ekf2: remove const references

This addes the command serial_passthru which will pass data from one
   device to another. This can be used to use u-center connected to USB
   with a GPS on a serial port.

   Usage: serial_passthru [arguments...]
      -e <val>    External device path
                  values: <file:dev>
      -d <val>    Internal device path
                  values: <file:dev>
      [-b <val>]  Baudrate
                  default: 115200
      [-t]        Track the External devices baudrate on internal device

    With the -t option baudrate changes made on the PC connected to the USB
    will be set to the intrenal device.

.ci/Jenkinsfile-compile

@@ -60,6 +60,8 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",

.github/workflows/compile_nuttx.yml

@@ -36,6 +36,7 @@ jobs:
           holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
+          matek_gnss-m9n-f4,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,

.vscode/cmake-variants.yaml

@@ -196,6 +196,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -125,6 +125,11 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -142,6 +147,7 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)
 
 # Find Python
 # If using catkin, Python 2 is found since it points

Kconfig

@@ -118,6 +118,11 @@ config BOARD_CRYPTO
     help
         Enable PX4 Crypto Support. Select the implementation under drivers
 
+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
 menu "Serial ports"
 
     config BOARD_SERIAL_URT6

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -10,7 +10,7 @@ fi
 
 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 
 publisher_rules_file="orb_publisher.rules"
@@ -21,6 +21,7 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -130,6 +130,13 @@ then
 	fi
 fi
 
+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then

Tools/gazebo_sitl_multiple_run.sh

@@ -39,7 +39,7 @@ function spawn_model() {
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
 
 	popd &>/dev/null
 

Tools/uorb_graph/create.py

@@ -56,6 +56,21 @@ def get_N_colors(N, s=0.8, v=0.9):
         hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
     return hex_out
 
+def topic_filename(topic):
+    MSG_PATH = 'msg/'
+
+    file_list = os.listdir(MSG_PATH)
+    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
+
+    if topic in msg_files:
+        return topic
+    else:
+        for msg_file in msg_files:
+            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
+                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
+                if len(ret) > 0:
+                    return msg_file
+    return "no_file"
 
 class PubSub(object):
     """ Collects either publication or subscription information for nodes
@@ -679,8 +694,7 @@ class OutputJSON(object):
             node['type'] = 'topic'
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
-            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

boards/ark/can-flow/src/CMakeLists.txt

@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/ark/can-gps/src/CMakeLists.txt

@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/ark/can-rtk-gps/src/CMakeLists.txt

@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/cubepilot/cubeorange/src/board_config.h

@@ -149,7 +149,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/cubepilot/cubeyellow/src/board_config.h

@@ -144,7 +144,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/freefly/can-rtk-gps/src/CMakeLists.txt

@@ -62,6 +62,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/holybro/can-gps-v1/src/CMakeLists.txt

@@ -68,6 +68,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()

boards/holybro/durandal-v1/src/board_config.h

@@ -181,7 +181,6 @@
 
 #define BOARD_NUM_IO_TIMERS 4
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/holybro/pix32v5/src/board_config.h

@@ -430,7 +430,6 @@
 
 #define BOARD_NUM_IO_TIMERS 5
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};
 
 __BEGIN_DECLS
 

boards/matek/gnss-m9n-f4/canbootloader.px4board

@@ -0,0 +1,7 @@
+CONFIG_PLATFORM_NUTTX=y
+CONFIG_BOARD_PLATFORM="nuttx"
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y

boards/matek/gnss-m9n-f4/default.px4board

@@ -0,0 +1,23 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/matek/gnss-m9n-f4/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1014,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the MatekM9nf4can cannode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "MateksysGnss-m9n-f4",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 983040,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/matek/gnss-m9n-f4/init/rc.board_sensors

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Matek M9NF4 CAN specific board sensors init
+#------------------------------------------------------------------------------
+
+gps start -d /dev/ttyS2
+
+icm20602 -s start
+
+rm3100 -b 2 -s start
+
+dps310 -a 118 -X start
+
+sensors start

boards/matek/gnss-m9n-f4/nuttx-config/Kconfig

@@ -0,0 +1,23 @@
+menu "SERIAL_PASSTHRU Configuration"
+config SERIAL_PASSTHRU_UBLOX
+	bool "Detect and Auto Connect on U-Center messages"
+	default n
+	---help---
+		This option will enable the cdc_acm_check to launch
+		The passthru driver.
+
+config SERIAL_PASSTHRU_UBLOX_DEV
+	string "Device path of the GPS"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "/dev/ttyS2"
+	---help---
+		This is the path of the device used as the right side
+		of the passthru.
+
+config SERIAL_PASSTHRU_UBLOX_BAUDRATE
+	string "baudrate"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "115200"
+	---help---
+		This option sets the baudrate for the passthru.
+endmenu

boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig

@@ -0,0 +1,64 @@
+#
+# 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="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=131072
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944

boards/matek/gnss-m9n-f4/nuttx-config/include/board.h

@@ -0,0 +1,302 @@
+/************************************************************************************
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Author: Nathan Tsoi <nathan@vertile.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 __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include "board_dma_map.h"
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The Mateksys GNSS M9N-F4 board features a single 8MHz crystal.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
+ *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - 32.768 kHz
+ */
+
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000ul
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* LED definitions ******************************************************************/
+/* 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 stm32_setled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_NLEDS       2
+
+#define BOARD_LED_BLUE    BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+
+/* LED bits for use with stm32_setleds() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
+ * The following definitions describe how NuttX controls the LEDs:
+ */
+
+#define LED_STARTED       0  /* LED1 */
+#define LED_HEAPALLOCATE  1  /* LED2 */
+#define LED_IRQSENABLED   2  /* LED1 */
+#define LED_STACKCREATED  3  /* LED1 + LED2 */
+#define LED_INIRQ         4  /* LED1 */
+#define LED_SIGNAL        5  /* LED2 */
+#define LED_ASSERTION     6  /* LED1 + LED2 */
+#define LED_PANIC         7  /* LED1 + LED2 */
+
+/* Alternate function pin selections ************************************************/
+
+/* UART1:
+ *
+ * PA10 (RX) and PA9 (TX) are broken out on J5
+ */
+
+#define GPIO_USART1_RX GPIO_USART1_RX_1
+#define GPIO_USART1_TX GPIO_USART1_TX_1
+
+/* UART2:
+ *
+ * PA10 (RX) and PA9 (TX) are broken out on J5
+ */
+
+//#define GPIO_USART2_RX GPIO_USART2_RX_1
+//#define GPIO_USART2_TX GPIO_USART2_TX_1
+
+/* USART3:
+ *
+ * PC10 (TX) and PC11 (RX) are broken out on J4
+ *
+ *
+ * The Silkscreen pin labeled SCL is TX
+ *                           MISO is RX
+ */
+#define GPIO_USART3_RX	GPIO_USART3_RX_2
+#define GPIO_USART3_TX	GPIO_USART3_TX_2
+
+/* UART4:
+ *
+ * PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
+ *             on the pro version. It's on a 2.54mm header on other versions
+ * PA1 (RX) -- Motor 5 out
+ */
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+/* UART5:
+ *
+ * PC6 (TX) and PC7 (RX) are broken out on J10
+ */
+
+//#define GPIO_UART5_RX GPIO_UART5_RX_1
+//#define GPIO_UART5_TX GPIO_UART5_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX    GPIO_CAN1_RX_2
+#define GPIO_CAN1_TX    GPIO_CAN1_TX_2
+
+/* SPI1:
+ *  CS: PA4 -- configured in board_config.h
+ *  CLK: PA5
+ *  MISO: PA6
+ *  MOSI: PA7
+ */
+
+#define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
+
+/* SPI2:
+ *  SD Card
+ *  CS: PB12 -- configured in board_config.h
+ *  CLK: PB13
+ *  MISO: PB14
+ *  MOSI: PB15
+ */
+
+#define GPIO_SPI2_SCK	  GPIO_SPI2_SCK_2
+#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
+
+/* SPI3: SD CARD
+ *  CS: PC14 -- configured in board_config.h
+ *  CLK: PB3
+ *  MISO: PB4
+ *  MOSI: PB5
+ */
+
+#define GPIO_SPI3_SCK  GPIO_SPI3_SCK_1
+#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1
+#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
+
+/*
+ * I2C (external)
+ *
+ * SCL: PB10
+ * SDA: PB11
+ *
+ * TODO:
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ */
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+
+#endif  /* __CONFIG_M9NF4_INCLUDE_BOARD_H */

