARMED_OUTPUT_IOMUX (IOMUX_PULL_KEEP   | IOMUX_SLEW_FAST)
-
-#define GPIO_nARMED_INIT     /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_INPUT | nARMED_INPUT_IOMUX)
-#define GPIO_nARMED          /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
-
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-
-
-/* PWM
- */
-
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-// Input Capture not supported on MVP
-
-#define BOARD_HAS_NO_CAPTURE
-
-//#define BOARD_HAS_UI_LED_PWM           1  Not ported yet (Still Kinetis driver)
-#define BOARD_HAS_LED_PWM              1
-#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
-
-/*  UI LEDs are driven by timer 4 the pins have no alternates
- *
- *  nUI_LED_RED   GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1
- *  nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2
- *  nUI_LED_BLUE  GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3
- */
-
-
-/* Power supply control and monitoring GPIOs */
-
-#define GENERAL_INPUT_IOMUX  (0  )
-#define GENERAL_OUTPUT_IOMUX (0)
-
-#define GPIO_nPOWER_IN_A                /* GPIO_B0_12	GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-#define GPIO_nPOWER_IN_B                /* GPIO_B0_13	GPIO2_IO13 */ (GPIO_PORT2 | GPIO_PIN13 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-#define GPIO_nPOWER_IN_C                /* GPIO_B0_14	GPIO2_IO14 */ (GPIO_PORT2 | GPIO_PIN14 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
-
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
-#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
-
-#define OC_INPUT_IOMUX  ( 0 )
-
-//#define GPIO_nVDD_5V_PERIPH_EN          /* GPIO_B1_03    GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_nVDD_5V_PERIPH_OC          /* GPIO_B1_04    GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT  | OC_INPUT_IOMUX)
-//#define GPIO_nVDD_5V_HIPOWER_EN         /* GPIO_B1_01    GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_nVDD_5V_HIPOWER_OC         /* GPIO_B1_02    GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_INPUT  | OC_INPUT_IOMUX)
-//#define GPIO_VDD_3V3_SENSORS_EN         /* GPIO_EMC_41   GPIO3_IO27 */ (GPIO_PORT3 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* GPIO_AD_B0_00 GPIO1_IO00 */ (GPIO_PORT1 | GPIO_PIN0  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_VDD_5V_RC_EN               /* GPIO_AD_B0_08 GPIO1_IO08 */ (GPIO_PORT1 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_VDD_5V_WIFI_EN             /* PMIC_STBY_REQ GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-//#define GPIO_VDD_3V3_SD_CARD_EN         /* GPIO_EMC_13   GPIO4_IO13 */ (GPIO_PORT4 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX)
-
-/* Define True logic Power Control in arch agnostic form */
-
-//#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
-//#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
-//#define VDD_3V3_SENSORS_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
-//#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)
-//#define VDD_5V_RC_EN(on_true)              px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
-//#define VDD_5V_WIFI_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
-//#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        2  /* GPT 2 */
-#define TONE_ALARM_CHANNEL      3  /* GPIO_AD_B1_07 GPT2_COMPARE3 */
-
-#define GPIO_BUZZER_1           /* GPIO_AD_B1_07  GPIO1_IO23  */ (GPIO_PORT1 | GPIO_PIN23  | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         (GPIO_GPT2_COMPARE3_2 | GENERAL_OUTPUT_IOMUX)
-
-/* USB OTG FS
- *
- * VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
- */
-
-/* High-resolution timer */
-#define HRT_TIMER               1  /* use GPT1 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-#define HRT_PPM_CHANNEL         /* GPIO_B1_06 GPT1_CAPTURE2 */  2  /* use capture/compare channel 2 */
-#define GPIO_PPM_IN             /* GPIO_B1_06 GPT1_CAPTURE2 */ (GENERAL_INPUT_IOMUX)
-
-#define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
-/* FLEXSPI2 */
-
-#define GPIO_FLEXSPI2_CS      (GPIO_FLEXSPI2_A_SS0_B_1|IOMUX_FLEXSPI_DEFAULT)
-#define GPIO_FLEXSPI2_IO0     (GPIO_FLEXSPI2_A_DATA0_1|IOMUX_FLEXSPI_DEFAULT) /* SOUT */
-#define GPIO_FLEXSPI2_IO1     (GPIO_FLEXSPI2_A_DATA1_1|IOMUX_FLEXSPI_DEFAULT) /* SIN */
-#define GPIO_FLEXSPI2_SCK     (GPIO_FLEXSPI2_A_SCLK_1|IOMUX_FLEXSPI_CLK_DEFAULT)
-
-/* SDRAM */
-
-#define GPIO_SDRAM_CS  (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_GOUT_DEFAULT | \
-			GPIO_PORT1 | GPIO_PIN29)  /* GPIO_EMC_B1_29 */
-#define GPIO_SDRAM_CLK  (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_GOUT_DEFAULT | \
-			 GPIO_PORT1 | GPIO_PIN26)  /* GPIO_EMC_B1_26 */
-
-#define GPIO_FLEXSPI2_SCK_IO (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_GOUT_DEFAULT | \
-			      GPIO_PORT2 | GPIO_PIN20)  /* GPIO_EMC_B2_20 */
-#define GPIO_FLEXSPI2_CS_IO (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_GOUT_DEFAULT | \
-			     GPIO_PORT2 | GPIO_PIN21)  /* GPIO_EMC_B2_21 */
-#define GPIO_FLEXSPI2_D1_IO (GPIO_OUTPUT | GPIO_OUTPUT_ONE | IOMUX_GOUT_DEFAULT | \
-			     GPIO_PORT2 | GPIO_PIN24)  /* GPIO_EMC_B2_14 */
-
-/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */
-
-#define PWMIN_TIMER            /* FLEXPWM3_PWMA2 */  3
-#define PWMIN_TIMER_CHANNEL    /* FLEXPWM3_PWMA2 */  2
-#define GPIO_PWM_IN            /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX)
-
-/* Shared pins Both FMU and PX4IO control/monitor
- * FMU Initializes these pins to passive input until it is known
- * if we have and PX4IO on board
- */
-
-#define GPIO_RSSI_IN                       /* GPIO_AD_B1_10 GPIO1_IO26 */ (GPIO_PORT1 | GPIO_PIN26 | GPIO_INPUT | ADC_IOMUX)
-#define GPIO_RSSI_IN_INIT                  /* GPIO_AD_B1_10 GPIO1_IO26 */ 0 /* Using 0 will Leave as ADC RSSI_IN */
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define SAFETY_INIT_IOMUX (IOMUX_PULL_NONE )
-#define SAFETY_IOMUX      ( IOMUX_PULL_NONE   | IOMUX_SLEW_SLOW)
-#define SAFETY_SW_IOMUX   (0 )
-
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_INPUT  | SAFETY_INIT_IOMUX)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-#define GPIO_SAFETY_SWITCH_IN              /* GPIO_AD_B1_12 GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | SAFETY_SW_IOMUX)
-/* 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 */
-
-/*
- * FMUv5 has a separate RC_IN
- *
- * GPIO PPM_IN on GPIO_EMC_23 GPIO4 Pin 23 GPT1_CAPTURE2
- *   Inversion is possible in the UART and can drive GPIO PPM_IN as an output
- */
-
-#define GPIO_PPM_IN_AS_OUT             /* GPIO_B1_06 GPIO2_IO23 GPT1_CAPTURE2 GPT1_CAPTURE2 */ (GPIO_PORT2 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-
-#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
-
-/* FMUv5 never powers odd the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
-
-
-/* This board provides a DMA pool and APIs */
-//#define BOARD_DMA_ALLOC_POOL_SIZE 5120 FIXME EDMA SUPP
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_nARMED_INIT,                 \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_FLEXCAN3_TX,                 \
-		GPIO_FLEXCAN3_RX,                 \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S1,              \
-		GPIO_CAN3_SILENT_S2,              \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_RSSI_IN_INIT,                \
-		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
-		GPIO_nSPI4_RESET_EXTERNAL1,       \
-		GPIO_SPI4_SYNC_EXTERNAL1,         \
-		GPIO_SAFETY_SWITCH_IN             \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: fmurt1062_usdhc_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int fmurt1062_usdhc_initialize(void);
-
-/****************************************************************************************************
- * Name: imxrt_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void imxrt_spidev_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI Buses.
- *
- ************************************************************************************/
-
-extern int imxrt1176_spi_bus_initialize(void);
-
-/************************************************************************************
- * Name: imxrt_usb_initialize
- *
- * Description:
- *   Called to configure USB.
- *
- ************************************************************************************/
-
-extern int imxrt_usb_initialize(void);
-
-extern void imxrt_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-extern void fmurt1062_timer_initialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-#ifdef CONFIG_IMXRT1170_FLEXSPI_FRAM
-int imxrt_flexspi_fram_initialize(void);
-#endif
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,129 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include <chip.h>
-#include "arm_internal.h"
-
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_IMXRT_FLEXCAN1) && defined(CONFIG_IMXRT_FLEXCAN2) \
-  && defined(CONFIG_IMXRT_FLEXCAN3)
-#  warning "CAN1 and CAN2 and CAN2 are enabled.  Assuming only CAN1."
-#endif
-
-#ifdef CONFIG_IMXRT_FLEXCAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-
-		/* Call imxrt_caninitialize() to get an instance of the CAN interface */
-
-		can = imxrt_can_initialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
@@ -1,557 +0,0 @@
-/****************************************************************************
- * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_clockconfig.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/* Copyright 2022 NXP */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-
-#include "imxrt_clockconfig.h"
-
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/* Each IMXRT117X board must provide the following initialized structure.
- * This is needed to establish the initial board clocking.
