IO: Simplify CRC check logic

WIP: px4io lobotomy
boards: MRO Control Zero F7 OEM minor update
2026-05-30 02:50:05 +08:00 · 2021-03-02 13:08:08 +01:00 · 2021-02-21 22:00:52 -05:00 · 2021-02-21 21:08:38 -05:00 · 2021-02-21 21:07:36 -05:00 · 2021-02-21 21:06:27 -05:00
482 changed files with 18865 additions and 12219 deletions
@@ -37,6 +37,7 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -49,21 +50,21 @@ pipeline {
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
-                     "holybro_can-gps-v1",
-                     "holybro_can-gps-v1_canbootloader",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
+                     "nxp_fmuk66-e_default",
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmuk66-e_default",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -89,10 +90,12 @@ pipeline {
                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -481,8 +481,7 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -635,7 +634,7 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
@@ -19,8 +19,8 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_default,
          av_x-v1_default,
-          bitcraze_crazyflie_default,
          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
          cuav_nora_default,
@@ -59,7 +59,6 @@ jobs:
          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
          px4_fmu-v4_optimized,
-          px4_fmu-v4_uavcanv1,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
@@ -69,11 +68,12 @@ jobs:
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
-          px4_fmu-v6x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
          uvify_core_default
@@ -94,7 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,10 +106,6 @@ jobs:
        name: coredump
        path: px4.core

-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
@@ -131,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -67,11 +67,9 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the px4io binary in ROMFS
+		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)
@@ -30,13 +30,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Set the parameter file if mtd starts successfully.
 #
@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi

 set MIXER quad_x
@@ -8,6 +8,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -16,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -17,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -22,7 +22,6 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

@@ -17,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 1
 	param set GND_THR_CRUISE 0.85
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 1
 	param set GND_THR_MIN 0

@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
@@ -24,7 +24,8 @@ then

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF

-uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
@@ -53,8 +53,6 @@ else
 	fi
 fi

-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
@@ -244,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +256,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
@@ -49,7 +49,6 @@ param set-default CBRK_IO_SAFETY    22027
 param set-default CBRK_SUPPLY_CHK   894281

 # RC configuration
-param set-default RC_MAP_MODE_SW    5
 param set-default RC_MAP_PITCH      2
 param set-default RC_MAP_ROLL       1
 param set-default RC_MAP_THROTTLE   3
@@ -27,21 +27,18 @@ param set-default FW_AIRSPD_MAX 3
 param set-default FW_AIRSPD_MIN 0
 param set-default FW_AIRSPD_TRIM 1

-param set-default GND_L1_DIST 10
+# Settings for a typical wheelbase 0f 0.3m
+param set-default GND_L1_DIST 1
+param set-default GND_L1_PERIOD 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_P 0.25
 param set-default GND_SPEED_I 3
 param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
-param set-default GND_THR_IDLE 0
 param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
-param set-default GND_WR_P 2
-param set-default GND_WR_I 0.9674
-param set-default GND_WR_IMAX 0.1
-param set-default GND_WR_D 1.2

 param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
@@ -35,7 +35,6 @@ param set-default FW_AIRSPD_MAX 3
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_L1_DIST 5
 param set-default GND_L1_PERIOD 3
-param set-default GND_THR_IDLE 0
 param set-default GND_THR_CRUISE 0.7
 param set-default GND_THR_MAX 0.5

@@ -32,7 +32,6 @@ param set-default FW_AIRSPD_MIN 0
 param set-default FW_AIRSPD_TRIM 1
 param set-default FW_AIRSPD_MAX 3

-param set-default GND_THR_IDLE 0
 param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5

@@ -67,22 +67,6 @@ fi
 #
 if [ $OUTPUT_MODE != none ]
 then
-	if [ $OUTPUT_MODE = mkblctrl ]
-	then
-		if [ $MKBLCTRL_MODE = x ]
-		then
-			set MKBLCTRL_ARG "-mkmode x"
-		fi
-		if [ $MKBLCTRL_MODE = + ]
-		then
-			set MKBLCTRL_ARG "-mkmode +"
-		fi
-
-		if ! mkblctrl $MKBLCTRL_ARG
-		then
-			tune_control play error
-		fi
-	fi