boards/matek/gnss-m9n-f4/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |  SPI3_RX         | TIM2_UP_1        | UART4_RX         | SPI2_RX          | SPI2_TX          |                  |                  | SPI3_TX          |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  |                  |                  |
+ */
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_USART1_RX  DMAMAP_USART1_RX_1  // DMA2, Stream 2, Channel 4    (CONSOLE)
+//#define DMAMAP_UART4_RX DMAMAP_UART4_RX     // DMA1, Stream 2, Channel 4    (GPS)
+
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA1, Stream 3, Channel 0    (SPI2 RX)
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA1, Stream 4, Channel 0    (SPI2 TX)
+#define DMACHAN_SPI3_RX    DMAMAP_SPI3_RX_1   // DMA1, Stream 0, Channel 0    (SPI3 RX SD)
+#define DMACHAN_SPI3_TX    DMAMAP_SPI3_TX_2   // DMA1, Stream 7, Channel 0    (SPI3 TX SD)
+
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 RX)
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 TX)

boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig

@@ -0,0 +1,195 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CMP is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_SPI_CALLBACK is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_PRODUCTID=0x1004
+CONFIG_CDCACM_PRODUCTSTR="Matekgnssm9nf4"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x120A
+CONFIG_CDCACM_VENDORSTR="PX4"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_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_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=3
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=131072
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_PASSTHRU_UBLOX=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_OTGHS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=1024
+CONFIG_STM32_SPI3=y
+CONFIG_STM32_SPI3_DMA=y
+CONFIG_STM32_SPI3_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_SPI_DMATHRESHOLD=1024
+CONFIG_STM32_SYSCFG_IOCOMPENSATION=y
+CONFIG_STM32_TIM5=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=38400
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=300
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/matek/gnss-m9n-f4/nuttx-config/scripts/canbootloader_script.ld

@@ -0,0 +1,137 @@
+/****************************************************************************
+ * configs/gnss-m9n-f4/scripts/ld.canbootloader
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 32 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 32KiB Sector.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/matek/gnss-m9n-f4/nuttx-config/scripts/script.ld

@@ -0,0 +1,147 @@
+/****************************************************************************
+ * configs/gnss-m9n-f4/scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 32 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 32KiB Sector.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 960K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+                . = ALIGN(8);
+                /*
+                * This section positions the app_descriptor_t used
+                * by the make_can_boot_descriptor.py tool to set
+                * the application image's descriptor so that the
+                * uavcan bootloader has the ability to validate the
+                * image crc, size etc
+                */
+                KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/matek/gnss-m9n-f4/src/CMakeLists.txt

@@ -0,0 +1,70 @@
+############################################################################
+#
+#   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		led.c
+		init.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+			drivers__led
+	)
+endif()

boards/matek/gnss-m9n-f4/src/board_config.h

@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014, 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * M9nf4 can internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* Matek M9nf4can GPIOs ***********************************************************************************/
+/* LEDs */
+// LED1 - PA14 - blue
+// LED2 - PA13 - green
+
+#define GPIO_LED1       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN14)
+#define GPIO_LED_BLUE   GPIO_LED1
+
+#define GPIO_LED2       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
+#define GPIO_LED_GREEN  GPIO_LED2
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7|GPIO_EXTI)
+
+#define FLASH_BASED_PARAMS
+
+#define GPIO_CAN1_SILENT_S0  /* PC13  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /*  PB11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/* High-resolution timer */
+#define HRT_TIMER                    3 /* use timer 3 as HRT */
+#define HRT_TIMER_CHANNEL            4 /* use capture/compare channel 4 */
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_OTGFS_VBUS                   \
+	}
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_usbinitialize(void);
+
+//extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/matek/gnss-m9n-f4/src/boot.c

@@ -0,0 +1,190 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               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_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+#include <nuttx/board.h>
+
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+	//led_init();
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}

boards/matek/gnss-m9n-f4/src/boot_config.h

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+//* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

boards/matek/gnss-m9n-f4/src/can.c

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file 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_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif

boards/matek/gnss-m9n-f4/src/i2c.cpp

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(2),
+};

boards/matek/gnss-m9n-f4/src/init.c

@@ -0,0 +1,203 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * Matek M9NF4 CAN -specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_watchdog.h>
+
+#include "led.h"
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	watchdog_init();
+
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure SPI all interfaces GPIO */
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi3;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(SERIAL_HAVE_RXDMA)
+
+	/* set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. */
+
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+
+	stm32_spiinitialize();
+
+
+	spi3 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+
+	if (!spi3) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
+		rgb_led(255, 0, 0, 0);
+		return -ENODEV;
+	}
+
+	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (ret < 0) {
+		syslog(LOG_ERR, "[boot] Failed to bind SPI port 0 to SD slot 0\n");
+		rgb_led(255, 0, 0, 0);
+		return ret;
+	}
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		rgb_led(255, 0, 0, 0);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	rgb_led(0, 255, 0, 0);
+
+	return OK;
+}

boards/matek/gnss-m9n-f4/src/led.c

@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,
+};
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1N_1);
+		stm32_configgpio(GPIO_TIM1_CH2N_1);
+		stm32_configgpio(GPIO_TIM1_CH3N_1);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	if (led == 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+/*
+__EXPORT void board_autoled_on(int led) {
+	if (led == 1) {
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void board_autoled_off(int led) {
+	if (led == 1) {
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}*/
+
+__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)
+{
+	if (led == 0) {
+		phy_set_led(led, !stm32_gpioread(g_ledmap[led]));
+	}
+}

boards/matek/gnss-m9n-f4/src/led.h

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015-2021 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+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

boards/matek/gnss-m9n-f4/src/spi.cpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortC, GPIO::Pin4}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12})
+	}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortC, GPIO::Pin14})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/matek/gnss-m9n-f4/src/timer_config.cpp