- */
-
-const struct clock_configuration_s g_initial_clkconfig = {
-	.ccm               =
-	{
-		.m7_clk_root     =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = M7_CLK_ROOT_PLL_ARM_CLK,
-		},
-		.m4_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = M4_CLK_ROOT_SYS_PLL3_PFD3,
-		},
-		.bus_clk_root =
-		{
-			.enable        = 1,
-			.div           = 2,
-			.mux           = BUS_CLK_ROOT_SYS_PLL3_CLK,
-		},
-		.bus_lpsr_clk_root =
-		{
-			.enable        = 1,
-			.div           = 3,
-			.mux           = BUS_LPSR_CLK_ROOT_SYS_PLL3_CLK,
-		},
-		.semc_clk_root =
-		{
-			.enable        = 1,
-			.div           = 3,
-			.mux           = SEMC_CLK_ROOT_SYS_PLL2_PFD1,
-		},
-		.cssys_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = CSSYS_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.cstrace_clk_root =
-		{
-			.enable        = 1,
-			.div           = 4,
-			.mux           = CSTRACE_CLK_ROOT_SYS_PLL2_CLK,
-		},
-		.m4_systick_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = M4_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.m7_systick_clk_root =
-		{
-			.enable        = 1,
-			.div           = 240,
-			.mux           = M7_SYSTICK_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.adc1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = ADC1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.adc2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = ADC2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.acmp_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.flexio1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = FLEXIO1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.flexio2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = FLEXIO2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt3_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt4_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT4_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt5_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT5_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gpt6_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = GPT6_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.flexspi1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 4,
-			.mux           = FLEXSPI1_CLK_ROOT_SYS_PLL2_CLK,
-		},
-		.flexspi2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = FLEXSPI2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.can1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = CAN1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.can2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = CAN2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.can3_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = CAN3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 22,
-			.mux           = LPUART1_CLK_ROOT_SYS_PLL2_CLK,
-		},
-		.lpuart2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 22,
-			.mux           = LPUART2_CLK_ROOT_SYS_PLL2_CLK,
-		},
-		.lpuart3_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart4_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART4_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart5_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART5_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart6_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART6_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart7_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART7_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart8_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART8_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart9_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART9_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart10_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART10_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart11_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART11_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpuart12_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPUART12_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c3_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c4_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C4_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c5_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C5_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpi2c6_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPI2C6_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi3_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi4_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI4_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi5_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI5_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lpspi6_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = LPSPI6_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.emv1_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = EMV1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.emv2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = EMV2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 10,
-			.mux           = ENET1_CLK_ROOT_SYS_PLL1_DIV2,
-		},
-		.enet2_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = ENET2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet_qos_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = ENET_QOS_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet_25m_clk_root =
-		{
-			.enable        = 1,
-			.div           = 1,
-			.mux           = ENET_25M_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet_timer1_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = ENET_TIMER1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet_timer2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = ENET_TIMER2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.enet_timer3_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = ENET_TIMER3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.usdhc1_clk_root =
-		{
-			.enable        = 1,
-			.div           = 2,
-			.mux           = USDHC1_CLK_ROOT_SYS_PLL2_PFD2,
-		},
-		.usdhc2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = USDHC2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.asrc_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = ASRC_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.mqs_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = MQS_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.mic_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = MIC_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.spdif_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = SPDIF_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.sai1_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = SAI1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.sai2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = SAI2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.sai3_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = SAI3_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.sai4_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = SAI4_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.gc355_clk_root =
-		{
-			.enable        = 0,
-			.div           = 2,
-			.mux           = GC355_CLK_ROOT_VIDEO_PLL_CLK,
-		},
-		.lcdif_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = LCDIF_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.lcdifv2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = LCDIFV2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.mipi_ref_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = MIPI_REF_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.mipi_esc_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = MIPI_ESC_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.csi2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CSI2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.csi2_esc_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CSI2_ESC_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.csi2_ui_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CSI2_UI_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.csi_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CSI_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.cko1_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CKO1_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-		.cko2_clk_root =
-		{
-			.enable        = 0,
-			.div           = 1,
-			.mux           = CKO2_CLK_ROOT_OSC_RC_48M_DIV2,
-		},
-	},
-	.arm_pll =
-	{
-		/* ARM_PLL = Fin * ( loop_div / ( 2 * post_div ) ) */
-
-		.post_div        = 0, /* 0 = DIV by 2
-                           * 1 = DIV by 4
-                           * 2 = DIV by 8
-                           * 3 = DIV by 1 */
-		.loop_div        = 166, /* ARM_PLL = 996 Mhz */
-	},
-	.sys_pll1 =
-	{
-		.enable          = 1,
-		.div             = 41,
-		.num             = 178956970,
-		.denom           = 268435455,
-	},
-	.sys_pll2 =
-	{
-		.mfd             = 268435455,
-		.ss_enable       = 0,
-		.pfd0            = 27, /* (528 * 18) / 27 = 352 MHz */
-		.pfd1            = 16, /* (528 * 16) / 16 = 594 MHz */
-		.pfd2            = 24, /* (528 * 24) / 27 = 396 MHz */
-		.pfd3            = 32, /* (528 * 32) / 27 = 297 MHz */
-	},
-	.sys_pll3 =
-	{
-		.pfd0            = 13, /* (480 * 18) / 13 = 8640/13 = 664.62 MHz */
-		.pfd1            = 17, /* (480 * 18) / 17 = 8640/17 = 508.24 MHz */
-		.pfd2            = 32, /* (480 * 18) / 32 = 270 MHz */
-		.pfd3            = 22, /* (480 * 18) / 22 = 8640/20 = 392.73 MHz */
-	}
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
@@ -1,288 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_ethernet.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-/* Force verbose debug on in this file only to support unit-level testing. */
-
-#ifdef CONFIG_NETDEV_PHY_DEBUG
-#  undef  CONFIG_DEBUG_INFO
-#  define CONFIG_DEBUG_INFO 1
-#  undef  CONFIG_DEBUG_NET
-#  define CONFIG_DEBUG_NET 1
-#endif
-
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/irq.h>
-#include <nuttx/arch.h>
-#include <nuttx/spinlock.h>
-#include "arm_internal.h"
-
-#include "imxrt_gpio.h"
-#include "imxrt_enet.h"
-
-#include "board_config.h"
-
-#ifdef CONFIG_IMXRT_ENET
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define IMXRT_ENET_DEVNAME "eth0"
-
-/* Debug ********************************************************************/
-
-/* Extra, in-depth debug output that is only available if
- * CONFIG_NETDEV_PHY_DEBUG us defined.
- */
-
-#ifdef CONFIG_NETDEV_PHY_DEBUG
-#  define phyerr    _err
-#  define phywarn   _warn
-#  define phyinfo   _info
-#else
-#  define phyerr(x...)
-#  define phywarn(x...)
-#  define phyinfo(x...)
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: imxrt_enet_phy_enable
- ****************************************************************************/
-
-#if 1
-static void imxrt_enet_phy_enable(bool enable)
-{
-	phyinfo("IRQ%d: enable=%d\n", GPIO_ENET_INT, enable);
-
-	if (enable) {
-		up_enable_irq(GPIO_ENET_IRQ);
-
-	} else {
-		up_disable_irq(GPIO_ENET_IRQ);
-	}
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Function: imxrt_phy_boardinitialize
- *
- * Description:
- *   Some boards require specialized initialization of the PHY before it can
- *   be used.  This may include such things as configuring GPIOs, resetting
- *   the PHY, etc.
- *   If CONFIG_IMXRT_ENET_PHYINIT is defined in the configuration then the
- *   board specific logic must provide imxrt_phyinitialize();
- *   The i.MX RT Ethernet driver will call this function one time before it
- *   first uses the PHY.
- *
- * Input Parameters:
- *   intf - Always zero for now.
- *
- * Returned Value:
- *   OK on success; Negated errno on failure.
- *
- ****************************************************************************/
-
-int imxrt_phy_boardinitialize(int intf)
-{
-#ifdef CONFIG_IMXRT_GPIO1_0_15_IRQ
-	/* Configure the PHY interrupt pin */
-
-	phyinfo("Configuring interrupt: %08x\n", GPIO_ENET_INT);
-	imxrt_config_gpio(GPIO_ENET_INT);
-#endif
-
-	/* Configure the PHY reset pin.
-	 *
-	 * The #RST uses inverted logic.  The initial value of zero will put the
-	 * PHY into the reset state.
-	 */
-
-	phyinfo("Configuring reset: %08x\n", GPIO_ENET_RST);
-	imxrt_config_gpio(GPIO_ENET_RST);
-	imxrt_config_gpio(GPIO_ENET_INT);
-
-	imxrt_gpio_write(GPIO_ENET_INT, true);
-	imxrt_gpio_write(GPIO_ENET_RST, false);
-
-	up_mdelay(10);
-
-	/* Take the PHY out of reset. */
-
-	imxrt_gpio_write(GPIO_ENET_RST, true);
-
-	up_mdelay(1);
-
-	/* Workaround for the IOMUX Daisy support */
-
-	putreg32(0x1, IMXRT_INPUT_ENET_IPG_CLK_RMII);
-	putreg32(0x1, IMXRT_INPUT_ENET_MDIO);
-	putreg32(0x1, IMXRT_INPUT_ENET_RXDATA0);
-	putreg32(0x1, IMXRT_INPUT_ENET_RXDATA1);
-	putreg32(0x1, IMXRT_INPUT_ENET_RXEN);
-	putreg32(0x1, IMXRT_INPUT_ENET_RXERR);
-
-	return OK;
-}
-
-/****************************************************************************
- * Name: arch_phy_irq
- *
- * Description:
- *   This function may be called to register an interrupt handler that will
- *   be called when a PHY interrupt occurs.  This function both attaches
- *   the interrupt handler and enables the interrupt if 'handler' is non-
- *   NULL.  If handler is NULL, then the interrupt is detached and disabled
- *   instead.
- *
- *   The PHY interrupt is always disabled upon return.  The caller must
- *   call back through the enable function point to control the state of
- *   the interrupt.
- *
- *   This interrupt may or may not be available on a given platform depending
- *   on how the network hardware architecture is implemented.  In a typical
- *   case, the PHY interrupt is provided to board-level logic as a GPIO
- *   interrupt (in which case this is a board-specific interface and really
- *   should be called board_phy_irq()); In other cases, the PHY interrupt
- *   may be cause by the chip's MAC logic (in which case arch_phy_irq()) is
- *   an appropriate name.  Other other boards, there may be no PHY interrupts
- *   available at all.  If client attachable PHY interrupts are available
- *   from the board or from the chip, then CONFIG_ARCH_PHY_INTERRUPT should
- *   be defined to indicate that fact.
- *
- *   Typical usage:
- *   a. OS service logic (not application logic*) attaches to the PHY
- *      PHY interrupt and enables the PHY interrupt.
- *   b. When the PHY interrupt occurs:  (1) the interrupt should be
- *      disabled and () work should be scheduled on the worker thread (or
- *      perhaps a dedicated application thread).
- *   c. That worker thread should use the SIOCGMIIPHY, SIOCGMIIREG,
- *      and SIOCSMIIREG ioctl calls** to communicate with the PHY,
- *      determine what network event took place (Link Up/Down?), and
- *      take the appropriate actions.
- *   d. It should then interact the PHY to clear any pending
- *      interrupts, then re-enable the PHY interrupt.
- *
- *    * This is an OS internal interface and should not be used from
- *      application space.  Rather applications should use the SIOCMIISIG
- *      ioctl to receive a signal when a PHY event occurs.
- *   ** This interrupt is really of no use if the Ethernet MAC driver
- *      does not support these ioctl calls.
- *
- * Input Parameters:
- *   intf    - Identifies the network interface.  For example "eth0".  Only
- *             useful on platforms that support multiple Ethernet interfaces
- *             and, hence, multiple PHYs and PHY interrupts.
- *   handler - The client interrupt handler to be invoked when the PHY
- *             asserts an interrupt.  Must reside in OS space, but can
- *             signal tasks in user space.  A value of NULL can be passed
- *             in order to detach and disable the PHY interrupt.
- *   arg     - The argument that will accompany the interrupt
- *   enable  - A function pointer that be unused to enable or disable the
- *             PHY interrupt.
- *
- * Returned Value:
- *   Zero (OK) returned on success; a negated errno value is returned on
- *   failure.
- *
- ****************************************************************************/
-
-#if 1
-int arch_phy_irq(const char *intf, xcpt_t handler, void *arg,
-		 phy_enable_t *enable)
-{
-	irqstate_t flags;
-	phy_enable_t enabler;
-	int irq;
-
-	DEBUGASSERT(intf);
-
-	ninfo("%s: handler=%p\n", intf, handler);
-	phyinfo("EMAC: devname=%s\n", IMXRT_ENET_DEVNAME);
-
-	if (strcmp(intf, IMXRT_ENET_DEVNAME) == 0) {
-		irq     = GPIO_ENET_IRQ;
-		enabler = imxrt_enet_phy_enable;
-
-	} else {
-		nerr("ERROR: Unsupported interface: %s\n", intf);
-		return -EINVAL;
-	}
-
-	/* Disable interrupts until we are done.  This guarantees that the
-	 * following operations are atomic.
-	 */
-
-	flags = spin_lock_irqsave(NULL);
-
-	/* Configure the interrupt */
-
-	if (handler) {
-		/* The interrupt pin has already been configured as an interrupting
-		 * input (by imxrt_phy_boardinitialize() above).
-		 *
-		 * Attach the new button handler.