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
 	then
@@ -109,19 +93,15 @@ then
 		fi
 	fi

-	if [ $OUTPUT_MODE = io ]
-	then
-		. ${R}etc/init.d/rc.io
-	fi
-
 	#
 	# Start IO for RC input if needed.
 	#
-	if [ $IO_PRESENT = yes ]
+	if [ $IO_PRESENT = yes -a $OUTPUT_MODE = io ]
 	then
-		if [ $OUTPUT_MODE != io ]
+		if ! px4io start
 		then
-			. ${R}etc/init.d/rc.io
+			echo "PX4IO start failed"
+			tune_control play -t 18 # PROG_PX4IO_ERR
 		fi
 	fi
 fi
@@ -153,12 +133,7 @@ then
 		fi
 	fi

-	if [ $OUTPUT_MODE = mkblctrl ]
-	then
-		set OUTPUT_DEV /dev/mkblctrl0
-	else
-		set OUTPUT_DEV /dev/pwm_output0
-	fi
+	set OUTPUT_DEV /dev/pwm_output0

 	if [ $OUTPUT_MODE = uavcan_esc ]
 	then
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# PX4IO interface init script.
-#
-
-# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
-# instead, pwm_out_sim will publish that uORB
-if [ $OUTPUT_MODE = hil ]
-then
-    set HIL_ARG $OUTPUT_MODE
-fi
-
-if [ $IO_PRESENT = yes ]
-then
-	if px4io start $HIL_ARG
-	then
-		# Allow PX4IO to recover from midair restarts.
-		px4io recovery
-	else
-		echo "PX4IO start failed"
-		tune_control play -t 18 # PROG_PX4IO_ERR
-	fi
-fi
@@ -37,8 +37,6 @@ set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
-set MK_MODE none
-set MKBLCTRL_ARG ""
 set OUTPUT_MODE none
 set PARAM_FILE /fs/microsd/params
 set PWM_OUT none
@@ -75,13 +73,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Try to mount the microSD card.
 #
@@ -291,33 +282,18 @@ else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO

-				if px4io start
-				then
-					# Try to safety px4 io so motor outputs don't go crazy.
-					if ! px4io safety_on
-					then
-						# px4io did not respond to the safety command.
-						px4io stop
-					fi
-				fi
-
-				if px4io forceupdate 14662 ${IOFW}
+				if px4io update ${IOFW}
 				then
 					usleep 10000
 					tune_control stop
 					if px4io checkcrc ${IOFW}
 					then
-						echo "PX4IO CRC OK after updating"
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 						set IO_PRESENT yes
+					else
+						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
 				fi
-
-				if [ $IO_PRESENT = no ]
-				then
-					echo "PX4IO update failed"
-					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-				fi
 			fi
 		fi
 	fi
@@ -591,8 +567,6 @@ unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
-unset MK_MODE
-unset MKBLCTRL_ARG
 unset OUTPUT_MODE
 unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
@@ -1,32 +1,40 @@
 # Motor 1
-M: 2
+M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
 # Motor 2
-M: 2
+M: 3
 S: 0 2  +4000  +4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
 # Motor 3
-M: 2
+M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
 # Motor 4
-M: 2
+M: 3
 S: 0 2  +4000  +4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
 # Motor 5
-M: 2
+M: 3
 S: 0 0  -4000  -4000  0   -4000  +4000
 S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
 # Motor 6
-M: 2
+M: 3
 S: 0 0  -4000  -4000  0   -4000  +4000
 S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
 # Motor 7
-M: 2
+M: 3
 S: 0 0  +4000  +4000  0   -4000  +4000
 S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
 # Motor 8
-M: 2
+M: 3
 S: 0 0  +4000  +4000  0   -4000  +4000
 S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
@@ -13,25 +13,28 @@ Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (ro
 See the README for more information on the scaler format.