@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
+};
+
+//constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+//	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/matek/gnss-m9n-f4/src/usb.c

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   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 usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/matek/gnss-m9n-f4/uavcan_board_identity

@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 3)
+set(uavcanblid_hw_version_minor 246)
+set(uavcanblid_name "\"org.matek.gnss-m9n-f4\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)

boards/modalai/fc-v1/src/board_config.h

@@ -262,7 +262,6 @@
 
 #define BOARD_NUM_IO_TIMERS 5
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 
 __BEGIN_DECLS
 

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

@@ -199,7 +199,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 
 /* Power supply control and monitoring GPIOs */
 #define GPIO_nVDD_USB_VALID             /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) /* Low for USB power, High for DC power */

boards/mro/ctrl-zero-h7-oem/src/board_config.h

@@ -157,7 +157,6 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/mro/ctrl-zero-h7/src/board_config.h

@@ -157,7 +157,6 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/mro/pixracerpro/src/board_config.h

@@ -146,7 +146,6 @@
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 
 #define BOARD_NUM_IO_TIMERS 3
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
 #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/nxp/fmurt1062-v1/src/CMakeLists.txt

@@ -46,7 +46,6 @@ px4_add_library(drivers_board
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
 )
-add_dependencies(drivers_board arch_board_hw_info)
 
 target_link_libraries(drivers_board
 	PRIVATE

boards/nxp/ucans32k146/src/CMakeLists.txt

@@ -45,7 +45,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 			nuttx_arch
 			nuttx_drivers
 			canbootloader
-			arch_io_pins
 			arch_led_pwm
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
@@ -73,6 +72,6 @@ else()
 			nuttx_drivers # sdio
 			drivers__led # drv_led_start
 			px4_layer
-			arch_io_pins
+			px4_platform # I2CBusIterator
 		)
 endif()

boards/omnibus/f4sd/src/board_config.h

@@ -147,7 +147,6 @@
 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {0, 1, 3, 2};
 
 __BEGIN_DECLS
 

boards/px4/fmu-v2/src/board_config.h

@@ -158,7 +158,6 @@
 
 #define BOARD_HAS_ON_RESET 1
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 __BEGIN_DECLS
 

boards/px4/fmu-v3/src/board_config.h

@@ -158,7 +158,6 @@
 
 #define BOARD_HAS_ON_RESET 1
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 /* Internal IMU Heater
  *

boards/px4/fmu-v4/src/CMakeLists.txt

@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )

boards/px4/fmu-v4/src/board_config.h

@@ -179,7 +179,6 @@
 
 #define BOARD_HAS_ON_RESET 1
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 __BEGIN_DECLS
 

boards/px4/fmu-v5/default.px4board

@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -81,8 +82,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v5/nuttx-config/scripts/kernel-space.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * kernel-space.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+/*
+ * TODO: Fill in the signature location into TOC from user-space elf
+EXTERN(_main_toc)
+*/
+
+SECTIONS
+{
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+	. = ALIGN(32);
+	/*
+	This signature provides the bootloader with a way to delay booting
+	*/
+	_bootdelay_signature = ABSOLUTE(.);
+	FILL(0xffecc2925d7d05c5)
+	. += 8;
+        /*
+        *(.main_toc)
+        */
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > kflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+	KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > kflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > kflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > kflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > ksram AT > kflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > ksram
+
+    /* Stabs debugging sections */
+
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+
+    .ramfunc : {
+        _sramfuncs = .;
+	*(.ramfunc  .ramfunc.*)
+	. = ALIGN(4);
+	_eramfuncs = .;
+    } > ksram AT > kflash
+
+    _framfuncs = LOADADDR(.ramfunc);
+}

boards/px4/fmu-v5/nuttx-config/scripts/memory.ld

@@ -0,0 +1,98 @@
+/****************************************************************************
+ * scripts/memory.ld
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
+ * can be accessed from either the AXIM interface at address 0x0800:0000 or
+ * from the ITCM interface at address 0x0020:0000.
+ *
+ * Additional information, including the option bytes, is available at at
+ * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
+ *
+ * In the STM32F765IIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash on ITCM at 0x0020:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x0010:0000
+ *
+ * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
+ * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
+ * boot from address 0x0020:0000 in ITCM FLASH.
+ *
+ * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
+ * SRAM is split up into three blocks:
+ *
+ *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
+ *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
+ *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ */
+
+MEMORY
+{
+  /* ITCM boot address */
+
+  itcm  (rwx) : ORIGIN = 0x00208000, LENGTH = 2048K-32K
+
+  /* 2048KB FLASH, bootloader reserves the first 32kb */
+
+  kflash (rx) : ORIGIN = 0x08008000, LENGTH = 1024K-32K
+  uflash (rx) : ORIGIN = 0x08100000, LENGTH = 1024K
+
+  /* ITCM RAM */
+
+  itcm_ram  (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+
+  /* DTCM SRAM */
+
+  dtcm_ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* 368KB of contiguous SRAM1 */
+
+  ksram (rwx) : ORIGIN = 0x20020000, LENGTH = 128K
+  usram (rwx) : ORIGIN = 0x20040000, LENGTH = 368K-128K
+
+  /* 16KB of SRAM2 */
+
+  sram2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}

boards/px4/fmu-v5/nuttx-config/scripts/user-space.ld

@@ -0,0 +1,124 @@
+/****************************************************************************
+ * user-space.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+EXTERN(userspace)
+OUTPUT_ARCH(arm)
+SECTIONS
+{
+    .userspace : {
+        *(.userspace)
+    } > uflash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > uflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > uflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > uflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > uflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > usram AT > uflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        /* Kernel heap start at _ebss, make _ebss MPU-friendly aligned */
+        . = ALIGN(0x1000);
+        _ebss = ABSOLUTE(.);
+    } > usram
+
+    /* 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) }
+
+    /* Start of the image signature. This
+     *  has to be in the end of the image
+     */
+     .signature : {
+         _boot_signature = ALIGN(4);
+     } > uflash
+}

boards/px4/fmu-v5/src/board_config.h

@@ -433,7 +433,6 @@
 
 #define BOARD_NUM_IO_TIMERS 5
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};
 