-		 */
-
-		phyinfo("Attach IRQ%d\n", irq);
-		irq_attach(irq, handler, arg);
-
-	} else {
-		phyinfo("Detach IRQ%d\n", irq);
-		irq_detach(irq);
-		enabler = NULL;
-	}
-
-	/* Return with the interrupt disabled in either case */
-
-	up_disable_irq(GPIO_ENET_IRQ);
-
-	/* Return the enabling function pointer */
-
-	if (enable) {
-		*enable = enabler;
-	}
-
-	/* Return the old handler (so that it can be restored) */
-
-	spin_unlock_irqrestore(NULL, flags);
-	return OK;
-}
-#endif /* CONFIG_IMXRT_GPIO1_0_15_IRQ */
-
-#endif /* CONFIG_IMXRT_ENET */
@@ -1,716 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_flexspi_fram.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/kmalloc.h>
-#include <nuttx/signal.h>
-#include <nuttx/fs/fs.h>
-#include <nuttx/mtd/mtd.h>
-
-#include "imxrt_flexspi.h"
-#include "board_config.h"
-#include "hardware/imxrt_pinmux.h"
-
-#ifdef CONFIG_IMXRT_FLEXSPI
-
-#define FRAM_SIZE        0x8000U
-#define FRAM_PAGE_SIZE   0x0080U
-#define FRAM_SECTOR_SIZE 0x0080U
-
-#define MIN(a, b) (((a) < (b)) ? (a) : (b))
-
-enum {
-	/* SPI instructions */
-
-	READ_ID,
-	READ_STATUS_REG,
-	WRITE_STATUS_REG,
-	WRITE_ENABLE,
-	READ_FAST,
-	PAGE_PROGRAM,
-};
-
-static const uint32_t g_flexspi_fram_lut[][4] = {
-	[READ_ID] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x9f,
-				FLEXSPI_COMMAND_READ_SDR,  FLEXSPI_1PAD, 0x04),
-	},
-
-	[READ_STATUS_REG] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x05,
-				FLEXSPI_COMMAND_READ_SDR,  FLEXSPI_1PAD, 0x04),
-	},
-
-	[WRITE_STATUS_REG] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x01,
-				FLEXSPI_COMMAND_WRITE_SDR, FLEXSPI_1PAD, 0x04),
-	},
-
-	[WRITE_ENABLE] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x06,
-				FLEXSPI_COMMAND_STOP,      FLEXSPI_1PAD, 0),
-	},
-	[READ_FAST] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x0b,
-				FLEXSPI_COMMAND_RADDR_SDR, FLEXSPI_1PAD, 0x10),
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_DUMMY_SDR, FLEXSPI_1PAD, 0x08,
-				FLEXSPI_COMMAND_READ_SDR,  FLEXSPI_1PAD, 0x04),
-	},
-	[PAGE_PROGRAM] =
-	{
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_SDR,       FLEXSPI_1PAD, 0x02,
-				FLEXSPI_COMMAND_RADDR_SDR, FLEXSPI_1PAD, 0x10),
-		FLEXSPI_LUT_SEQ(FLEXSPI_COMMAND_WRITE_SDR, FLEXSPI_1PAD, 0x04,
-				FLEXSPI_COMMAND_STOP,      FLEXSPI_1PAD, 0),
-	},
-};
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/* FlexSPI NOR device private data */
-
-struct imxrt_flexspi_fram_dev_s {
-	struct mtd_dev_s mtd;
-	struct flexspi_dev_s *flexspi;   /* Saved FlexSPI interface instance */
-	uint8_t *ahb_base;
-	enum flexspi_port_e port;
-	struct flexspi_device_config_s *config;
-};
-
-/****************************************************************************
- * Private Functions Prototypes
- ****************************************************************************/
-
-/* MTD driver methods */
-
-static int imxrt_flexspi_fram_erase(struct mtd_dev_s *dev,
-				    off_t startblock,
-				    size_t nblocks);
-static ssize_t imxrt_flexspi_fram_read(struct mtd_dev_s *dev,
-				       off_t offset,
-				       size_t nbytes,
-				       uint8_t *buffer);
-static ssize_t imxrt_flexspi_fram_bread(struct mtd_dev_s *dev,
-					off_t startblock,
-					size_t nblocks,
-					uint8_t *buffer);
-static ssize_t imxrt_flexspi_fram_bwrite(struct mtd_dev_s *dev,
-		off_t startblock,
-		size_t nblocks,
-		const uint8_t *buffer);
-static int imxrt_flexspi_fram_ioctl(struct mtd_dev_s *dev,
-				    int cmd,
-				    unsigned long arg);
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static struct flexspi_device_config_s g_flexspi_device_config = {
-	.flexspi_root_clk = 4000000,
-	.is_sck2_enabled = 0,
-	.flash_size = 32,
-	.cs_interval_unit = FLEXSPI_CS_INTERVAL_UNIT1_SCK_CYCLE,
-	.cs_interval = 0,
-	.cs_hold_time = 12,
-	.cs_setup_time = 12,
-	.data_valid_time = 0,
-	.columnspace = 0,
-	.enable_word_address = 0,
-	.awr_seq_index = 0,
-	.awr_seq_number = 0,
-	.ard_seq_index = READ_FAST,
-	.ard_seq_number = 1,
-	.ahb_write_wait_unit = FLEXSPI_AHB_WRITE_WAIT_UNIT2_AHB_CYCLE,
-	.ahb_write_wait_interval = 0,
-	.rx_sample_clock = FLEXSPI_READ_SAMPLE_CLK_LOOPBACK_INTERNALLY,
-};
-
-static struct imxrt_flexspi_fram_dev_s g_flexspi_nor = {
-	.mtd =
-	{
-		.erase  = imxrt_flexspi_fram_erase,
-		.bread  = imxrt_flexspi_fram_bread,
-		.bwrite = imxrt_flexspi_fram_bwrite,
-		.read   = imxrt_flexspi_fram_read,
-		.ioctl  = imxrt_flexspi_fram_ioctl,
-#ifdef CONFIG_MTD_BYTE_WRITE
-		.write  = NULL,
-#endif
-		.name   = "imxrt_flexspi_fram"
-	},
-	.flexspi = (void *)0,
-	.ahb_base = (uint8_t *) IMXRT_FLEXSPI2_CIPHER_BASE,
-	.port = FLEXSPI_PORT_A1,
-	.config = &g_flexspi_device_config
-};
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static int imxrt_flexspi_fram_get_vendor_id(
-	const struct imxrt_flexspi_fram_dev_s *dev,
-	uint8_t *vendor_id)
-{
-	uint8_t buffer[1] = {0};
-	int stat;
-
-	struct flexspi_transfer_s transfer = {
-		.device_address = 0,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_READ,
-		.seq_number = 1,
-		.seq_index = READ_ID,
-		.data = (void *) &buffer,
-		.data_size = 1,
-	};
-
-	stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-	if (stat != 0) {
-		return -EIO;
-	}
-
-	*vendor_id = buffer[0];
-
-	return 0;
-}
-
-static int imxrt_flexspi_fram_read_status(
-	const struct imxrt_flexspi_fram_dev_s *dev,
-	uint32_t *status)
-{
-	int stat;
-
-	struct flexspi_transfer_s transfer = {
-		.device_address = 0,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_READ,
-		.seq_number = 1,
-		.seq_index = READ_STATUS_REG,
-		.data = status,
-		.data_size = 1,
-	};
-
-	stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-	if (stat != 0) {
-		return -EIO;
-	}
-
-	return 0;
-}
-
-#if 0
-static int imxrt_flexspi_fram_write_status(
-	const struct imxrt_flexspi_fram_dev_s *dev,
-	uint32_t *status)
-{
-	int stat;
-
-	struct flexspi_transfer_s transfer = {
-		.device_address = 0,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_WRITE,
-		.seq_number = 1,
-		.seq_index = WRITE_STATUS_REG,
-		.data = status,
-		.data_size = 1,
-	};
-
-	stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-	if (stat != 0) {
-		return -EIO;
-	}
-
-	return 0;
-}
-#endif
-
-static int imxrt_flexspi_fram_write_enable(
-	const struct imxrt_flexspi_fram_dev_s *dev)
-{
-	int stat;
-
-	struct flexspi_transfer_s transfer = {
-		.device_address = 0,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_COMMAND,
-		.seq_number = 1,
-		.seq_index = WRITE_ENABLE,
-		.data = NULL,
-		.data_size = 0,
-	};
-
-	stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-	if (stat != 0) {
-		return -EIO;
-	}
-
-	return 0;
-}
-
-static int imxrt_flexspi_fram_erase_sector(
-	const struct imxrt_flexspi_fram_dev_s *dev,
-	off_t offset)
-{
-	int stat;
-	size_t remaining = FRAM_SECTOR_SIZE;
-	uint8_t buffer[FRAM_SECTOR_SIZE] = {0xff};
-
-	struct flexspi_transfer_s transfer = {
-		.data = (void *) &buffer,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_WRITE,
-		.seq_number = 1,
-		.seq_index = PAGE_PROGRAM,
-	};
-
-	while (remaining > 0) {
-		transfer.device_address = offset;
-		transfer.data_size = MIN(128, remaining);
-
-		stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-		if (stat != 0) {
-			return -EIO;
-		}
-
-		remaining -= transfer.data_size;
-		offset += transfer.data_size;
-	}
-
-	return 0;
-}
-
-static int imxrt_flexspi_fram_erase_chip(
-	const struct imxrt_flexspi_fram_dev_s *dev)
-{
-	int stat;
-	size_t remaining = FRAM_SIZE;
-	size_t offset = 0;
-	uint8_t buffer[FRAM_SECTOR_SIZE] = {0xff};
-
-	struct flexspi_transfer_s transfer = {
-		.data = (void *) &buffer,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_WRITE,
-		.seq_number = 1,
-		.seq_index = PAGE_PROGRAM,
-	};
-
-	while (remaining > 0) {
-		transfer.device_address = offset;
-		transfer.data_size = MIN(128, remaining);
-
-		stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-		if (stat != 0) {
-			return -EIO;
-		}
-
-		remaining -= transfer.data_size;
-		offset += transfer.data_size;
-	}
-
-	return 0;
-}
-
-static int imxrt_flexspi_fram_page_program(
-	const struct imxrt_flexspi_fram_dev_s *dev,
-	off_t offset,
-	const void *buffer,
-	size_t len)
-{
-	int stat;
-
-	struct flexspi_transfer_s transfer = {
-		.device_address = offset,
-		.port = dev->port,
-		.cmd_type = FLEXSPI_WRITE,
-		.seq_number = 1,
-		.seq_index = PAGE_PROGRAM,
-		.data = (uint32_t *) buffer,
-		.data_size = len,
-	};
-
-	stat = FLEXSPI_TRANSFER(dev->flexspi, &transfer);
-
-	if (stat != 0) {
-		return -EIO;
-	}
-
-	return 0;
-}
-
-static int imxrt_flexspi_fram_wait_bus_busy(
-	const struct imxrt_flexspi_fram_dev_s *dev)
-{
-	uint32_t status = 0;
-	int ret;
-
-	do {
-		ret = imxrt_flexspi_fram_read_status(dev, &status);
-
-		if (ret) {
-			return ret;
-		}
-	} while (status & 1);
-
-	return 0;
-}
-
-static ssize_t imxrt_flexspi_fram_read(struct mtd_dev_s *dev,
-				       off_t offset,
-				       size_t nbytes,
-				       uint8_t *buffer)
-{
-
-#ifdef IP_READ
-	struct imxrt_flexspi_fram_dev_s *priv =
-		(struct imxrt_flexspi_fram_dev_s *)dev;
-	int stat;
-	size_t remaining = nbytes;
-
-	struct flexspi_transfer_s transfer = {
-		.port = priv->port,
-		.cmd_type = FLEXSPI_READ,
-		.seq_number = 1,
-		.seq_index = READ_FAST,
-	};
-
-	while (remaining > 0) {
-		transfer.device_address = offset;
-		transfer.data = buffer;
-		transfer.data_size = MIN(128, remaining);
-
-		stat = FLEXSPI_TRANSFER(priv->flexspi, &transfer);
-
-		if (stat != 0) {
-			return -EIO;
-		}
-
-		remaining -= transfer.data_size;
-		buffer += transfer.data_size;
-		offset += transfer.data_size;
-	}
-
-	return 0;
-
-#else
-	struct imxrt_flexspi_fram_dev_s *priv =
-		(struct imxrt_flexspi_fram_dev_s *)dev;
-	uint8_t *src;
-
-	finfo("offset: %08lx nbytes: %d\n", (long)offset, (int)nbytes);
-
-	if (priv->port >= FLEXSPI_PORT_COUNT) {
-		return -EIO;
-	}
-
-	src = priv->ahb_base + offset;
-
-	memcpy(buffer, src, nbytes);
-
-	finfo("return nbytes: %d\n", (int)nbytes);
-	return (ssize_t)nbytes;
-#endif
-}
-
-static ssize_t imxrt_flexspi_fram_bread(struct mtd_dev_s *dev,
-					off_t startblock,
-					size_t nblocks,
-					uint8_t *buffer)
-{
-	ssize_t nbytes;
-
-	finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
-
-	/* On this device, we can handle the block read just like the byte-oriented
-	 * read
-	 */
-
-	nbytes = imxrt_flexspi_fram_read(dev, startblock * FRAM_PAGE_SIZE,
-					 nblocks * FRAM_PAGE_SIZE, buffer);
-
-	if (nbytes > 0) {
-		nbytes /= FRAM_PAGE_SIZE;
-	}
-
-	return nbytes;
-}
-
-static ssize_t imxrt_flexspi_fram_bwrite(struct mtd_dev_s *dev,
-		off_t startblock,
-		size_t nblocks,
-		const uint8_t *buffer)
-{
-	struct imxrt_flexspi_fram_dev_s *priv =
-		(struct imxrt_flexspi_fram_dev_s *)dev;
-	size_t len = nblocks * FRAM_PAGE_SIZE;
-	off_t offset = startblock * FRAM_PAGE_SIZE;
-	uint8_t *src = (uint8_t *) buffer;
-#ifdef CONFIG_ARMV7M_DCACHE
-	uint8_t *dst = priv->ahb_base + startblock * FRAM_PAGE_SIZE;
-#endif
-	int i;
-
-	finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
-
-	while (len) {
-		i = MIN(FRAM_PAGE_SIZE, len);
-		imxrt_flexspi_fram_write_enable(priv);
-		imxrt_flexspi_fram_page_program(priv, offset, src, i);
-		imxrt_flexspi_fram_wait_bus_busy(priv);
-		FLEXSPI_SOFTWARE_RESET(priv->flexspi);
-		offset += i;
-		len -= i;
-	}
-
-#ifdef CONFIG_ARMV7M_DCACHE
-	up_invalidate_dcache((uintptr_t)dst,
-			     (uintptr_t)dst + nblocks * FRAM_PAGE_SIZE);
-#endif
-
-	return nblocks;
-}
-
-static int imxrt_flexspi_fram_erase(struct mtd_dev_s *dev,
-				    off_t startblock,
-				    size_t nblocks)
-{
-	struct imxrt_flexspi_fram_dev_s *priv =
-		(struct imxrt_flexspi_fram_dev_s *)dev;
-	size_t blocksleft = nblocks;
-#ifdef CONFIG_ARMV7M_DCACHE
-	uint8_t *dst = priv->ahb_base + startblock * FRAM_SECTOR_SIZE;
-#endif
-
-	finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
-
-	while (blocksleft-- > 0) {
-		/* Erase each sector */
-
-		imxrt_flexspi_fram_write_enable(priv);
-		imxrt_flexspi_fram_erase_sector(priv, startblock * FRAM_SECTOR_SIZE);
-		imxrt_flexspi_fram_wait_bus_busy(priv);
-		FLEXSPI_SOFTWARE_RESET(priv->flexspi);
-		startblock++;
-	}
-
-#ifdef CONFIG_ARMV7M_DCACHE
-	up_invalidate_dcache((uintptr_t)dst,
-			     (uintptr_t)dst + nblocks * FRAM_SECTOR_SIZE);
-#endif
-
-	return (int)nblocks;
-}
-
-static int imxrt_flexspi_fram_ioctl(struct mtd_dev_s *dev,
-				    int cmd,
-				    unsigned long arg)
-{
-	struct imxrt_flexspi_fram_dev_s *priv =
-		(struct imxrt_flexspi_fram_dev_s *)dev;
-	int ret = -EINVAL; /* Assume good command with bad parameters */
-
-	finfo("cmd: %d\n", cmd);
-
-	switch (cmd) {
-	case MTDIOC_GEOMETRY: {
-			struct mtd_geometry_s *geo =
-				(struct mtd_geometry_s *)((uintptr_t)arg);
-
-			if (geo) {
-				/* Populate the geometry structure with information need to
-				 * know the capacity and how to access the device.