-Output 0
+Output 1 - Empty
 -----------------------------------------
 Z:

-Steering mixer using roll on output 1
+Output 2 - Steering mixer using yaw
 ------------------------------------------
 M: 1
+O: 10000 10000 0 -10000 10000 5000
 S: 0 2  10000   10000     0 -10000  10000


-Output 2
+Output 3 - Left row of wheels using yaw and throttle (1s rise time)
 ------------------------------------------
 M: 2
+O: 10000 10000 0 -10000 10000 10000
 S: 0 2   -500   -500      0      0  10000
 S: 0 3  10000  10000      0 -10000  10000


-Output 3
+Output 4 - Right row of wheels using yaw and throttle (1s rise time)
 ------------------------------------------
 M: 2
+O: 10000 10000 0 -10000 10000 10000
 S: 0 2    500    500      0      0  10000
 S: 0 3  10000  10000      0 -10000  10000
@@ -13,23 +13,25 @@ Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (ya
 See the README for more information on the scaler format.


-Output 0
+Output 1: Empty
 ---------------------------------------
 Z:

-Steering mixer using roll on output 1
+Output 2: Steering mixer using yaw, with 0.5s rise time
 ---------------------------------------
 M: 1
+O: 10000 10000 0 -10000 10000 5000
 S: 0 2   10000   10000      0 -10000  10000


-Output 2
+Output 3: Empty
 ---------------------------------------
 This mixer is empty.
 Z:


-Output 3
+Output 4: Throttle with 2s rise time
 ---------------------------------------
 M: 1
+O: 10000 10000 0 -10000 10000 20000
 S: 0 3  10000  10000      0 -10000  10000
@@ -1,32 +1,40 @@
 # Motor 1
-M: 2
+M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
 # Motor 2
-M: 2
+M: 3
 S: 0 2  +4000  +4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
 # Motor 3
-M: 2
+M: 3
 S: 0 2  -4000  -4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  -4000  -4000  0   -4000  +4000
 # Motor 4
-M: 2
+M: 3
 S: 0 2  +4000  +4000  0   -4000  +4000
 S: 0 3  +4000  +4000  0   -4000  +4000
+S: 0 4  +4000  +4000  0   -4000  +4000
 # Motor 5
-M: 2
+M: 3
 S: 0 0  -4000  -4000  0   -4000  +4000
 S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
 # Motor 6
-M: 2
+M: 3
 S: 0 0  -4000  -4000  0   -4000  +4000
 S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
 # Motor 7
-M: 2
+M: 3
 S: 0 0  +4000  +4000  0   -4000  +4000
 S: 0 1  +4000  +4000  0   -4000  +4000
+S: 0 5  -4000  -4000  0   -4000  +4000
 # Motor 8
-M: 2
+M: 3
 S: 0 0  +4000  +4000  0   -4000  +4000
 S: 0 1  -4000  -4000  0   -4000  +4000
+S: 0 5  +4000  +4000  0   -4000  +4000
@@ -5,9 +5,4 @@

 echo "[i] doing standalone PX4FMU startup..."

-#
-# Start the ORB
-#
-uorb start
-
 echo "[i] startup done"
@@ -8,8 +8,6 @@ set unit_test_failure 0

 set BOARD_RC ${R}etc/init.d/rc.board

-uorb start
-
 if rgbled start -X
 then
 	led_control on -c blue
@@ -41,11 +39,6 @@ fi
 # Start a minimal system
 #