 __BEGIN_DECLS
 

boards/px4/fmu-v5/stackcheck.px4board

@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_HYGROMETERS=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n

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

@@ -43,7 +43,8 @@ add_library(drivers_board
 	timer_config.cpp
 	usb.c
 )
-add_dependencies(drivers_board arch_board_hw_info platform_gpio_mcp23009)
+
+add_dependencies(drivers_board platform_gpio_mcp23009)
 
 target_link_libraries(drivers_board
 	PRIVATE

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

@@ -218,7 +218,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/px4/fmu-v6u/src/board_config.h

@@ -196,7 +196,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/px4/fmu-v6x/src/board_config.h

@@ -236,7 +236,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/raspberrypi/pico/src/CMakeLists.txt

@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )

boards/spracing/h7extreme/src/board_config.h

@@ -133,7 +133,6 @@
 
 #define BOARD_NUM_IO_TIMERS 3
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7};
 
 __BEGIN_DECLS
 

boards/uvify/core/src/CMakeLists.txt

@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )

boards/uvify/core/src/board_config.h

@@ -178,7 +178,6 @@
 
 #define BOARD_HAS_ON_RESET 1
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

cmake/kconfig.cmake

@@ -26,6 +26,8 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	ROMFSROOT=${config_romfs_root}
 )
 
+set(config_user_list)
+
 if(EXISTS ${BOARD_DEFCONFIG})
 
     # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
@@ -79,6 +81,17 @@ if(EXISTS ${BOARD_DEFCONFIG})
             endif()
         endif()
 
+        # Find variable name
+        string(REGEX MATCH "^CONFIG_USER[^=]+" Userspace ${NameAndValue})
+
+        if(Userspace)
+            # Find the value
+            string(REPLACE "${Name}=" "" Value ${NameAndValue})
+            string(REPLACE "CONFIG_USER_" "" module ${Name})
+            string(TOLOWER ${module} module)
+            list(APPEND config_user_list ${module})
+        endif()
+
         # Find variable name
         string(REGEX MATCH "^CONFIG_DRIVERS[^=]+" Drivers ${NameAndValue})
 
@@ -171,6 +184,16 @@ if(EXISTS ${BOARD_DEFCONFIG})
 
     endforeach()
 
+    # Put every module not in userspace also to kernel list
+    foreach(modpath ${config_module_list})
+        get_filename_component(module ${modpath} NAME)
+        list(FIND config_user_list ${module} _index)
+
+        if (${_index} EQUAL -1)
+            list(APPEND config_kernel_list ${modpath})
+        endif()
+    endforeach()
+
     if(PLATFORM)
         # set OS, and append specific platform module path
         set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
@@ -336,6 +359,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	list(APPEND config_module_list ${board_support_src_rel}/src)
 
 	set(config_module_list ${config_module_list})
+	set(config_kernel_list ${config_kernel_list})
 
 endif()
 

cmake/px4_add_library.cmake

@@ -44,8 +44,8 @@ function(px4_add_library target)
 	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
 
 	# all PX4 libraries have access to parameters and uORB
-	add_dependencies(${target} uorb_headers)
-	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform)
+	add_dependencies(${target} uorb_headers parameters)
+	target_link_libraries(${target} PRIVATE prebuild_targets)
 
 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
 	px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${ARGN})

cmake/px4_add_module.cmake

@@ -154,9 +154,29 @@ function(px4_add_module)
 	# all modules can potentially use parameters and uORB
 	add_dependencies(${MODULE} uorb_headers)
 
+	# Check if the modules source dir exists in config_kernel_list
+	# in this case, treat is as a kernel side component for
+	# protected build
+	get_target_property(MODULE_SOURCE_DIR ${MODULE} SOURCE_DIR)
+	file(RELATIVE_PATH module ${PROJECT_SOURCE_DIR}/src ${MODULE_SOURCE_DIR})
+
+	list (FIND config_kernel_list ${module} _index)
+	if (${_index} GREATER -1)
+		set (KERNEL TRUE)
+	endif()
+
 	if(NOT DYNAMIC)
-		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_layer px4_platform systemlib)
-		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
+		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_platform systemlib perf)
+		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
+			target_link_libraries(${MODULE} PRIVATE px4_kernel_layer uORB_kernel)
+			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
+		else()
+			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
+			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
+		endif()
+		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
+		px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${SRCS})
+		set_property(GLOBAL APPEND PROPERTY PX4_SRC_FILES ${ABS_SRCS})
 	endif()
 
 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
@@ -197,6 +217,10 @@ function(px4_add_module)
 		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
 	endif()
 
+	if (KERNEL)
+		target_compile_options(${MODULE} PRIVATE -D__KERNEL__)
+	endif()
+
 	if(INCLUDES)
 		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
 	endif()

msg/CMakeLists.txt

@@ -108,6 +108,7 @@ set(msg_files
 	manual_control_setpoint.msg
 	manual_control_switches.msg
 	mavlink_log.msg
+	mavlink_tunnel.msg
 	mission.msg
 	mission_result.msg
 	mount_orientation.msg

msg/battery_status.msg

@@ -70,7 +70,8 @@ uint8 MAX_INSTANCES = 4
 
 float32 average_power               # The average power of the current discharge
 float32 available_energy            # The predicted charge or energy remaining in the battery
-float32 remaining_capacity          # The compensated battery capacity remaining
+float32 full_charge_capacity_wh     # The compensated battery capacity
+float32 remaining_capacity_wh       # The compensated battery capacity remaining
 float32 design_capacity             # The design capacity of the battery
 uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
 uint16 over_discharge_count         # Number of battery overdischarge

msg/ekf_gps_drift.msg

@@ -2,4 +2,5 @@ uint64 timestamp		# time since system start (microseconds)
 float32 hpos_drift_rate		# Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
 float32 vpos_drift_rate		# Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
 float32 hspd			# Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
-bool blocked			# true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST
+
+bool blocked			# true when drift calculation is blocked due to IMU movement check

msg/estimator_status.msg

@@ -1,11 +1,6 @@
 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
 
-float32[3] vibe			# IMU vibration metrics in the following array locations
-# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
-# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
-# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
-
 float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
 
 uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see definition below

msg/geofence_result.msg

@@ -1,12 +1,12 @@
-uint64 timestamp			    # time since system start (microseconds)
-uint8 GF_ACTION_NONE = 0                    # no action on geofence violation
-uint8 GF_ACTION_WARN = 1                    # critical mavlink message
-uint8 GF_ACTION_LOITER = 2                  # switch to AUTO|LOITER
-uint8 GF_ACTION_RTL = 3                     # switch to AUTO|RTL
-uint8 GF_ACTION_TERMINATE = 4               # flight termination
-uint8 GF_ACTION_LAND = 5		    # switch to AUTO|LAND
+uint64 timestamp                # time since system start (microseconds)
+uint8 GF_ACTION_NONE = 0        # no action on geofence violation
+uint8 GF_ACTION_WARN = 1        # critical mavlink message
+uint8 GF_ACTION_LOITER = 2      # switch to AUTO|LOITER
+uint8 GF_ACTION_RTL = 3         # switch to AUTO|RTL
+uint8 GF_ACTION_TERMINATE = 4   # flight termination
+uint8 GF_ACTION_LAND = 5        # switch to AUTO|LAND
 