-				 *
-				 * NOTE:
-				 * that the device is treated as though it where just an array
-				 * of fixed size blocks.  That is most likely not true, but the
-				 * client will expect the device logic to do whatever is
-				 * necessary to make it appear so.
-				 */
-
-				geo->blocksize    = (FRAM_PAGE_SIZE);
-				geo->erasesize    = (FRAM_SECTOR_SIZE);
-				geo->neraseblocks = (FRAM_SIZE / FRAM_SECTOR_SIZE);
-
-				ret               = OK;
-
-				finfo("blocksize: %lu erasesize: %lu neraseblocks: %lu\n",
-				      geo->blocksize, geo->erasesize, geo->neraseblocks);
-			}
-		}
-		break;
-
-	case BIOC_PARTINFO: {
-			struct partition_info_s *info =
-				(struct partition_info_s *)arg;
-
-			if (info != NULL) {
-				info->numsectors  = (FRAM_SIZE / FRAM_SECTOR_SIZE);
-				info->sectorsize  = FRAM_PAGE_SIZE;
-				info->startsector = 0;
-				info->parent[0]   = '\0';
-				ret               = OK;
-			}
-		}
-		break;
-
-	case MTDIOC_BULKERASE: {
-			/* Erase the entire device */
-
-			imxrt_flexspi_fram_write_enable(priv);
-			imxrt_flexspi_fram_erase_chip(priv);
-			imxrt_flexspi_fram_wait_bus_busy(priv);
-			FLEXSPI_SOFTWARE_RESET(priv->flexspi);
-			ret               = OK;
-		}
-		break;
-
-	case MTDIOC_PROTECT:
-
-		/* TODO */
-
-		break;
-
-	case MTDIOC_UNPROTECT:
-
-		/* TODO */
-
-		break;
-
-	default:
-		ret = -ENOTTY; /* Bad/unsupported command */
-		break;
-	}
-
-	finfo("return %d\n", ret);
-	return ret;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: imxrt_flexspi_fram_initialize
- *
- * Description:
- *  This function is called by board-bringup logic to configure the
- *  flash device.
- *
- * Returned Value:
- *   Zero is returned on success.  Otherwise, a negated errno value is
- *   returned to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-int imxrt_flexspi_fram_initialize(void)
-{
-	uint8_t vendor_id;
-	struct mtd_dev_s *mtd_dev = &g_flexspi_nor.mtd;
-	int ret = -1;
-
-	/* Disable SDRAM CS */
-	imxrt_config_gpio(GPIO_SDRAM_CS);
-	imxrt_config_gpio(GPIO_SDRAM_CLK);
-
-	/* Configure multiplexed pins as connected on the board */
-
-	imxrt_config_gpio(GPIO_FLEXSPI2_CS);
-	imxrt_config_gpio(GPIO_FLEXSPI2_IO0);
-	imxrt_config_gpio(GPIO_FLEXSPI2_IO1);
-	imxrt_config_gpio(GPIO_FLEXSPI2_SCK);
-
-	/* Select FlexSPI2 */
-
-	g_flexspi_nor.flexspi = imxrt_flexspi_initialize(1);
-
-	if (!g_flexspi_nor.flexspi) {
-		return -1;
-	}
-
-	FLEXSPI_SET_DEVICE_CONFIG(g_flexspi_nor.flexspi,
-				  g_flexspi_nor.config,
-				  g_flexspi_nor.port);
-	FLEXSPI_UPDATE_LUT(g_flexspi_nor.flexspi,
-			   0,
-			   (const uint32_t *)g_flexspi_fram_lut,
-			   sizeof(g_flexspi_fram_lut) / 4);
-	FLEXSPI_SOFTWARE_RESET(g_flexspi_nor.flexspi);
-
-	if (imxrt_flexspi_fram_get_vendor_id(&g_flexspi_nor, &vendor_id)) {
-		return -EIO;
-	}
-
-
-	/* Register the MTD driver so that it can be accessed from the
-	 * VFS.
-	 */
-
-	ret = register_mtddriver("/dev/fram", mtd_dev, 0755, NULL);
-
-	if (ret < 0) {
-		syslog(LOG_ERR, "ERROR: Failed to register MTD driver: %d\n",
-		       ret);
-	}
-
-	/* mtd_dev->ioctl(mtd_dev, MTDIOC_BULKERASE, 0); */
-
-#ifdef CONFIG_FS_LITTLEFS
-
-	/* Mount the LittleFS file system */
-
-	ret = nx_mount("/dev/fram", "/mnt/lfs", "littlefs", 0,
-		       "autoformat");
-
-	if (ret < 0) {
-		syslog(LOG_ERR,
-		       "ERROR: Failed to mount LittleFS at /mnt/lfs: %d\n",
-		       ret);
-	}
-
-#endif
-
-	return 0;
-}
-
-#endif /* CONFIG_IMXRT_FLEXSPI */
@@ -1,55 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_flexspi_nor_boot.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "imxrt_flexspi_nor_boot.h"
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-locate_data(".boot_hdr.ivt")
-const struct ivt_s g_image_vector_table = {
-	IVT_HEADER,                         /* IVT Header */
-	IMAGE_ENTRY_ADDRESS,                /* Image  Entry Function */
-	IVT_RSVD,                           /* Reserved = 0 */
-	(uint32_t)DCD_ADDRESS,              /* Address where DCD information is stored */
-	(uint32_t)BOOT_DATA_ADDRESS,        /* Address where BOOT Data Structure is stored */
-	(uint32_t)IMAG_VECTOR_TABLE,        /* Pointer to IVT Self (absolute address */
-	(uint32_t)CSF_ADDRESS,              /* Address where CSF file is stored */
-	IVT_RSVD                            /* Reserved = 0 */
-};
-
-locate_data(".boot_hdr.boot_data")
-const struct boot_data_s g_boot_data = {
-	BOOT_IMAGE_BASE,                    /* boot start location */
-	BOOT_IMAGE_SIZE,                    /* size */
-	PLUGIN_FLAG,                        /* Plugin flag */
-	0xffffffff                          /* empty - extra data word */
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/* None */
@@ -1,169 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_flexspi_nor_boot.h
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-#ifndef __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
-#define __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdint.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* IVT Data */
-
-#define IVT_MAJOR_VERSION           0x4
-#define IVT_MAJOR_VERSION_SHIFT     0x4
-#define IVT_MAJOR_VERSION_MASK      0xf
-#define IVT_MINOR_VERSION           0x1
-#define IVT_MINOR_VERSION_SHIFT     0x0
-#define IVT_MINOR_VERSION_MASK      0xf
-
-#define IVT_VERSION(major, minor)   \
-	((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) |  \
-	 (((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT))
-
-#define IVT_TAG_HEADER              (0xd1)       /* Image Vector Table */
-#define IVT_SIZE                    0x2000
-#define IVT_PAR                     IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION)
-
-#define IVT_HEADER                  (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24))
-#define IVT_RSVD                    (uint32_t)(0x00000000)
-
-/* DCD Data */
-
-#define DCD_TAG_HEADER              (0xd2)
-#define DCD_TAG_HEADER_SHIFT        (24)
-#define DCD_VERSION                 (0x40)
-#define DCD_ARRAY_SIZE              1
-
-#define BOOT_IMAGE_BASE             ((uint32_t)_boot_loadaddr)
-#define BOOT_IMAGE_SIZE             ((uint32_t)_boot_size)
-
-/* This needs to take into account  the memory configuration at boot
- * bootloader
- */
-
-#define ROM_BOOTLOADER_OCRAM_RES    0x8000
-#define OCRAM_BASE                  (0x20200000 + ROM_BOOTLOADER_OCRAM_RES)
-#define OCRAM_END                   (OCRAM_BASE + (512 * 1024) + (256 * 1024) \
-				     - ROM_BOOTLOADER_OCRAM_RES)
-
-#define SCLK 1
-#if defined(CONFIG_BOOT_RUNFROMFLASH)
-#  define IMAGE_DEST                BOOT_IMAGE_BASE
-#  define IMAGE_DEST_END            FLASH_END
-#  define IMAGE_DEST_OFFSET         0
-#else
-#  define IMAGE_DEST                OCRAM_BASE
-#  define IMAGE_DEST_END            OCRAM_END
-#  define IMAGE_DEST_OFFSET         IVT_SIZE
-#endif
-
-#define LOCATE_IN_DEST(x)           (((uint32_t)(x)) - BOOT_IMAGE_BASE + IMAGE_DEST)
-#define LOCATE_IN_SRC(x)            (((uint32_t)(x)) - IMAGE_DEST + BOOT_IMAGE_BASE)
-
-#ifdef CONFIG_IMXRT1170_EVK_SDRAM
-#  define DCD_ADDRESS               &g_dcd_data
-#else
-#  define DCD_ADDRESS               0
-#endif
-#define BOOT_DATA_ADDRESS           LOCATE_IN_DEST(&g_boot_data)
-#define CSF_ADDRESS                 0
-#define PLUGIN_FLAG                 (uint32_t)0
-
-/* Located in Destination Memory */
-
-#define IMAGE_ENTRY_ADDRESS        ((uint32_t)&_vectors)
-#define IMAG_VECTOR_TABLE           LOCATE_IN_DEST(&g_image_vector_table)
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/* IVT Data */
-
-struct ivt_s {
-	/* Header with tag #HAB_TAG_IVT, length and HAB version fields
-	 * (see data)
-	 */
-
-	uint32_t hdr;
-
-	/* Absolute address of the first instruction to execute from the
-	 * image
-	 */
-
-	uint32_t entry;
-
-	/* Reserved in this version of HAB: should be NULL. */
-
-	uint32_t reserved1;
-
-	/* Absolute address of the image DCD: may be NULL. */
-
-	uint32_t dcd;
-
-	/* Absolute address of the Boot Data: may be NULL, but not interpreted
-	 * any further by HAB
-	 */
-
-	uint32_t boot_data;
-
-	/* Absolute address of the IVT. */
-
-	uint32_t self;
-
-	/* Absolute address of the image CSF. */
-
-	uint32_t csf;
-
-	/* Reserved in this version of HAB: should be zero. */
-
-	uint32_t reserved2;
-};
-
-/* Boot Data */
-
-struct boot_data_s {
-	uint32_t start;           /* boot start location */
-	uint32_t size;            /* size */
-	uint32_t plugin;          /* plugin flag - 1 if downloaded application is plugin */
-	uint32_t placeholder;     /* placeholder to make even 0x10 size */
-};
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-extern const struct boot_data_s g_boot_data;
-#ifdef CONFIG_IMXRT1170_EVK_SDRAM
-extern const uint8_t g_dcd_data[];
-#endif
-extern  const uint32_t  _vectors[];
-
-extern  const uint32_t  _boot_loadaddr[];
-extern  const uint32_t  _boot_size[];
-
-#endif /* __BOARDS_ARM_IMXRT_IMXRT1060_EVK_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */
@@ -1,84 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_flexspi_nor_flash.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "imxrt_flexspi_nor_flash.h"
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-
-locate_data(".boot_hdr.conf")
-const struct flexspi_nor_config_s g_flash_config = {
-	.mem_config =
-	{
-		.tag                    = FLEXSPI_CFG_BLK_TAG,
-		.version                = FLEXSPI_CFG_BLK_VERSION,
-		.read_sample_clksrc     = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD,
-		.cs_hold_time           = 3u,
-		.cs_setup_time          = 3u,
-		/* Enable DDR mode, Wordaddassable, Safe configuration, Differential clock */
-		.controller_misc_option = 0x10,
-		.device_type            = FLEXSPI_DEVICE_TYPE_SERIAL_NOR,
-		.sflash_pad_type        = SERIAL_FLASH_4PADS,
-		.serial_clk_freq        = FLEXSPI_SERIAL_CLKFREQ_133MHz,
-		.sflash_a1size          = 16u * 1024u * 1024u,
-		.lookup_table           =
-		{
-			/* LUTs */
-			// Read LUTs
-			[0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xEB, RADDR_SDR, FLEXSPI_4PAD, 0x18),
-			[1] = FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06, READ_SDR, FLEXSPI_4PAD, 0x04),
-
-			// Read Status LUTs
-			[4 * 1 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05, READ_SDR, FLEXSPI_1PAD, 0x04),
-
-			// Write Enable LUTs
-			[4 * 3 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x06, STOP, FLEXSPI_1PAD, 0x0),
-
-			// Erase Sector LUTs
-			[4 * 5 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x20, RADDR_SDR, FLEXSPI_1PAD, 0x18),
-
-			// Erase Block LUTs
-			[4 * 8 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xD8, RADDR_SDR, FLEXSPI_1PAD, 0x18),
-
-			// Pape Program LUTs
-			[4 * 9 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02, RADDR_SDR, FLEXSPI_1PAD, 0x18),
-			[4 * 9 + 1] = FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x04, STOP, FLEXSPI_1PAD, 0x0),
-
-			// Erase Chip LUTs
-			[4 * 11 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x60, STOP, FLEXSPI_1PAD, 0x0),
-		},
-	},
-
-	.page_size                = 256u,
-	.sector_size              = 4u * 1024u,
-	.ipcmd_serial_clkfreq     = 0x1,
-	.blocksize                = 64u * 1024u,