-#
-# Start the ORB (first app to start)
-#
-uorb start
-
 #
 # Load parameters
 #
@@ -91,7 +84,7 @@ then
 else
 	echo "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
-	if px4io forceupdate 14662 $io_file
+	if px4io update $io_file
 	then
 		if px4io start
 		then
@@ -17,7 +17,7 @@ exec find boards msg src platforms test \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/lib/ecl -prune -o \
    -path src/lib/matrix -prune -o \
-    -path src/lib/systemlib/uthash -prune -o \
+    -path src/lib/parameters/uthash -prune -o \
    -path src/examples/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
@@ -83,9 +83,11 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -35,7 +35,6 @@ px4_add_board(
 		lights/rgbled
 		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -106,10 +105,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -1,21 +1,4 @@
-
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.ark.can-flow\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
@@ -1,22 +1,4 @@
-
-
-# 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 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.ark.can-flow\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
@@ -1,5 +1,5 @@
 {
-    "board_id": 11,
+    "board_id": 80,
    "magic": "PX4FWv1",
    "description": "Firmware for the ARK flow board",
    "image": "",
@@ -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 0)
+set(uavcanblid_hw_version_minor 80)
+set(uavcanblid_name "\"org.ark.can-flow\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -110,9 +110,11 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		#fake_gps
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -108,9 +108,11 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		#fake_gps
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -34,7 +34,6 @@ px4_add_board(
 		#lights/rgbled
 		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -103,9 +102,11 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -79,9 +79,11 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -64,6 +64,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -53,7 +53,6 @@
 #include <fcntl.h>
 #include <mqueue.h>

-#include <drivers/drv_rc_input.h>
 #include <drivers/drv_board_led.h>

 #include <systemlib/err.h>
@@ -96,7 +95,7 @@ Syslink::Syslink() :
 	_fd(0),
 	_queue(2, sizeof(syslink_message_t)),
 	_writebuffer(16, sizeof(crtp_message_t)),
-	_rssi(RC_INPUT_RSSI_MAX),
+	_rssi(input_rc_s::RSSI_MAX),
 	_bstate(BAT_DISCHARGING)
 {
 	px4_sem_init(&memory_sem, 0, 0);
@@ -61,6 +61,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -1,21 +1,4 @@
-
-# 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 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
@@ -0,0 +1,53 @@
+
+
+# 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 1)
+set(uavcanblid_hw_version_minor 0)
+set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+add_definitions(-DUSE_S_RGB_LED_DMA)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL can-gps-v1
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/ms5611
+		bootloaders
+		gps
+		lights/neopixel
+		magnetometer/rm3100
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		load_mon
+	SYSTEMCMDS
+		i2cdetect
+		led_control
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		ver
+		work_queue
+)
@@ -1,22 +1,5 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

-
-# 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 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
 add_definitions(-DUSE_S_RGB_LED_DMA)

 px4_add_board(
@@ -49,6 +32,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
@@ -61,6 +61,7 @@ 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
@@ -139,6 +139,7 @@ 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_JTAG_SW_ENABLE=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART1=y
@@ -50,8 +50,9 @@

 MEMORY
 {
-    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    flash (rx)   		: ORIGIN = 0x08000000, LENGTH = 32K
+    shared_sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 256
+    sram (rwx)   		: ORIGIN = 0x20000100, LENGTH = 192K - 256
 }

 OUTPUT_ARCH(arm)
@@ -101,6 +102,10 @@ SECTIONS

 	_eronly = ABSOLUTE(.);

+	.app_bl_shared : {
+		_sapp_bl_shared = ABSOLUTE(.);
+	} > shared_sram
+
 	.data : {
 		_sdata = ABSOLUTE(.);
 		*(.data .data.*)
@@ -50,8 +50,9 @@

 MEMORY
 {
-    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    flash (rx)  		: ORIGIN = 0x08010000, LENGTH = 448K
+    shared_sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 256
+    sram (rwx)   		: ORIGIN = 0x20000100, LENGTH =  192K - 256
 }

 OUTPUT_ARCH(arm)
@@ -114,6 +115,10 @@ SECTIONS

 	_eronly = ABSOLUTE(.);