-bool geofence_violated		# true if the geofence is violated
-uint8 geofence_action       	# action to take when geofence is violated
+bool geofence_violated          # true if the geofence is violated
+uint8 geofence_action           # action to take when geofence is violated
 
-bool home_required		# true if the geofence requires a valid home position
+bool home_required              # true if the geofence requires a valid home position

msg/mavlink_tunnel.msg

@@ -0,0 +1,20 @@
+# MAV_TUNNEL_PAYLOAD_TYPE enum
+
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN = 0                # Encoding of payload unknown
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 = 200    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 = 201    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 = 202    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 = 203    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 = 204    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 = 205    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 = 206    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 = 207    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 = 208    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 = 209    # Registered for STorM32 gimbal controller
+
+uint64 timestamp	     # Time since system start (microseconds)
+uint16 payload_type      # A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
+uint8 target_system      # System ID (can be 0 for broadcast, but this is discouraged)
+uint8 target_component   # Component ID (can be 0 for broadcast, but this is discouraged)
+uint8 payload_length     # Length of the data transported in payload
+uint8[128] payload       # Data itself

msg/vehicle_land_detected.msg

@@ -1,11 +1,18 @@
 uint64 timestamp	# time since system start (microseconds)
+
 bool freefall		# true if vehicle is currently in free-fall
 bool ground_contact	# true if vehicle has ground contact but is not landed (1. stage)
 bool maybe_landed	# true if the vehicle might have landed (2. stage)
 bool landed		# true if vehicle is currently landed on the ground (3. stage)
+
 bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
 bool in_descend
+
 bool has_low_throttle
+
 bool vertical_movement
 bool horizontal_movement
+
 bool close_to_ground_or_skipped_check
+
+bool at_rest

msg/vehicle_odometry.msg

@@ -62,5 +62,7 @@ float32 yawspeed		# Angular velocity about Z body axis
 # If angular velocity covariance invalid/unknown, 16th cell is NaN
 float32[21] velocity_covariance
 
+uint8 reset_counter
+
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry estimator_visual_odometry_aligned

platforms/common/CMakeLists.txt

@@ -52,11 +52,10 @@ add_library(px4_platform
 	spi.cpp
 	${SRCS}
 )
-add_dependencies(px4_platform prebuild_targets)
+target_link_libraries(px4_platform prebuild_targets px4_work_queue)
 
 if (NOT "${PX4_BOARD}" MATCHES "io-v2")
 	add_subdirectory(uORB)
-	target_link_libraries(px4_platform PRIVATE uORB)
 endif()
 
 add_subdirectory(px4_work_queue)

platforms/common/px4_work_queue/CMakeLists.txt

@@ -44,4 +44,3 @@ if(PX4_TESTING)
 endif()
 
 target_compile_options(px4_work_queue PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
-target_link_libraries(px4_work_queue PRIVATE px4_platform)

platforms/nuttx/CMakeLists.txt

@@ -44,6 +44,14 @@ add_dependencies(px4 git_nuttx)
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
+if (NOT CONFIG_BUILD_FLAT)
+	add_executable(px4_kernel ${PX4_SOURCE_DIR}/platforms/common/empty.c)
+	set(KERNEL_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}_kernel.elf)
+	set_target_properties(px4_kernel PROPERTIES OUTPUT_NAME ${KERNEL_NAME})
+	add_dependencies(px4_kernel git_nuttx)
+	get_property(kernel_module_libraries GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES)
+endif()
+
 # build NuttX
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
 
@@ -81,18 +89,31 @@ else()
 endif()
 
 list(APPEND nuttx_libs
-	nuttx_apps
-	nuttx_arch
-	nuttx_binfmt
-	nuttx_c
 	nuttx_boards
-	nuttx_xx
 	nuttx_drivers
 	nuttx_fs
-	nuttx_mm
 	nuttx_sched
 	nuttx_crypto
-)
+	nuttx_binfmt
+	nuttx_xx
+	)
+
+if (NOT CONFIG_BUILD_FLAT)
+	list(APPEND nuttx_libs
+		px4_board_ctrl
+		nuttx_karch
+		nuttx_kmm
+		nuttx_stubs
+		nuttx_kc
+		)
+else()
+	list(APPEND nuttx_libs
+		nuttx_apps
+		nuttx_arch
+		nuttx_mm
+		nuttx_c
+		)
+endif()
 
 if(CONFIG_NET)
 	list(APPEND nuttx_libs nuttx_net)
@@ -105,50 +126,6 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
 # because even relative linker script paths are different for linux, mac and windows
 CYGPATH(NUTTX_CONFIG_DIR NUTTX_CONFIG_DIR_CYG)
 
-target_link_libraries(nuttx_arch
-	INTERFACE
-		drivers_board
-		arch_hrt
-)
-
-target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
-target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
-target_link_libraries(nuttx_xx INTERFACE nuttx_c)
-target_link_libraries(nuttx_fs INTERFACE nuttx_c)
-
-target_link_libraries(px4 PRIVATE
-
-	-nostartfiles
-	-nodefaultlibs
-	-nostdlib
-	-nostdinc++
-
-	-fno-exceptions
-	-fno-rtti
-	-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
-	-Wl,-Map=${PX4_CONFIG}.map
-	-Wl,--warn-common
-	-Wl,--gc-sections
-
-	-Wl,--start-group
-		${nuttx_libs}
-	-Wl,--end-group
-
-	m
-	gcc
-	)
-
-if(NOT USE_LD_GOLD)
-	target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
-endif()
-
-target_link_libraries(px4 PRIVATE ${module_libraries})
-
-if(config_romfs_root)
-	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
-	target_link_libraries(px4 PRIVATE romfs)
-endif()
-
 if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
 	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_CONFIG}_unsigned.bin)
 
@@ -161,10 +138,154 @@ else()
 	set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_CONFIG}.bin)
 endif()
 