-	.is_uniform_blocksize     = false,
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
@@ -1,347 +0,0 @@
-/****************************************************************************
- * boards/arm/imxrt/imxrt1170-evk/src/imxrt_flexspi_nor_flash.h
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-#ifndef __BOARDS_ARM_IMXRT_IMXRT1170_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __BOARDS_ARM_IMXRT_IMXRT1170_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <stdint.h>
-#include <stdbool.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* FLEXSPI memory config block related definitions */
-
-#define FLEXSPI_CFG_BLK_TAG         (0x42464346ul)
-#define FLEXSPI_CFG_BLK_VERSION     (0x56010400ul)
-#define FLEXSPI_CFG_BLK_SIZE        (512)
-
-/* FLEXSPI Feature related definitions */
-
-#define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1
-
-/* Lookup table related definitions */
-
-#define CMD_INDEX_READ              0
-#define CMD_INDEX_READSTATUS        1
-#define CMD_INDEX_WRITEENABLE       2
-#define CMD_INDEX_WRITE             4
-
-#define CMD_LUT_SEQ_IDX_READ        0
-#define CMD_LUT_SEQ_IDX_READSTATUS  1
-#define CMD_LUT_SEQ_IDX_WRITEENABLE 3
-#define CMD_LUT_SEQ_IDX_WRITE       9
-
-#define CMD_SDR                     0x01
-#define CMD_DDR                     0x21
-#define RADDR_SDR                   0x02
-#define RADDR_DDR                   0x22
-#define CADDR_SDR                   0x03
-#define CADDR_DDR                   0x23
-#define MODE1_SDR                   0x04
-#define MODE1_DDR                   0x24
-#define MODE2_SDR                   0x05
-#define MODE2_DDR                   0x25
-#define MODE4_SDR                   0x06
-#define MODE4_DDR                   0x26
-#define MODE8_SDR                   0x07
-#define MODE8_DDR                   0x27
-#define WRITE_SDR                   0x08
-#define WRITE_DDR                   0x28
-#define READ_SDR                    0x09
-#define READ_DDR                    0x29
-#define LEARN_SDR                   0x0a
-#define LEARN_DDR                   0x2a
-#define DATSZ_SDR                   0x0b
-#define DATSZ_DDR                   0x2b
-#define DUMMY_SDR                   0x0c
-#define DUMMY_DDR                   0x2c
-#define DUMMY_RWDS_SDR              0x0d
-#define DUMMY_RWDS_DDR              0x2d
-#define JMP_ON_CS                   0x1f
-#define STOP                        0
-
-#define FLEXSPI_1PAD                0
-#define FLEXSPI_2PAD                1
-#define FLEXSPI_4PAD                2
-#define FLEXSPI_8PAD                3
-
-#define FLEXSPI_LUT_OPERAND0_MASK   (0xffu)
-#define FLEXSPI_LUT_OPERAND0_SHIFT  (0U)
-#define FLEXSPI_LUT_OPERAND0(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND0_MASK)
-#define FLEXSPI_LUT_NUM_PADS0_MASK  (0x300u)
-#define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u)
-#define FLEXSPI_LUT_NUM_PADS0(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS0_MASK)
-#define FLEXSPI_LUT_OPCODE0_MASK    (0xfc00u)
-#define FLEXSPI_LUT_OPCODE0_SHIFT   (10u)
-#define FLEXSPI_LUT_OPCODE0(x)      (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE0_MASK)
-#define FLEXSPI_LUT_OPERAND1_MASK   (0xff0000u)
-#define FLEXSPI_LUT_OPERAND1_SHIFT  (16U)
-#define FLEXSPI_LUT_OPERAND1(x)     (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \
-				     FLEXSPI_LUT_OPERAND1_MASK)
-#define FLEXSPI_LUT_NUM_PADS1_MASK  (0x3000000u)
-#define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u)
-#define FLEXSPI_LUT_NUM_PADS1(x)    (((uint32_t) \
-				      (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \
-				     FLEXSPI_LUT_NUM_PADS1_MASK)
-#define FLEXSPI_LUT_OPCODE1_MASK    (0xfc000000u)
-#define FLEXSPI_LUT_OPCODE1_SHIFT   (26u)
-#define FLEXSPI_LUT_OPCODE1(x)      (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \
-				     FLEXSPI_LUT_OPCODE1_MASK)
-
-#define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1)  \
-	(FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \
-	 FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \
-	 FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1))
-
-/*  */
-
-#define NOR_CMD_INDEX_READ          CMD_INDEX_READ
-#define NOR_CMD_INDEX_READSTATUS    CMD_INDEX_READSTATUS
-#define NOR_CMD_INDEX_WRITEENABLE   CMD_INDEX_WRITEENABLE
-#define NOR_CMD_INDEX_ERASESECTOR   3
-#define NOR_CMD_INDEX_PAGEPROGRAM   CMD_INDEX_WRITE
-#define NOR_CMD_INDEX_CHIPERASE     5
-#define NOR_CMD_INDEX_DUMMY         6
-#define NOR_CMD_INDEX_ERASEBLOCK    7
-
-/*  READ LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ    CMD_LUT_SEQ_IDX_READ
-
-/* Read Status LUT sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS
-
-/* 2  Read status DPI/QPI/OPI sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2
-
-/* 3  Write Enable sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE
-
-/* 4  Write Enable DPI/QPI/OPI sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4
-
-/* 5  Erase Sector sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5
-
-/* 8 Erase Block sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8
-
-/* 9  Program sequence id in lookupTable stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE
-
-/* 11 Chip Erase sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11
-
-/* 13 Read SFDP sequence in lookupTable id stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13
-
-/* 14 Restore 0-4-4/0-8-8 mode sequence id in LUT stored in config block */
-
-#define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14
-
-/* 15 Exit 0-4-4/0-8-8 mode sequence id in LUT stored in config blobk */
-
-#define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/* Definitions for FlexSPI Serial Clock Frequency */
-
-enum flexspi_serial_clkfreq_e {
-	FLEXSPI_SERIAL_CLKFREQ_30MHz  = 1,
-	FLEXSPI_SERIAL_CLKFREQ_50MHz  = 2,
-	FLEXSPI_SERIAL_CLKFREQ_60MHz  = 3,
-	FLEXSPI_SERIAL_CLKFREQ_75MHz  = 4,
-	FLEXSPI_SERIAL_CLKFREQ_80MHz  = 5,
-	FLEXSPI_SERIAL_CLKFREQ_100MHz = 6,
-	FLEXSPI_SERIAL_CLKFREQ_133MHz = 7,
-	FLEXSPI_SERIAL_CLKFREQ_166MHz = 8,
-	FLEXSPI_SERIAL_CLKFREQ_200MHz = 9,
-};
-
-/* FlexSPI clock configuration type */
-
-enum flexspi_serial_clockmode_e {
-	FLEXSPI_CLKMODE_SDR,
-	FLEXSPI_CLKMODE_DDR,
-};
-
-/* FlexSPI Read Sample Clock Source definition */
-
-enum flash_read_sample_clk_e {
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1,
-	FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2,
-	FLASH_READ_SAMPLE_CLK_EXT_INPUT_FROM_DQSPAD = 3,
-};
-
-/*  Misc feature bit definitions */
-
-enum flash_misc_feature_e {
-	FLEXSPIMISC_OFFSET_DIFFCLKEN = 0,                /* Bit for Differential clock enable */
-	FLEXSPIMISC_OFFSET_CK2EN = 1,                    /* Bit for CK2 enable */
-	FLEXSPIMISC_OFFSET_PARALLELEN = 2,               /* Bit for Parallel mode enable */
-	FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3,      /* Bit for Word Addressable enable */
-	FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4,       /* Bit for Safe Configuration Frequency enable */
-	FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5,  /* Bit for Pad setting override enable */
-	FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6,              /* Bit for DDR clock confiuration indication. */
-};
-
-/* Flash Type Definition */
-
-enum flash_flash_type_e {
-	FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1,              /* Flash devices are Serial NOR */
-	FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2,             /* Flash devices are Serial NAND */
-	FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3,              /* Flash devices are Serial RAM/HyperFLASH */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12,         /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial NAND */
-	FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13,          /* Flash device is MCP device, A1 is Serial NOR, A2 is Serial RAMs */
-};
-
-/* Flash Pad Definitions */
-
-enum flash_flash_pad_e {
-	SERIAL_FLASH_1PAD  = 1,
-	SERIAL_FLASH_2PADS = 2,
-	SERIAL_FLASH_4PADS = 4,
-	SERIAL_FLASH_8PADS = 8,
-};
-
-/* Flash Configuration Command Type */
-
-enum flash_config_cmd_e {
-	DEVICE_CONFIG_CMD_TYPE_GENERIC,     /* Generic command, for example: configure dummy cycles, drive strength, etc */
-	DEVICE_CONFIG_CMD_TYPE_QUADENABLE,  /* Quad Enable command */
-	DEVICE_CONFIG_CMD_TYPE_SPI2XPI,     /* Switch from SPI to DPI/QPI/OPI mode */
-	DEVICE_CONFIG_CMD_TYPE_XPI2SPI,     /* Switch from DPI/QPI/OPI to SPI mode */
-	DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD,  /* Switch to 0-4-4/0-8-8 mode */
-	DEVICE_CONFIG_CMD_TYPE_RESET,       /* Reset device command */
-};
-
-/* FlexSPI LUT Sequence structure */
-
-struct flexspi_lut_seq_s {
-	uint8_t seq_num;                    /* Sequence Number, valid number: 1-16 */
-	uint8_t seq_id;                     /* Sequence Index, valid number: 0-15 */
-	uint16_t reserved;
-};
-
-/* FlexSPI Memory Configuration Block */
-
-struct flexspi_mem_config_s {
-	uint32_t tag;
-	uint32_t version;
-	uint32_t reserved0;
-	uint8_t read_sample_clksrc;
-	uint8_t cs_hold_time;
-	uint8_t cs_setup_time;
-	uint8_t column_address_width;     /* [0x00f-0x00f] Column Address with, for
-                                     * HyperBus protocol, it is fixed to 3,
-                                     * For Serial NAND, need to refer to
-                                     * datasheet
-                                     */
-	uint8_t device_mode_cfg_enable;
-	uint8_t device_mode_type;
-	uint16_t wait_time_cfg_commands;
-	struct flexspi_lut_seq_s device_mode_seq;
-	uint32_t device_mode_arg;
-	uint8_t config_cmd_enable;
-	uint8_t config_mode_type[3];
-	struct flexspi_lut_seq_s config_cmd_seqs[3];
-	uint32_t reserved1;
-	uint32_t config_cmd_args[3];
-	uint32_t reserved2;
-	uint32_t controller_misc_option;
-	uint8_t device_type;
-	uint8_t sflash_pad_type;
-	uint8_t serial_clk_freq;
-	uint8_t lut_custom_seq_enable;
-	uint32_t reserved3[2];
-	uint32_t sflash_a1size;
-	uint32_t sflash_a2size;
-	uint32_t sflash_b1size;
-	uint32_t sflash_b2size;
-	uint32_t cspad_setting_override;
-	uint32_t sclkpad_setting_override;
-	uint32_t datapad_setting_override;
-	uint32_t dqspad_setting_override;
-	uint32_t timeout_in_ms;
-	uint32_t command_interval;
-	uint16_t data_valid_time[2];
-	uint16_t busy_offset;
-	uint16_t busybit_polarity;
-	uint32_t lookup_table[64];
-	struct flexspi_lut_seq_s lut_customseq[12];
-	uint32_t reserved4[4];
-};
-
-/* Serial NOR configuration block */
-
-struct flexspi_nor_config_s {
-	struct flexspi_mem_config_s mem_config; /* Common memory configuration info
-                                           * via FlexSPI
-                                           */
-
-	uint32_t page_size;                  /* Page size of Serial NOR */
-	uint32_t sector_size;                /* Sector size of Serial NOR */
-	uint8_t ipcmd_serial_clkfreq;        /* Clock frequency for IP command */
-	uint8_t is_uniform_blocksize;        /* Sector/Block size is the same */
-	uint8_t reserved0[2];                /* Reserved for future use */
-	uint8_t serial_nor_type;             /* Serial NOR Flash type: 0/1/2/3 */