+	.app_bl_shared : {
+		_sapp_bl_shared = ABSOLUTE(.);
+	} > shared_sram
+
 	.data : {
 		_sdata = ABSOLUTE(.);
 		*(.data .data.*)
@@ -34,10 +34,8 @@
 if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")

 	add_library(drivers_board
-		boot_config.h
 		boot.c
 		led.cpp
-		led.h
 	)

 	target_link_libraries(drivers_board
@@ -66,6 +66,7 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -88,6 +89,7 @@
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	watchdog_init();
 	// Configure CAN interface
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -0,0 +1,18 @@
+# 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 233)
+set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+	-DSUPPORT_ALT_CAN_BOOTLOADER
+
+)
@@ -39,7 +39,6 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -110,10 +109,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -30,7 +30,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/bosch/bmi088
@@ -42,7 +42,6 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -113,10 +112,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -30,7 +30,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/invensense/icm20602
@@ -41,7 +41,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -114,10 +113,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -30,7 +30,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/invensense/icm20602
@@ -41,7 +41,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -114,10 +113,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -43,4 +43,3 @@ param set-default UAVCAN_ENABLE 2


 set LOGGER_BUF 64
-set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -46,6 +46,7 @@

 /* PX4IO connection configuration */
 #define BOARD_USES_PX4IO_VERSION       2
+#define BOARD_PX4IO_FW_SEARCH_PATHS {"/etc/extras/cubepilot_io-v2_default.bin","/fs/microsd/cubepilot_io-v2_default.bin", nullptr }
 #define PX4IO_SERIAL_DEVICE            "/dev/ttyS3"
 #define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
 #define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
@@ -29,7 +29,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/invensense/icm20602
@@ -40,7 +40,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -113,10 +112,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -29,7 +29,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/invensense/icm20602
@@ -40,7 +40,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -113,10 +112,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -23,4 +23,3 @@ param set-default UAVCAN_ENABLE 2


 set LOGGER_BUF 64
-set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -46,6 +46,7 @@