-add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
-	COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
-	DEPENDS px4
-)
+if (NOT CONFIG_BUILD_FLAT)
+
+	target_link_libraries(nuttx_karch
+		INTERFACE
+			drivers_board
+			arch_hrt
+			)
+
+	target_link_libraries(px4_kernel PRIVATE
+
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+
+		-fno-exceptions
+		-fno-rtti
+
+		-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}kernel-space.ld
+
+		-Wl,-Map=${PX4_CONFIG}_kernel.map
+		-Wl,--warn-common
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+			${nuttx_libs}
+			${kernel_module_libraries}
+			px4_work_queue # TODO, this shouldn't be needed here?
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+	if (config_romfs_root)
+		add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
+		target_link_libraries(px4_kernel PRIVATE romfs)
+	endif()
+
+	target_link_libraries(px4_kernel PRIVATE -Wl,--print-memory-usage)
+
+	set(nuttx_userspace)
+
+	list(APPEND nuttx_userspace
+		drivers_userspace
+		nuttx_arch
+		nuttx_apps
+		nuttx_mm
+		nuttx_proxies
+		nuttx_c
+		nuttx_xx
+		)
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_proxies)
+
+	target_link_libraries(px4 PRIVATE
+
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+
+		-fno-exceptions
+		-fno-rtti
+
+		-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}memory.ld,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}user-space.ld
+
+		-Wl,-Map=${PX4_CONFIG}.map
+		-Wl,--warn-common
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+		${nuttx_userspace}
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+	target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
+
+	target_link_libraries(px4 PRIVATE
+		${module_libraries}
+	)
+
+	add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
+		COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin
+		COMMAND ${CMAKE_OBJCOPY} --gap-fill 0xFF --pad-to ${CONFIG_NUTTX_USERSPACE} -O binary ${PX4_BINARY_DIR_REL}/${KERNEL_NAME} ${PX4_BINARY_OUTPUT}
+		COMMAND cat ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin >> ${PX4_BINARY_OUTPUT}
+
+		DEPENDS px4 px4_kernel
+	)
+
+else()
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_sched) # nxsched_get_streams
+
+	target_link_libraries(nuttx_arch
+		INTERFACE
+			drivers_board
+			arch_hrt
+			arch_board_reset
+	)
+
+	target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
+	target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
+	target_link_libraries(nuttx_xx INTERFACE nuttx_c)
+	target_link_libraries(nuttx_fs INTERFACE nuttx_c)
+
+	target_link_libraries(px4 PRIVATE
+
+		-nostartfiles
+		-nodefaultlibs
+		-nostdlib
+		-nostdinc++
+
+		-fno-exceptions
+		-fno-rtti
+		-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
+		-Wl,-Map=${PX4_CONFIG}.map
+		-Wl,--warn-common
+		-Wl,--gc-sections
+
+		-Wl,--start-group
+			${nuttx_libs}
+		-Wl,--end-group
+
+		m
+		gcc
+		)
+
+	if(NOT USE_LD_GOLD)
+		target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
+	endif()
+
+	target_link_libraries(px4 PRIVATE ${module_libraries})
+
+	if(config_romfs_root)
+		add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
+		target_link_libraries(px4 PRIVATE romfs)
+	endif()
+
+	add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
+		COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
+		DEPENDS px4
+	)
+
+endif()
 
 # create .px4 with parameter and airframe metadata
 if (TARGET parameters_xml AND TARGET airframes_xml)

platforms/nuttx/NuttX/CMakeLists.txt

@@ -117,7 +117,13 @@ set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY
 add_dependencies(nuttx_apps nuttx_apps_build)
 
 # helper for all targets
-function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
+function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra target)
+	if (${target} STREQUAL all)
+		set(nuttx_lib_target all)
+	else()
+		set(nuttx_lib_target lib${target}.a)
+	endif()
+
 	file(GLOB_RECURSE nuttx_lib_files LIST_DIRECTORIES false
 		${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.c
 		${CMAKE_CURRENT_SOURCE_DIR}/nuttx/${nuttx_lib_dir}/*.h
@@ -126,7 +132,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
 	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
 		COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
 		COMMAND find ${nuttx_lib_dir} -type f -name \*.o -delete
-		COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent all TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra}
+		COMMAND make -C ${nuttx_lib_dir} --no-print-directory --silent ${nuttx_lib_target} TOPDIR="${NUTTX_DIR}" KERNEL=${kernel} EXTRAFLAGS=${extra}
 		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a ${CMAKE_CURRENT_BINARY_DIR}/nuttx/${nuttx_lib_dir}/lib${nuttx_lib}.a
 		DEPENDS
 			${nuttx_lib_files}
@@ -142,19 +148,35 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
 endfunction()
 
 # add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
-add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__)
-add_nuttx_dir(binfmt binfmt y -D__KERNEL__)
-add_nuttx_dir(boards boards y -D__KERNEL__)
-add_nuttx_dir(drivers drivers y -D__KERNEL__)
-add_nuttx_dir(fs fs y -D__KERNEL__)
-add_nuttx_dir(sched sched y -D__KERNEL__)
-add_nuttx_dir(c libs/libc n "")
-add_nuttx_dir(xx libs/libxx n "")
-add_nuttx_dir(mm mm n "")
-add_nuttx_dir(crypto crypto y -D__KERNEL__)
+add_nuttx_dir(binfmt binfmt y -D__KERNEL__ all)
+add_nuttx_dir(boards boards y -D__KERNEL__ all)
+add_nuttx_dir(drivers drivers y -D__KERNEL__ all)
+add_nuttx_dir(fs fs y -D__KERNEL__ all)
+add_nuttx_dir(sched sched y -D__KERNEL__ all)
+add_nuttx_dir(xx libs/libxx n "" all)
+add_nuttx_dir(crypto crypto y -D__KERNEL__ all)
+
+if (NOT CONFIG_BUILD_FLAT)
+	add_nuttx_dir(arch arch/${CONFIG_ARCH}/src n "" arch)
+	add_dependencies(nuttx_arch_build nuttx_karch_build) # can't build these in parallel
+	add_nuttx_dir(karch arch/arm/src y -D__KERNEL__ karch)
+	add_nuttx_dir(c libs/libc n "" c)
+	add_dependencies(nuttx_c_build nuttx_kc_build) # can't build these in parallel
+	add_nuttx_dir(kc libs/libc y -D__KERNEL__ kc)
+	add_nuttx_dir(mm mm n "" mm)
+	add_dependencies(nuttx_mm_build nuttx_kmm_build) # can't build these in parallel
+	add_nuttx_dir(kmm mm y -D__KERNEL__ kmm)
+	add_nuttx_dir(proxies syscall n "" proxies)
+	add_dependencies(nuttx_proxies_build nuttx_stubs_build) # can't build these in parallel
+	add_nuttx_dir(stubs syscall y -D__KERNEL__ stubs)
+else()
+	add_nuttx_dir(arch arch/${CONFIG_ARCH}/src y -D__KERNEL__ all)
+	add_nuttx_dir(c libs/libc n "" all)
+	add_nuttx_dir(mm mm n "" mm)
+endif()
 
 if(CONFIG_NET)
-	add_nuttx_dir(net net y -D__KERNEL__)
+	add_nuttx_dir(net net y -D__KERNEL__ all)
 endif()
 