-	uint8_t need_exit_nocmdmode;         /* Need to exit NoCmd mode before
-                                        * other IP command
-                                        */
-
-	uint8_t halfclk_for_nonreadcmd;      /* Half the Serial Clock for non-read
-                                        * command: true/false
-                                        */
-
-	uint8_t need_restore_nocmdmode;      /* Need to Restore NoCmd mode after IP
-                                        * command execution
-                                        */
-
-	uint32_t blocksize;                  /* Block size */
-	uint32_t reserve2[11];               /* Reserved for future use */
-};
-
-#endif /* __BOARDS_ARM_IMXRT_IMXRT1170_EVK_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
@@ -1,328 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * NXP imxrt1062-v1 specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-
-#include "arm_internal.h"
-#include "arm_internal.h"
-#include "imxrt_flexspi_nor_boot.h"
-#include "imxrt_iomuxc.h"
-#include <chip.h>
-#include "board_config.h"
-
-#include <hardware/imxrt_lpuart.h>
-
-#include <arch/board/board.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_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	/* set the peripheral rails off */
-
-	//VDD_5V_PERIPH_EN(false);
-	//VDD_5V_HIPOWER_EN(false);
-
-	/* wait for the peripheral rail to reach GND */
-	//usleep(ms * 1000);
-	//syslog(LOG_DEBUG, "reset done, %d ms", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	//VDD_5V_HIPOWER_EN(true);
-	//VDD_5V_PERIPH_EN(true);
-
-}
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-
-/****************************************************************************
- * Name: imxrt_ocram_initialize
- *
- * Description:
- *   Called off reset vector to reconfigure the flexRAM
- *   and finish the FLASH to RAM Copy.
- *
- ****************************************************************************/
-
-__EXPORT void imxrt_ocram_initialize(void)
-{
-#if 0
-	const uint32_t *src;
-	uint32_t *dest;
-	uint32_t regval;
-
-	/* Reallocate 128K of Flex RAM from ITCM to OCRAM
-	 * Final Configuration is
-	 *    128 DTCM
-	 *
-	 *    128 FlexRAM OCRAM  (202C:0000-202D:ffff)
-	 *    256 FlexRAM OCRAM  (2028:0000-202B:ffff)
-	 *    512 System  OCRAM2 (2020:0000-2027:ffff)
-	 * */
-
-	putreg32(0xaa555555, IMXRT_IOMUXC_GPR_GPR17);
-	regval = getreg32(IMXRT_IOMUXC_GPR_GPR16);
-	putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SELF, IMXRT_IOMUXC_GPR_GPR16);
-
-	for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size),
-	     dest = (uint32_t *)(g_boot_data.start + g_boot_data.size);
-	     dest < (uint32_t *) &_etext;) {
-		*dest++ = *src++;
-	}
-
-#endif
-}
-
-/****************************************************************************
- * Name: imxrt_boardinitialize
- *
- * Description:
- *   All i.MX RT architectures must provide the following entry point.  This
- *   entry point is called early in the initialization -- after clocking and
- *   memory have been configured but before caches have been enabled and
- *   before any devices have been initialized.
- *
- ****************************************************************************/
-
-__EXPORT void imxrt_boardinitialize(void)
-{
-
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure SPI interfaces */
-
-	imxrt_spidev_initialize();
-
-	imxrt_usb_initialize();
-
-	fmurt1062_timer_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; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-
-	int ret = OK;
-
-	//board_spi_reset(10, 0xffff);
-#if 0
-
-	if (OK == board_determine_hw_info()) {
-		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
-		       board_get_hw_type_name());
-
-	} else {
-		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
-	}
-
-#endif
-
-	px4_platform_init();
-
-	/* configure the DMA allocator */
-#if 0
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL);
-#endif
-
-	/* initial LED state */
-	drv_led_start();
-
-	led_off(LED_RED);
-	led_off(LED_GREEN);
-	led_off(LED_BLUE);
-
-	int ret = OK;
-
-#endif
-
-#if defined(CONFIG_IMXRT_USDHC)
-	ret = fmurt1062_usdhc_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-	}
-
-#endif
-
-#ifdef CONFIG_IMXRT1170_FLEXSPI_FRAM
-	ret = imxrt_flexspi_fram_initialize();
-
-	if (ret < 0) {
-		syslog(LOG_ERR,
-		       "ERROR: imxrt_flexspi_nor_initialize failed: %d\n", ret);
-	}
-
-#endif /* CONFIG_IMXRT1170_FLEXSPI_FRAM */
-
-
-	/* Configure SPI-based devices */
-
-	ret = imxrt1176_spi_bus_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-	}
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return ret;
-}
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016, 2018 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
- *
- * NXP fmurt1062-v1 LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include <hardware/imxrt_gpio.h>
-#include "board_config.h"
-
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,   // Indexed by LED_BLUE
-	GPIO_nLED_RED,    // Indexed by LED_RED, LED_AMBER
-	GPIO_LED_SAFETY,  // Indexed by LED_SAFETY
-	GPIO_nLED_GREEN,  // Indexed by LED_GREEN
-};
-
-__EXPORT void led_init(void)
-{
-	/* Configure LED GPIOs for output */
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			imxrt_config_gpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	if (g_ledmap[led] != 0) {
-		imxrt_gpio_write(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-
-	if (g_ledmap[led] != 0) {
-		return imxrt_gpio_read(!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));
-}
@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-#include "px4_log.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
-	{
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
-	{
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-	{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
-	{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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.
- *
- ****************************************************************************/
-/* A micro Secure Digital (SD) card slot is available on the board connected to
- * the SD Host Controller (USDHC1) signals of the MCU. This slot will accept
- * micro format SD memory cards.
- *
- *   ------------ ------------- --------
- *    SD Card Slot Board Signal  IMXRT Pin
- *    ------------ ------------- --------
- *    DAT0         USDHC1_DATA0  GPIO_SD_B0_02
- *    DAT1         USDHC1_DATA1  GPIO_SD_B0_03
- *    DAT2         USDHC1_DATA2  GPIO_SD_B0_04
- *    CD/DAT3      USDHC1_DATA3  GPIO_SD_B0_05
- *    CMD          USDHC1_CMD    GPIO_SD_B0_00
- *    CLK          USDHC1_CLK    GPIO_SD_B0_01
- *    CD           USDHC1_CD     GPIO_B1_12
- *    ------------ ------------- --------
- *
- * There are no Write Protect available to the IMXRT.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_log.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "imxrt_usdhc.h"
-
-#include "board_config.h"
-
-#ifdef CONFIG_IMXRT_USDHC
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: fmurt1062_usdhc_initialize
- *
- * Description:
- *   Inititialize the SDHC SD card slot
- *
- ****************************************************************************/
-
-int fmurt1062_usdhc_initialize(void)
-{
-	int ret;
-
-	/* Mount the SDHC-based MMC/SD block driver */
-	/* First, get an instance of the SDHC interface */
-
-	struct sdio_dev_s *sdhc = imxrt_usdhc_initialize(CONFIG_NSH_MMCSDSLOTNO);
-
-	if (!sdhc) {
-		PX4_ERR("ERROR: Failed to initialize SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDHC interface to the MMC/SD driver */
-
-	ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdhc);
-
-	if (ret != OK) {
-		PX4_ERR("ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	syslog(LOG_INFO, "Successfully bound SDHC to the MMC/SD driver\n");
-
-	return OK;
-}
-#endif /* CONFIG_IMXRT_USDHC */
@@ -1,363 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_log.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/spi/spi.h>
-#include <arch/board/board.h>
-#include <systemlib/px4_macros.h>
-#include <px4_platform/gpio.h>
-
-#include <arm_internal.h>
-#include <chip.h>
-#include "imxrt_lpspi.h"
-#include "imxrt_gpio.h"
-#include "board_config.h"
-#include <systemlib/err.h>
-
-#ifdef CONFIG_IMXRT_LPSPI
-
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::LPSPI1, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */
-	}),
-	initSPIBus(SPI::Bus::LPSPI6, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
-
-//#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-/************************************************************************************
- * Name: fmurt1062_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
- *
- ************************************************************************************/
-
-void imxrt_spidev_initialize(void)
-{
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio);
-			}
-		}
-	}
-}
-
-/************************************************************************************
- * Name: imxrt_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
- *
- ************************************************************************************/
-
-static const px4_spi_bus_t *_spi_bus1;
-static const px4_spi_bus_t *_spi_bus6;
-
-__EXPORT int imxrt1176_spi_bus_initialize(void)
-{
-	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
-		switch (px4_spi_buses[i].bus) {
-		case 1: _spi_bus1 = &px4_spi_buses[i]; break;
-
-		case 6: _spi_bus6 = &px4_spi_buses[i]; break;
-		}
-	}
-
-	/* Configure SPI-based devices */
-
-	struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
-
-	if (!spi_sensors) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
-		return -ENODEV;
-	}
-
-	/* Default bus 1 to 1MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
-	SPI_SETBITS(spi_sensors, 8);
-	SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
-
-	/* Get the SPI port for the Memory */
-
-	struct spi_dev_s *spi_memory = px4_spibus_initialize(6);
-
-	if (!spi_memory) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 2);
-		return -ENODEV;
-	}
-
-	/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
-	SPI_SETBITS(spi_memory, 8);
-	SPI_SETMODE(spi_memory, SPIDEV_MODE3);
-
-
-	/* deselect all */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				//SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
-			}
-		}
-	}
-
-	return OK;
-
-}
-
-/****************************************************************************
- * Name:  imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status
- *
- * Description:
- *   The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status must be
- *   provided by board-specific logic.  They are implementations of the select
- *   and status methods of the SPI interface defined by struct spi_ops_s (see
- *   include/nuttx/spi/spi.h). All other methods (including imxrt_lpspibus_initialize())
- *   are provided by common STM32 logic.  To use this common SPI logic on your
- *   board:
- *
- *   1. Provide logic in imxrt_boardinitialize() to configure SPI chip select
- *      pins.