 /* PX4IO connection configuration */
 #define BOARD_USES_PX4IO_VERSION       2
+#define BOARD_PX4IO_FW_SEARCH_PATHS {"/etc/extras/cubepilot_io-v2_default.bin","/fs/microsd/cubepilot_io-v2_default.bin", nullptr }
 #define PX4IO_SERIAL_DEVICE            "/dev/ttyS3"
 #define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
 #define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
@@ -79,10 +79,12 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -1,21 +1,4 @@
-
-# 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 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.holybro.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
@@ -1,22 +1,4 @@
-
-
-# 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 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.holybro.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
@@ -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 0)
+set(uavcanblid_hw_version_minor 79)
+set(uavcanblid_name "\"org.holybro.can-gps-v1\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -29,7 +29,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/bosch/bmi088
@@ -39,7 +39,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -111,10 +110,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -72,6 +72,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -28,7 +28,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
+		imu/analog_devices/adis16448
 		imu/adis16477
 		imu/adis16497
 		imu/bosch/bmi055
@@ -41,7 +41,6 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -118,10 +117,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -88,9 +88,11 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		#fake_gps
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -87,9 +87,11 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
+		#fake_gps
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -32,7 +32,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		#optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -105,10 +104,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -0,0 +1,127 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL ctrl-zero-f7-oem
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		TEL1:/dev/ttyS0
+		TEL2:/dev/ttyS1
+		GPS1:/dev/ttyS2
+		#RC:/dev/ttyS3
+		TEL3:/dev/ttyS4
+		#FRSKY:/dev/ttyS5
+	DRIVERS
+		adc/board_adc
+		#barometer # all available barometer drivers
+		barometer/dps310
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		#dshot
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm20602
+		imu/invensense/icm20948
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		#optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fake_gps
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 141,
+    "magic": "mRo-ctrl-zero-f7-oem",
+    "description": "Firmware for the mRo-ctrl-zero-f7-oem board",
+    "image": "",
+    "build_time": 0,
+    "summary": "mRo-ctrl-zero-f7-oem",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
+fi
+
+set LOGGER_BUF 64
+set MIXER_AUX none
+
+safety_button start
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal ICM-20602
+icm20602 -s -b 1 -R 8 start
+
+# Internal SPI bus BMI088 accel & gyro
+bmi088 -A -s -b 5 -R 8 start
+bmi088 -G -s -b 5 -R 8 start
+
+# Internal ICM-20948 (with magnetometer)
+icm20948 -s -b 1 -R 8 -M start
+
+# Interal DPS310 (barometer)
+dps310 -s -b 2 start
@@ -0,0 +1,300 @@
+/************************************************************************************
+ * board.h
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The mRo Control Zero F7 OEM board provides the following clock sources:
+ *
+ *   24 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 24 MHz crystal for HSE
+ */
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 24,000,000
+ *
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     2 <= PLLM <= 63
+ *   192 <= PLLN <= 432
+ *   192 MHz <= PLL_VCO <= 432MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * Subject to
+ *
+ *   PLLP = {2, 4, 6, 8}
+ *   SYSCLK <= 216 MHz
+ *
+ * SDMMC and RNG Clock = PLL_VCO / PLLQ
+ * Subject to
+ *   The SDMMC and the random number generator need a frequency lower than or equal
+ *   to 48 MHz to work correctly.
+ *
+ * 2 <= PLLQ <= 15
+ */
+
+/* SDMMCCLK (= USB OTG FS clock = RNGCLK) should be <= 48MHz
+ *
+ * PLL_VCO = (16,000,000 / 24) * 432 = 432 MHz
+ * SYSCLK  = 432 MHz / 2 = 216 MHz
+ * SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
+ */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(24)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(432)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
+
+#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 24) * 432)
+#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
+#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
+
+/* Configure factors for  PLLSAI clock */
+#define CONFIG_STM32F7_PLLSAI 1
+#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
+#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
+#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
+
+/* Configure Dedicated Clock Configuration Register */
+#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
+#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
+#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
+#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
+#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
+#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
+
+/* Configure factors for  PLLI2S clock */
+#define CONFIG_STM32F7_PLLI2S 1
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
+
+/* Configure Dedicated Clock Configuration Register 2 */
+#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
+#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
+#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
+#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
+#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
+#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
+#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
+#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
+#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
+#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
+#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
+#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
+#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
+
+
+/* Several prescalers allow the configuration of the two AHB buses, the
+ * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
+ * frequency of the two AHB buses is 216 MHz while the maximum frequency of
+ * the high-speed APB domains is 108 MHz. The maximum allowed frequency of
+ * the low-speed APB domain is 54 MHz.
+ */
+
+/* AHB clock (HCLK) is SYSCLK (216 MHz) */
+#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 (54 MHz) */
+#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 (108MHz) */
+#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)
+
+/* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
+ */
+
+/* Use the Falling edge of the SDIO_CLK clock to change the edge the
+ * data and commands are change on
+ */