 ###############################################################################

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -177,7 +177,7 @@ function(px4_os_prebuild_targets)
 	endif()
 
 	add_library(prebuild_targets INTERFACE)
-	target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
+	target_link_libraries(prebuild_targets INTERFACE nuttx_xx m gcc)
 	add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
 
 endfunction()

platforms/nuttx/src/bootloader/stm/stm32_common/CMakeLists.txt

@@ -39,4 +39,5 @@ px4_add_library(arch_bootloader
 target_link_libraries(arch_bootloader
 	PRIVATE
 		bootloader_lib
+		nuttx_arch
 )

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

@@ -33,8 +33,8 @@
 
 # skip for px4_layer support on an IO board
 if(NOT PX4_BOARD MATCHES "io-v2")
-
-	add_library(px4_layer
+	# Kernel side & nuttx flat build common sources
+	set(KERNEL_SRCS
 		board_crashdump.c
 		board_dma_alloc.c
 		board_fat_dma_alloc.c
@@ -51,31 +51,36 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 		px4_24xxxx_mtd.c
 		px4_crypto.cpp
 	)
-	target_link_libraries(px4_layer
-		PRIVATE
-			arch_board_reset
-			arch_board_critmon
-			arch_version
-			nuttx_apps
-			nuttx_sched
-			px4_work_queue
-			uORB
+
+	# Kernel side & nuttx flat build common libraries
+	set(KERNEL_LIBS
+		arch_board_reset
+		arch_board_critmon
+		arch_version
+		nuttx_sched
 	)
+
+if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
+	# Build the NuttX user and kernel space px4 layers
+	include(${CMAKE_CURRENT_SOURCE_DIR}/px4_protected_layers.cmake)
+
 else()
+	# Build the flat build px4_layer
+	include(${CMAKE_CURRENT_SOURCE_DIR}/px4_layer.cmake)
+endif()
+
+else()
+	# Build the px4 layer for io_v2
 	add_library(px4_layer ${PX4_SOURCE_DIR}/platforms/common/empty.c)
 endif()
+
 add_dependencies(px4_layer prebuild_targets)
 
 add_subdirectory(gpio)
 add_subdirectory(srgbled)
 
+# Build px4_random
 if (DEFINED PX4_CRYPTO)
 	add_library(px4_random nuttx_random.c)
-	add_dependencies(px4_random nuttx_context)
 	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-
-	target_link_libraries(px4_layer
-		PUBLIC
-			crypto_backend
-	)
 endif()

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

@@ -33,6 +33,7 @@
 
 #if defined(CONFIG_SYSTEM_CDCACM)
 __BEGIN_DECLS
+#include <arch/board/board.h>
 #include <syslog.h>
 #include <nuttx/wqueue.h>
 #include <builtin/builtin.h>
@@ -120,7 +121,8 @@ static void mavlink_usb_check(void *arg)
 						if (nread > 0) {
 							bool launch_mavlink = false;
 							bool launch_nshterm = false;
-
+							bool launch_passthru = false;
+							struct termios uart_config;
 							static constexpr int MAVLINK_HEARTBEAT_MIN_LENGTH = 9;
 
 							if (nread >= MAVLINK_HEARTBEAT_MIN_LENGTH) {
@@ -166,14 +168,44 @@ static void mavlink_usb_check(void *arg)
 								}
 							}
 
-							if (launch_mavlink || launch_nshterm) {
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+
+							if (!launch_mavlink && !launch_nshterm && (nread >= 4)) {
+								// passthru Ublox
+								// scan buffer looking for 0xb5 0x62
+								for (int i = 0; i < nread; i++) {
+									bool ub = buffer[i] == 0xb5 && buffer[i + 1] == 0x62;
+
+									if (ub && ((buffer[i + 2 ] == 0x6 && (buffer[i + 3 ] == 0xb8 || buffer[i + 3 ] == 0x13)) ||
+										   (buffer[i + 2 ] == 0xa && buffer[i + 3 ] == 0x4))) {
+										syslog(LOG_INFO, "%s: launching serial_passthru\n", USB_DEVICE_PATH);
+										launch_passthru = true;
+										break;
+									}
+								}
+							}
+
+#endif
+
+							if (launch_mavlink || launch_nshterm || launch_passthru) {
+
+								// Get the current settings
+								tcgetattr(ttyacm_fd, &uart_config);
+
 								// cleanup serial port
 								close(ttyacm_fd);
 								ttyacm_fd = -1;
 
 								static const char *mavlink_argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, nullptr};
 								static const char *nshterm_argv[] {"nshterm", USB_DEVICE_PATH, nullptr};
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+								speed_t baudrate = cfgetspeed(&uart_config);
+								char baudstring[16];
+								snprintf(baudstring, sizeof(baudstring), "%d", baudrate);
+								static const char *gps_argv[] {"gps", "stop", nullptr};
 
+								static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", CONFIG_SERIAL_PASSTHRU_UBLOX_DEV,   nullptr};
+#endif
 								char **exec_argv = nullptr;
 
 								if (launch_nshterm) {
@@ -183,6 +215,18 @@ static void mavlink_usb_check(void *arg)
 									exec_argv = (char **)mavlink_argv;
 								}
 
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+
+								else if (launch_passthru) {
+									sched_lock();
+									exec_argv = (char **)gps_argv;
+									exec_builtin(exec_argv[0], exec_argv, nullptr, 0);
+									sched_unlock();
+									exec_argv = (char **)passthru_argv;
+								}
+
+#endif
+
 								sched_lock();
 
 								if (exec_builtin(exec_argv[0], exec_argv, nullptr, 0) > 0) {

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

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/sem.h>
+#include <pthread.h>
+#include <string.h>
+#include <fcntl.h>
+
+#ifdef BOARD_ENABLE_CONSOLE_BUFFER
+#ifndef BOARD_CONSOLE_BUFFER_SIZE
+# define BOARD_CONSOLE_BUFFER_SIZE (1024*4) // default buffer size
+#endif
+
+
+// TODO: User side implementation of px4_console_buffer
+
+int px4_console_buffer_init()
+{
+	return 0;
+}
+
+int px4_console_buffer_size()
+{
+	return 0;
+}
+
+int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
+{
+	return 0;
+}
+
+#endif /* BOARD_ENABLE_CONSOLE_BUFFER */

platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h

@@ -58,6 +58,8 @@ static inline constexpr io_timers_channel_mapping_t initIOTimerChannelMapping(co
 		}
 
 		uint32_t first_channel = UINT32_MAX;
+		uint32_t min_timer_channel = UINT32_MAX;
+		uint32_t max_timer_channel = 0;
 		uint32_t channel_count = 0;
 
 		for (uint32_t channel = 0; channel < MAX_TIMER_IO_CHANNELS; ++channel) {
@@ -74,11 +76,23 @@ static inline constexpr io_timers_channel_mapping_t initIOTimerChannelMapping(co
 				}
 