- *   2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() functions in your
- *      board-specific logic.  These functions will perform chip selection and
- *      status operations using GPIOs in the way your board is configured.
- *   3. Add a calls to imxrt_lpspibus_initialize() in your low level application
- *      initialization logic
- *   4. The handle returned by imxrt_lpspibus_initialize() may then be used to bind the
- *      SPI driver to higher level logic (e.g., calling
- *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
- *      the SPI MMC/SD driver).
- *
- ****************************************************************************/
-
-static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		if (bus->devices[i].cs_gpio == 0) {
-			break;
-		}
-
-		if (devid == bus->devices[i].devid) {
-			// SPI select is active low, so write !selected to select the device
-			imxrt_gpio_write(bus->devices[i].cs_gpio, !selected);
-		}
-	}
-}
-
-#if defined(CONFIG_IMXRT_LPSPI1)
-__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus1, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI2)
-__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus2, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI3)
-__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus3, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI4)
-__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus4, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI5)
-__EXPORT void imxrt_lpspi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus5, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi5status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-#if defined(CONFIG_IMXRT_LPSPI6)
-__EXPORT void imxrt_lpspi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	imxrt_spixselect(_spi_bus6, dev, devid, selected);
-}
-
-__EXPORT uint8_t imxrt_lpspi6status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-#endif
-
-/************************************************************************************
- * Name: board_spi_reset
- *
- * Description:
- *
- *
- ************************************************************************************/
-
-__EXPORT void board_spi_reset(int ms, int bus_mask)
-{
-#ifdef CONFIG_IMXRT_LPSPI1
-
-	/* Goal not to back feed the chips on the bus via IO lines */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio));
-				}
-
-				if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
-					imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio));
-				}
-			}
-		}
-	}
-
-	imxrt_config_gpio(GPIO_SPI1_SCK_OFF);
-	imxrt_config_gpio(GPIO_SPI1_MISO_OFF);
-	imxrt_config_gpio(GPIO_SPI1_MOSI_OFF);
-
-	imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
-	imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
-	imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
-
-
-	//imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
-	//imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
-
-	/* set the sensor rail off */
-	//imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
-
-	/* wait for the sensor rail to reach GND */
-	usleep(ms * 1000);
-	warnx("reset done, %d ms", ms);
-
-	/* re-enable power */
-
-	/* switch the sensor rail back on */
-	//imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 1);
-
-	/* wait a bit before starting SPI, different times didn't influence results */
-	usleep(100);
-
-	/* reconfigure the SPI pins */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio);
-				}
-
-				if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
-					imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio);
-				}
-			}
-		}
-	}
-
-	imxrt_config_gpio(GPIO_LPSPI1_SCK);
-	imxrt_config_gpio(GPIO_LPSPI1_MISO);
-	imxrt_config_gpio(GPIO_LPSPI1_MOSI);
-
-	//imxrt_config_gpio(GPIO_LPSPI3_SCK);
-	//imxrt_config_gpio(GPIO_LPSPI3_MISO);
-	//imxrt_config_gpio(GPIO_LPSPI3_MOSI);
-
-	//imxrt_config_gpio(GPIO_LPI2C3_SDA);
-	//imxrt_config_gpio(GPIO_LPI2C3_SCL);
-
-#endif /* CONFIG_IMXRT_LPSPI */
-
-}
-
-#endif /* CONFIG_IMXRT_LPSPI  */
@@ -1,150 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016, 2018-2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-// TODO:Stubbed out for now
-#include <stdint.h>
-
-#include <chip.h>
-#include "hardware/imxrt_tmr.h"
-#include "hardware/imxrt_flexpwm.h"
-#include "imxrt_gpio.h"
-#include "imxrt_iomuxc.h"
-#include "hardware/imxrt_pinmux.h"
-#include "imxrt_xbar.h"
-#include "imxrt_periphclks.h"
-
-#include <drivers/drv_pwm_output.h>
-#include <px4_arch/io_timer_hw_description.h>
-
-#include "board_config.h"
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* Register accessors */
-
-#define _REG(_addr) (*(volatile uint16_t *)(_addr))
-
-/* QTimer3 register accessors */
-
-#define REG(_reg) _REG(IMXRT_QTIMER3_BASE + IMXRT_TMR_OFFSET(IMXRT_TMR_CH0,(_reg)))
-
-#define rCOMP1        REG(IMXRT_TMR_COMP1_OFFSET)
-#define rCOMP2        REG(IMXRT_TMR_COMP2_OFFSET)
-#define rCAPT         REG(IMXRT_TMR_CAPT_OFFSET)
-#define rLOAD         REG(IMXRT_TMR_LOAD_OFFSET)
-#define rHOLD         REG(IMXRT_TMR_HOLD_OFFSET)
-#define rCNTR         REG(IMXRT_TMR_CNTR_OFFSET)
-#define rCTRL         REG(IMXRT_TMR_CTRL_OFFSET)
-#define rSCTRL        REG(IMXRT_TMR_SCTRL_OFFSET)
-#define rCMPLD1       REG(IMXRT_TMR_CMPLD1_OFFSET)
-#define rCMPLD2       REG(IMXRT_TMR_CMPLD2_OFFSET)
-#define rCSCTRL       REG(IMXRT_TMR_CSCTRL_OFFSET)
-#define rFILT         REG(IMXRT_TMR_FILT_OFFSET)
-#define rDMA          REG(IMXRT_TMR_DMA_OFFSET)
-#define rENBL         REG(IMXRT_TMR_ENBL_OFFSET)
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWM(PWM::FlexPWM2),
-	initIOPWM(PWM::FlexPWM3),
-	initIOPWM(PWM::FlexPWM4),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {PWM::PWM2_PWM_X, PWM::Submodule0}, IOMUX::Pad::GPIO_AD_10),
-	initIOTimerChannel(io_timers, {PWM::PWM2_PWM_X, PWM::Submodule1}, IOMUX::Pad::GPIO_AD_11),
-	initIOTimerChannel(io_timers, {PWM::PWM2_PWM_X, PWM::Submodule2}, IOMUX::Pad::GPIO_AD_12),
-	initIOTimerChannel(io_timers, {PWM::PWM2_PWM_X, PWM::Submodule3}, IOMUX::Pad::GPIO_AD_13),
-	initIOTimerChannel(io_timers, {PWM::PWM3_PWM_X, PWM::Submodule0}, IOMUX::Pad::GPIO_AD_14),
-	initIOTimerChannel(io_timers, {PWM::PWM3_PWM_X, PWM::Submodule3}, IOMUX::Pad::GPIO_AD_17),
-	initIOTimerChannel(io_timers, {PWM::PWM4_PWM_X, PWM::Submodule2}, IOMUX::Pad::GPIO_AD_20),
-	initIOTimerChannel(io_timers, {PWM::PWM4_PWM_X, PWM::Submodule3}, IOMUX::Pad::GPIO_AD_21),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
-
-constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
-};
-
-constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
-};
-
-
-void fmurt1062_timer_initialize(void)
-{
-	/* We must configure Qtimer 3 as the IPG divide by to yield 16 Mhz
-	 * and deliver that clock to the eFlexPWM234 via XBAR
-	 *
-	 * IPG    = 144 Mhz
-	 * 16Mhz  = 144 / 9
-	 * COMP 1 = 5, COMP2 = 4
-	 *
-	 * */
-#if 0
-	/* Enable Block Clocks for Qtimer and XBAR1 */
-
-	imxrt_clockall_timer3();
-	imxrt_clockall_xbar1();
-
-	/* Disable Timer */
-
-	rCTRL = 0;
-	rCOMP1 = 5 - 1; // N - 1
-	rCOMP2 = 4 - 1;
-
-	rCAPT = 0;
-	rLOAD = 0;
-	rCNTR = 0;
-
-	rSCTRL = TMR_SCTRL_OEN;
-
-	rCMPLD1 = 0;
-	rCMPLD2 = 0;
-	rCSCTRL = 0;
-	rFILT   = 0;
-	rDMA    = 0;
-
-	/* Count rising edges of primary source,
-	 * Prescaler is /1
-	 * Count UP until compare, then re-initialize. a successful compare occurs when the counter reaches a COMP1 value.