+#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
+
+#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* FLASH wait states
+ *
+ *  --------- ---------- -----------
+ *  VDD       MAX SYSCLK WAIT STATES
+ *  --------- ---------- -----------
+ *  1.7-2.1 V   180 MHz    8
+ *  2.1-2.4 V   216 MHz    9
+ *  2.4-2.7 V   216 MHz    8
+ *  2.7-3.6 V   216 MHz    7
+ *  --------- ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 7
+
+
+/* UART/USART */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2  /* PD12 */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_2  /* PD11 */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_1    /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_1    /* PA0 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2   /* PG14 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_1    /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8 */
+
+/* USART8: has no remap
+ *
+ *      GPIO_UART8_RX                          PE0
+ *      GPIO_UART8_TX                          PE1
+ */
+
+
+/* CAN */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13 */
+
+
+/* SPI */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7 */
+
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2    /* PB10 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1   /* PB15 */
+
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1   /* PF9 */
+
+
+/* I2C */
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
+
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   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        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | SPDIFRX_CS       | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | I2C3_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        | -                | 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          |
+| Channel 8  | I2C3_TX          | I2C4_RX          | -                | -                | I2C2_TX          | -                | I2C4_TX          | -                |
+| Channel 9  | -                | SPI2_RX          | -                | -                | -                | -                | SPI2_TX          | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  | USART3_RX        | UART4_RX         | USART3_TX_1      |                  | USART2_RX        |                  |                  |
+
+
+|    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       | SAI2_B_2         |
+|            |                  |                  |   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        | SAI2_A           | SPI1_TX_2        | SAI2_B           | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | -                | USART1_RX_2      | SDMMC1_2         | 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       |
+| Channel 8  | DSFDM1_FLT0      | DSFDM1_FLT1      | DSFDM1_FLT2      | DSFDM1_FLT3      | DSFDM1_FLT0      | DSFDM1_FLT1      | DSFDM1_FLT2      | DSFDM1_FLT3      |
+| Channel 9  | JPEG_IN          | JPEG_OUT         | SPI4_TX          | JPEG_IN          | JPEG_OUT         | SPI5_RX          | -                | -                |
+| Channel 10 | SAI1_B           | SAI2_B           | SAI2_A           | -                | -                | -                | SAI1_A           | -                |
+| Channel 11 | SDMMC2           | -                | QUADSPI          | -                | -                | SDMMC2           | -                | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI1_RX_1        | USART6_RX_2      |                  | SPI1_TX_1        | SPI5_TX_1        | SPI5_RX_2        | SDMMC1_2         |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+//      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4
+//      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4
+#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4
+//      AVAILABLE                             // DMA2, Stream 4
+//      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI1 sensors RX)
+#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_1  // DMA2, Stream 1, Channel 5
+//      AVAILABLE                             // DMA2, Stream 2
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI1 sensors TX)
+#define DMAMAP_SPI5_TX    DMAMAP_SPI5_TX_1    // DMA2, Stream 4, Channel 3    (SPI5 sensors TX)
+#define DMAMAP_SPI5_RX    DMAMAP_SPI5_RX_2    // DMA2, Stream 5, Channel 3    (SPI5 sensors RX)
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
+//      AVAILABLE                             // DMA2, Stream 7, Channel 5
@@ -0,0 +1,237 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_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_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F777II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x008D
+CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="mRo"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=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_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_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_MAX_TASKS=64
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=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_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_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_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+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_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C3=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_HSECLOCK=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI5_DMA=y
+CONFIG_STM32F7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_TIM3=y
+CONFIG_STM32F7_TIM9=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,181 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2019-2020 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The 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 three 32K banks (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ */
+
+MEMORY
+{
+	FLASH_ITCM (rx) : ORIGIN = 0x00218000, LENGTH = 1952K
+	FLASH_AXIM (rx) : ORIGIN = 0x08018000, LENGTH = 1952K /* start on 4th sector (1st sector for bootloader, 2 for extra storage) */
+
+	ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+	DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+	SRAM1    (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
+	SRAM2    (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH_AXIM
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH_AXIM
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH_AXIM
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH_AXIM
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > SRAM1 AT > FLASH_AXIM
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > SRAM1
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH_AXIM
+
+	_framfuncs = LOADADDR(.ramfunc);
+}
@@ -0,0 +1,51 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	init.c
+	i2c.cpp
+	led.c
+	sdio.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,243 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * mro_ctrl-zero-f7 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* GPIOs ***********************************************************************************/