 				++channel_count;
+
+				if (timer_io_channels_conf[channel].timer_channel < min_timer_channel) {
+					min_timer_channel = timer_io_channels_conf[channel].timer_channel;
+				}
+
+				if (timer_io_channels_conf[channel].timer_channel > max_timer_channel) {
+					max_timer_channel = timer_io_channels_conf[channel].timer_channel;
+				}
 			}
 		}
 
 		if (first_channel == UINT32_MAX) { //unused timer, channel_count is 0
 			first_channel = 0;
+
+		} else {
+			ret.element[i].lowest_timer_channel = min_timer_channel;
+			ret.element[i].channel_count_including_gaps = max_timer_channel - min_timer_channel + 1;
 		}
 
 		ret.element[i].first_channel_index = first_channel;

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -0,0 +1,22 @@
+# Build the px4 layer for nuttx flat build
+
+add_library(px4_layer
+		${KERNEL_SRCS}
+		cdc_acm_check.cpp
+	)
+
+target_link_libraries(px4_layer
+	PRIVATE
+		${KERNEL_LIBS}
+		nuttx_c
+		nuttx_arch
+		nuttx_mm
+	)
+
+
+if (DEFINED PX4_CRYPTO)
+	target_link_libraries(px4_layer
+		PUBLIC
+			crypto_backend
+	)
+endif()

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -0,0 +1,41 @@
+
+# Build the user side px4_layer
+
+add_library(px4_layer
+	tasks.cpp
+	console_buffer_usr.cpp
+	usr_mcu_version.cpp
+	cdc_acm_check.cpp
+	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
+	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
+)
+
+target_link_libraries(px4_layer
+	PRIVATE
+		m
+		nuttx_c
+		nuttx_xx
+		nuttx_mm
+)
+
+# Build the kernel side px4_kernel_layer
+
+add_library(px4_kernel_layer
+		${KERNEL_SRCS}
+)
+
+target_link_libraries(px4_kernel_layer
+	PRIVATE
+		${KERNEL_LIBS}
+		nuttx_kc
+		nuttx_karch
+		nuttx_kmm
+)
+
+if (DEFINED PX4_CRYPTO)
+	target_link_libraries(px4_kernel_layer PUBLIC crypto_backend)
+endif()
+
+target_compile_options(px4_kernel_layer PRIVATE -D__KERNEL__)
+
+add_dependencies(px4_kernel_layer prebuild_targets)

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

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 Technology Innovation Institute. All rights reserved.
+ *   Author: @author Jukka Laitinen <jukkax@ssrc.tii.ae>
+ *
+ * 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 usr_mcu_version.c
+ * Implementation of generic user-space version API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+
+#include "board_config.h"
+
+static int hw_version = 0;
+static int hw_revision = 0;
+static char hw_info[] = HW_INFO_INIT;
+
+__EXPORT const char *board_get_hw_type_name(void)
+{
+	return (const char *) hw_info;
+}
+
+__EXPORT int board_get_hw_version(void)
+{
+	return  hw_version;
+}
+
+__EXPORT int board_get_hw_revision()
+{
+	return  hw_revision;
+}
+
+__EXPORT void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the uuid32 from the kernel
+	 */
+	uint32_t chip_uuid[PX4_CPU_UUID_WORD32_LENGTH];
+	memset((uint8_t *)chip_uuid, 0, PX4_CPU_UUID_WORD32_LENGTH * 4);
+
+	for (unsigned i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		uuid_words[i] = chip_uuid[i];
+	}
+}
+
+int board_mcu_version(char *rev, const char **revstr, const char **errata)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the version from the kernel
+	 */
+	return -1;
+}
+
+int board_get_px4_guid(px4_guid_t px4_guid)
+{
+	/* TODO: This is a stub for userspace build. Use some proper interface
+	 * to fetch the guid from the kernel
+	 */
+	uint8_t  *pb = (uint8_t *) &px4_guid[0];
+	memset(pb, 0, PX4_GUID_BYTE_LENGTH);
+
+	return PX4_GUID_BYTE_LENGTH;
+}
+
+int board_get_px4_guid_formated(char *format_buffer, int size)
+{
+	px4_guid_t px4_guid;
+	board_get_px4_guid(px4_guid);
+	int offset  = 0;
+
+	/* size should be 2 per byte + 1 for termination
+	 * So it needs to be odd
+	 */
+	size = size & 1 ? size : size - 1;
+
+	/* Discard from MSD */
+	for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
+	}
+
+	return offset;
+}
+

platforms/nuttx/src/px4/nxp/imxrt/adc/adc.cpp

@@ -180,7 +180,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		/* don't wait for more than 10us, since that means something broke
 		 *  should reset here if we see this
 		 */
-		if ((hrt_absolute_time() - now) > 10) {
+		if ((hrt_absolute_time() - now) > 30) {
 			px4_leave_critical_section(flags);
 			return UINT32_MAX;
 		}

platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt

@@ -34,3 +34,10 @@
 px4_add_library(arch_board_reset
 	board_reset.cpp
 )
+
+# up_systemreset
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
+else()
+	target_link_libraries(arch_board_reset PRIVATE nuttx_arch)
+endif()

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h

@@ -86,6 +86,8 @@ typedef struct io_timers_t {
 typedef struct io_timers_channel_mapping_element_t {
 	uint32_t first_channel_index;
 	uint32_t channel_count;
+	uint32_t lowest_timer_channel;
+	uint32_t channel_count_including_gaps;
 } io_timers_channel_mapping_element_t;
 
 /* mapping for each io_timers to timer_io_channels */
@@ -102,6 +104,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   val_offset;          /* IMXRT_FLEXPWM_SM0VAL3_OFFSET or IMXRT_FLEXPWM_SM0VAL5_OFFSET */
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
+	uint8_t   timer_channel;       /* Unused */
 } timer_io_channels_t;
 
 #define SM0           0

platforms/nuttx/src/px4/nxp/kinetis/board_reset/CMakeLists.txt

@@ -34,3 +34,10 @@
 px4_add_library(arch_board_reset
 	board_reset.cpp
 )
+
+# up_systemreset
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
+else()
+	target_link_libraries(arch_board_reset PRIVATE nuttx_arch)
+endif()

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h

@@ -91,6 +91,8 @@ typedef struct io_timers_t {
 typedef struct io_timers_channel_mapping_element_t {
 	uint32_t first_channel_index;
 	uint32_t channel_count;
+	uint32_t lowest_timer_channel;
+	uint32_t channel_count_including_gaps;
 } io_timers_channel_mapping_element_t;
 
 /* mapping for each io_timers to timer_io_channels */