-	 * Toggle OFLAG output using alternating compare registers
-	 */
-	rCTRL   = (TMR_CTRL_CM_MODE1 | TMR_CTRL_PCS_DIV1 | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE_TOG_ALT);
-
-	/* QTIMER3_TIMER0  -> Flexpwm234ExtClk  */
-
-	imxrt_xbar_connect(IMXRT_XBARA1_OUT_FLEXPWM234_EXT_CLK_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER3_TMR0_OUT);
-#endif
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JaeyoungLim	21b4052d82	Log camera topics	2023-03-30 19:05:50 +02:00
Jaeyoung Lim	8296d02b1e	Eliminate intermediate variable	2023-03-28 18:48:26 +02:00
Jaeyoung Lim	e3db31f5ab	Add fw state for path following	2023-03-28 17:13:07 +02:00
Ramon Roche	319f3db5e1	tools: ip converter remove verbose output	2023-03-27 10:28:43 -07:00
Beniamino Pozzan	51dd6b783c	microdds_client: Mark parameter as used only if truly used Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-27 10:28:43 -07:00
Beniamino Pozzan	c7f67a3328	microdds_client: remove multi-instances supports, add agent IP as PX4 parameter - multi-instances support is removed from the parameter definitions. - XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used. The parameter is used by default if the module is started without the -h argument. - XRCE_DDS_PRT allows to define the agent listning udp port when the udp transport is uded. The parameter is used by default if the module is started without the -p argument. - Tools/convert_ip.py assists in converting ips in decimal dot notation into int32 notation. Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-27 10:28:43 -07:00
Daniel Mesham	6fddbea3e4	microdds_client: fix check for length of participant XML (#21374 )	2023-03-27 10:03:09 -07:00
Silvan Fuhrer	ba17a137e1	Navigator: MissionFeasibiltyCheck first WP: check only to current vehicle position Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-27 17:43:33 +02:00
Silvan Fuhrer	465ddddbfd	Navigator: take min of vehicle position or Home distance for first WP check To prevent mission rejections when vehicle is currently far away from Mission start, but planned home is close to it. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-27 17:43:33 +02:00
Silvan Fuhrer	d8ed35c422	Navigator: take vehicle position for first-WP-distance-check And only use Home position if current vehicle position is unknown. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-27 17:43:33 +02:00
Silvan Fuhrer	4d2a31afe3	Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-27 17:43:33 +02:00
Junwoo Hwang	9c001f2e40	Fix SITL Test failure: Place PX4 instance runner after Gazebo server runner (#21230 ) * MAVSDK_Test_Runner: Place PX4 instance runner after Gazebo server runner - This was a nasty bug where starting PX4 instance first, then starting Gazebo server was causing PX4 instance' EKF to freak out, probably because it doesn't like getting data a while after it is started - Detailed breakdown is given here: https://github.com/PX4/PX4-Autopilot/issues/21229#issuecomment-1450761542 - This now guarantees that such edge case won't occur and MAVSDK test will run as it should * MAVSDK Test Runner: Retain comment within 79 character limit - To pass flake8 python style check * Update test/mavsdk_tests/mavsdk_test_runner.py Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>	2023-03-26 11:27:01 +09:00
PX4 BuildBot	58a5aa26a0	Update submodule mavlink to latest Sat Mar 25 00:39:09 UTC 2023 - mavlink in PX4/Firmware (73104cab2e49118903cf32bdf11f6ea917fa394e): https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2 - Changes: https://github.com/mavlink/mavlink/compare/2bdcab78b53d1e349079b43c9d726036abe0617c...e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2 e1e68da5 2023-03-08 Hamish Willee - Add quickstart to the README (#1960) 9b92bf2e 2023-03-08 Hamish Willee - Fix enum value for payload battery (#1959) 81e9fcd5 2023-03-08 Hamish Willee - Allocate range for ras-a and indicate next free range (#1957) abbda253 2023-03-02 Hamish Willee - Indicate preference for COMMAND_INT (#1955) d3a8e4b8 2023-02-08 Julian Oes - development: add command to configure SiK radio	2023-03-24 21:43:59 -04:00
PX4 BuildBot	8306fb96ea	boards: update all NuttX defconfigs	2023-03-24 10:03:14 -04:00
PX4 BuildBot	efab9be488	update all px4board kconfig	2023-03-24 10:01:58 -04:00
Daniel Agar	4d9369dc67	Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023	2023-03-24 09:39:26 -04:00
Silvan Fuhrer	e8a8e7c677	VTOL: increase deafult of VT_QC_T_ALT_LOSS from 10 to 20m Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-24 13:33:52 +01:00
Silvan Fuhrer	e58d33284a	vtol: correct/improve quad-chute param description Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-24 13:33:52 +01:00
Matthias Grob	937d27f8ee	Helicopter: add offset for yaw compensation based on collective pitch	2023-03-24 07:16:36 +01:00
Beniamino Pozzan	eeb90ac70a	gazebo-classic/sitl_mutliple_run.sh: start spawning drones from index 1 (#21183 ) Fix microdds key session collision when drones with index 0 and 1 are used together Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-24 05:58:26 +01:00
Antonio Sanjurjo C	1ea993880c	Fix typo in WORK_ITEM_TYPE (#21311 ) Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>	2023-03-24 05:49:14 +01:00
Julian Oes	09a0089c80	README: add Cube Orange+ (#21361 ) This adds the Cube Orange+ to the list, and also changes the Hex naming to CubePilot as that is how it is sold/marketed now. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-24 05:21:43 +01:00
Daniel Agar	cc2b367c0b	drivers/uavcannode: fix typo (hydrometer->hygrometer)	2023-03-23 22:06:55 -04:00
Silvan Fuhrer	5b6d1e9290	TECS: change default for FW_T_I_GAIN_THR from 0.3 to more appropriate 0.1 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-23 15:00:36 +01:00
Silvan Fuhrer	ac6c9c857a	Gimbal: remove shutter and retraction handling Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-23 06:59:02 +01:00
Frederic Taillandier	18898f1876	updating sitl-gazebo classic (#21352 ) Co-authored-by: root <root@DESKTOP-OINCOKE>	2023-03-22 14:04:02 +01:00
Silvan Fuhrer	d532578ecc	EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	98d07ad1f3	disable side slip fusion for tailsitters The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation. It doesn't take into account that the frames is 90deg tilted in FW flight. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	07531d29b7	FailureDetector: fix attitude check for tailsitter -set roll/pitch used for failure detection during transition to 0 -rotate estimated attitude 90° in FW flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	edc570adff	AirspeedSelector: fix attitude rotation for tailsitter Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
bresch	6bee0893de	add circle intersection unit tests	2023-03-22 10:03:48 +01:00
bresch	af345c88e9	TrajMath: use fmaxf instead of max	2023-03-22 10:03:48 +01:00
bresch	c7bddda1db	MC auto: add maximum RC assist distance during landing	2023-03-22 10:03:48 +01:00
bresch	d6fa42fefd	mc att: add unit tests for AttitudeControlMath helper	2023-03-22 10:01:27 +01:00
bresch	edaf5bf0cd	mc att: extract tilt yaw error compensation to lib	2023-03-22 10:01:27 +01:00
bresch	f65daf7259	mc att: do not pass by euler angles to generate att sp from sticks	2023-03-22 10:01:27 +01:00
bresch	3e3307c0d0	ekf2: fix mag declination innovation angle wrapping	2023-03-21 21:07:28 -04:00
David Sidrane	64e90b91aa	px4_fmu-v6c:Add Mini & fix Rev 1 (#21226 )	2023-03-21 09:16:35 -07:00
Daniel Agar	32a5bd32ad	ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)	2023-03-21 11:25:34 -04:00
Daniel Agar	0784901a66	ekf2: add kconfig option to enable/disable optical flow fusion	2023-03-21 11:25:34 -04:00
Matthias Grob	9f8fa99d70	matrix: use stack allocation for debug output string	2023-03-21 15:01:26 +01:00
Matthias Grob	b1435c6e34	matrix: use output stream function template to enable proper automatic output in gtest unit tests that compare two `Matrix`, `Vector` or two `Dual` objects. Credits to @jwidauer for showing me this trick.	2023-03-21 15:01:26 +01:00
Matthias Grob	b0189d95af	Use new Vector4 class	2023-03-21 15:01:26 +01:00
Matthias Grob	08d6465ce5	matrix: add explicit Vector4 type	2023-03-21 15:01:26 +01:00
Matthias Grob	da0e40c72b	googletest: switch to latest version 1.12.1 -> 1.13	2023-03-21 15:01:26 +01:00
bresch	91364ba901	mc land detect: use z_deriv and vz for vert movement check z_deriv is less prone to bias errors	2023-03-21 09:22:58 -04:00
Beat Küng	22c94f805a	component information: add translation support	2023-03-20 21:57:25 -04:00
Jukka Laitinen	631046b962	src/drivers/sw_crypto: Correct RSA lengths in the example sw crypto backend driver Maximum plaintext length was wrong, it is just k - 2 * hLen -2, where k is RSA key modulus length and hLen is hash length Also minimum block that can be encrypted didn't make sense for RSA-OAEP, it is just 1 byte, the rest will be padded. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-03-20 21:54:40 -04:00
Jukka Laitinen	b26669b085	Add crypto_deinit function for crypto_backend module Bootloader needs to have a mechanism to de-initialize crypto, in case some HW accelerator is being used. This adds the needed function for it Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-03-20 21:54:40 -04:00
Beat Küng	8497d3388f	fix mavlink_ulog: use hrt_abstime instead of float The float inaccuracy was leading to problems on SITL with large timestamps.	2023-03-20 21:47:41 -04:00
Daniel Agar	1524bd39b5	.gitignore: ignore generate top level log/ folder (colcon)	2023-03-20 11:06:12 -04:00
Daniel Agar	4363b09421	ekf2: add kconfig option to enable/disable external vision fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	d47f96f1a5	ekf2: add kconfig option to enable/disable AUX velocity fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	4270a303ab	ekf2: add kconfig option to enable/disable airspeed and sideslip fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	98ff1afc19	ekf2: add kconfig option to enable/disable GNSS yaw	2023-03-20 10:12:17 -04:00
Daniel Agar	8b2205810b	ekf2: add kconfig option to enable/disable baro compensation	2023-03-20 10:12:17 -04:00
Daniel Agar	fe0e3acf09	ekf2: add kconfig option to enable/disable drag fusion	2023-03-20 10:12:17 -04:00
frederic@auterion.com	9a56b0a70d	refactoring jinja-gen call in a cleaner way	2023-03-20 14:50:56 +01:00
numan	ed174d54e9	fix typo in LeddarOne.cpp added missing "~"	2023-03-20 07:51:00 +01:00
alexklimaj	e2de62e38b	GPS only warn if jamming state is critical	2023-03-17 21:38:28 -04:00
Silvan Fuhrer	0afda910d1	VTOL: make sure that all virtual topics are updated Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-17 19:43:01 +01:00
Andrew Brahim	71c746b9bf	drivers/distance_sensor/lightware_sf45_serial: fix path to crc lib (no longer in systemlib) Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2023-03-17 09:35:46 -04:00
alexklimaj	0ae296bfe2	ARK CANnode fix params	2023-03-16 14:32:36 -04:00
Silvan Fuhrer	c7d4d1f45c	FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Silvan Fuhrer	b33a8686f7	FWPositionController: only store acceleration and velocity in x Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Silvan Fuhrer	28db47480d	TECS: remove ununsed getSteRate() Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Daniel Agar	6ec2b902cc	ROMFS: only copy bootloader binary if systemcmds/bl_update included	2023-03-16 09:43:56 -04:00
Silvan Fuhrer	d5e1f0fdaa	uorb_graph: remove handling for actuator_controls topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	17cd65a239	Navigator: remove support for DO_SET_SERVO Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	a1812dbde0	gimbal: move gimbal controls to new dedicated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	1218d9b2fc	mavlink_mission: remove support for DO_SET_CAMERA_ZOOM Camera controls should not happen through the flight controller, and the control allocation has no means of controlling the camera zoom. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	27658354da	MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	b16f16598b	VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics MC/FW rate controller and auto tuner: remove actuator_controls AirshipAttControl: remove actuator_controls MulticopterLandDetector: remove actuator_controls mavlink streams vfr_hud and high_latency2: remove actuator_controls RoverPositionController: remove actuator_controls UUVAttitudeController: remove actuator_controls battery: use length of thrust_setpoint for throttle compensation VehicleMagnetometer: use length of thrust_setpoint for throttle compensation Signed-off-by: Silvan Fuhrer	2023-03-16 11:55:45 +01:00
akkawimo	bcd6e7adee	comment out fake_traffic to prevent flash overflow	2023-03-16 07:32:43 +01:00
Mohamad Akkawi	9de52bb5ec	[navigator] Tone Down traffic warnings - add unit tests for adsb conflict detection - move adsb conflict detection to lib/adsb and adsb conflict class - use containers/Array.hpp for buffer array - expand fake_traffic	2023-03-16 07:32:43 +01:00
Julian Oes	89548e4f9e	gps: Support for Unicore HEADINGA sentence in NMEA This adds a parser for Unicore sentences sent in-between NMEA sentences. This brings support for the Unicore UM982 module which publishes heading information based on the two antennas. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-15 21:55:15 -04:00
Alex Klimaj	ea97a38b2b	Initial Cannode PWM Support (#19748 ) * Add uavcannode esc/servo pwm control pipeline * Remove cannode rc.interface with mixer purge * Cannode add Kconfig options to reduce flash usage	2023-03-15 11:20:07 -04:00
Daniel Agar	f0a95f9572	ekf2: add new kconfig option for multi-EKF - disabled if flash constrained or memory constrained	2023-03-15 09:32:47 -04:00
Daniel Agar	19a2b4ec31	ekf2: GNSS yaw only reset test ratio for new samples - otherwise external test ratio monitoring could trigger a false positive	2023-03-14 21:49:24 -04:00
AlexKlimaj	e375e02974	Add GPS spoofing state	2023-03-14 20:28:32 -04:00
Julian Oes	2605562a69	cubeorangeplus: add I2C4, start AK09918 CubeOrange+ which have the ICM45686, also have the AK09918 connected on the internal I2C4. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-14 08:34:28 -04:00
Julian Oes	695d48d6c9	AK09916: add support for AK09918 The AK09918 seems to only differ in the WHO_AM_I ID. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-14 08:34:28 -04:00