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+
+#define GPIO_nLED_RED	/* PB11 */	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_nLED_GREEN	/* PB1 */	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_nLED_BLUE	/* PB3 */	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+#define ADC1_CH(n)                  (n)
+#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+#define PX4_ADC_GPIO  \
+	/* PA2 */  ADC1_GPIO(2),  \
+	/* PA3 */  ADC1_GPIO(3),  \
+	/* PA4 */  ADC1_GPIO(4),  \
+	/* PC1 */  ADC1_GPIO(11)
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL        /* PA2 */  ADC1_CH(2)
+#define ADC_BATTERY_CURRENT_CHANNEL        /* PA3 */  ADC1_CH(3)
+#define ADC_SCALED_V5_CHANNEL              /* PA4 */  ADC1_CH(4)
+#define ADC_RC_RSSI_CHANNEL                /* PC1 */  ADC1_CH(11)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
+	 (1 << ADC_SCALED_V5_CHANNEL)             | \
+	 (1 << ADC_RC_RSSI_CHANNEL))
+
+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* CAN Silence: Silent mode control \ ESC Mux select */
+#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+
+/* PWM */
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_INPUT_TIMER_CHANNELS  8
+
+/* Power supply control and monitoring GPIOs */
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+
+#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define BOARD_NUMBER_BRICKS             1
+
+#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+
+/* Define True logic Power Control in arch agnostic form */
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER        2  /* timer 2 */
+#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
+
+#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
+
+/* USB OTG FS */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               3  /* use timer3 for the HRT */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
+
+#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
+#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
+
+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS3"
+
+#define GPIO_RSSI_IN                       /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+
+/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
+#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
+#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
+
+/* Power switch controls ******************************************************/
+#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
+
+/*
+ * Board has a separate RC_IN
+ *
+ * GPIO PPM_IN on PB0 T3CH3
+ * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
+ *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
+ */
+#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
+#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED	       (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_USB_VALID            BOARD_ADC_USB_CONNECTED
+#define BOARD_ADC_SERVO_VALID          (1)	/* never powers off the Servo rail */
+#define BOARD_ADC_BRICK_VALID          (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
+
+#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN2_TX,                     \
+		GPIO_CAN2_RX,           	  \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN2_SILENT_S0,              \
+		GPIO_nPOWER_IN_A,                 \
+		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_SAFETY_SWITCH_IN,            \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 3
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(3),
+	initI2CBusExternal(4),
+};
@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * Board-specific early startup code.  This file implements the
+ * board_app_initializ() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <px4_arch/io_timer.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_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>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
+	/* Keep Spektum on to discharge rail*/
+	VDD_3V3_SPEKTRUM_POWER_EN(false);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	VDD_3V3_SPEKTRUM_POWER_EN(last);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+	board_control_spi_sensors_power_configgpio();
+
+	/* 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 initialization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_3V3_SPEKTRUM_POWER_EN(true);
+
+	px4_platform_init();
+
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	struct timespec ts;
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#endif /* CONFIG_MMCSD */
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+	stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(led, !phy_get_led(led));
+}
@@ -0,0 +1,171 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
+	}, {GPIO::PortE, GPIO::Pin3}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
+		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer8),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file 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 <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the 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_STM32F7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -37,7 +37,6 @@ px4_add_board(
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		mkblctrl
 		#optical_flow # all available optical flow drivers
 		#osd
 		pca9685
@@ -110,10 +109,12 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -0,0 +1,9 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL ctrl-zero-h7-oem
+	LABEL bootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+)
@@ -0,0 +1,130 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL ctrl-zero-h7-oem
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		TEL1:/dev/ttyS0
+		TEL2:/dev/ttyS1
+		GPS1:/dev/ttyS2
+		#RC:/dev/ttyS3
+		TEL3:/dev/ttyS4
+		#FRSKY:/dev/ttyS5
+	DRIVERS
+		adc/board_adc
+		#barometer # all available barometer drivers
+		barometer/dps310
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm20602
+		imu/invensense/icm20948
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		rpm
+		#safety_button TODO
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 1024,
+    "magic": "mRo-ctrl-zero-h7-oem",
+    "description": "Firmware for the mRo-ctrl-zero-h7-oem board",
+    "image": "",
+    "build_time": 0,
+    "summary": "mRo-ctrl-zero-h7-oem",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+#
+# Bootloader upgrade
+#
+set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin
+if [ -f $BL_FILE ]
+then
+	if param compare SYS_BL_UPDATE 1
+	then
+		param set SYS_BL_UPDATE 0
+		param save
+		echo "BL update..."
+		bl_update $BL_FILE
+		echo "BL update done"
+		reboot
+	fi
+fi
+unset BL_FILE
+
+
+param set-default BAT_V_DIV 10.1
+param set-default BAT1_V_DIV 10.1
+
+param set-default BAT_A_PER_V 24
+param set-default BAT1_A_PER_V 24
+
+# Multi-EKF
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 3
+param set-default SENS_MAG_MODE 0
+
+param set-default UAVCAN_ENABLE 2
+
+
+set LOGGER_BUF 64
+
+safety_button start
--- a/Show More
+++ b/Show More