Updated default parameter value

Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>

Tools/astyle/files_to_check_code_style.sh

@@ -30,4 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
+    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/msg/templates/uorb/msg.cpp.em

@@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
+@{
+queue_length = 1
+for constant in spec.constants:
+	if constant.name == 'ORB_QUEUE_LENGTH':
+		queue_length = constant.val
+}@
+
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

boards/ark/can-flow/firmware.prototype

@@ -4,7 +4,7 @@
     "description": "Firmware for the ARK flow board",
     "image": "",
     "build_time": 0,
-    "summary": "ARFFLOW",
+    "summary": "ARKFLOW",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2080768,

boards/modalai/fc-v2/default.px4board

@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/voxl2-slpi/default.px4board

@@ -4,13 +4,12 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

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

@@ -44,7 +44,6 @@ add_library(drivers_board
     )
 
 # Add custom drivers for SLPI
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)

boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt

@@ -1,48 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__imu__invensense__icm42688p
-	MAIN icm42688p
-	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
-	SRCS
-		icm42688p_main.cpp
-		ICM42688P.cpp
-		ICM42688P.hpp
-		InvenSense_ICM42688P_registers.hpp
-	DEPENDS
-		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
-		drivers__device
-	)

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp

@@ -1,991 +0,0 @@
-/****************************************************************************
- *
- *   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 "ICM42688P.hpp"
-
-bool hitl_mode = false;
-
-using namespace time_literals;
-
-static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
-{
-	return (msb << 8u) | lsb;
-}
-
-ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
-	// SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
-	// I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	// _drdy_gpio(drdy_gpio)
-	SPI(config),
-	I2CSPIDriver(config),
-	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
-{
-	if (config.drdy_gpio != 0) {
-		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
-	}
-
-	if (!hitl_mode) {
-		// _px4_accel = std::make_shared<PX4Accelerometer>(get_device_id(), rotation);
-		// _px4_gyro = std::make_shared<PX4Gyroscope>(get_device_id(), rotation);
-		ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
-		// _imu_server_pub.advertise();
-
-	} else {
-		ConfigureSampleRate(0);
-	}
-}
-
-ICM42688P::~ICM42688P()
-{
-	perf_free(_bad_register_perf);
-	perf_free(_bad_transfer_perf);
-	perf_free(_fifo_empty_perf);
-	perf_free(_fifo_overflow_perf);
-	perf_free(_fifo_reset_perf);
-	perf_free(_drdy_missed_perf);
-
-	// if (!hitl_mode){
-	//  		_imu_server_pub.unadvertise();
-	// }
-}
-
-int ICM42688P::init()
-{
-	int ret = SPI::init();
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("SPI::init failed (%i)", ret);
-		return ret;
-	}
-
-	return Reset() ? 0 : -1;
-}
-
-bool ICM42688P::Reset()
-{
-	_state = STATE::RESET;
-	DataReadyInterruptDisable();
-	ScheduleClear();
-	ScheduleNow();
-	return true;
-}
-
-void ICM42688P::exit_and_cleanup()
-{
-	DataReadyInterruptDisable();
-	I2CSPIDriverBase::exit_and_cleanup();
-}
-
-void ICM42688P::print_status()
-{
-	I2CSPIDriverBase::print_status();
-
-	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
-
-	perf_print_counter(_bad_register_perf);
-	perf_print_counter(_bad_transfer_perf);
-	perf_print_counter(_fifo_empty_perf);
-	perf_print_counter(_fifo_overflow_perf);
-	perf_print_counter(_fifo_reset_perf);
-	perf_print_counter(_drdy_missed_perf);
-}
-
-int ICM42688P::probe()
-{
-	for (int i = 0; i < 3; i++) {
-		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
-
-		if (whoami == WHOAMI) {
-			PX4_INFO("ICM42688P::probe successful!");
-			return PX4_OK;
-
-		} else {
-			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-
-			uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
-			int bank = reg_bank_sel >> 4;
-
-			if (bank >= 1 && bank <= 3) {
-				DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
-				// force bank selection and retry
-				SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true);
-			}
-		}
-	}
-
-	return PX4_ERROR;
-}
-
-void ICM42688P::RunImpl()
-{
-	PX4_INFO(">>> ICM42688P this: %p", this);
-
-	const hrt_abstime now = hrt_absolute_time();
-
-	switch (_state) {
-	case STATE::RESET:
-		// DEVICE_CONFIG: Software reset configuration
-		RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
-		_reset_timestamp = now;
-		_failure_count = 0;
-		_state = STATE::WAIT_FOR_RESET;
-		ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective
-		break;
-
-	case STATE::WAIT_FOR_RESET:
-		if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
-		    && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
-		    && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
-
-			_state = STATE::CONFIGURE;
-			ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
-
-		} else {
-			// RESET not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Reset failed, retrying");
-				_state = STATE::RESET;
-				ScheduleDelayed(100_ms);
-
-			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
-			}
-		}
-
-		break;
-
-	case STATE::CONFIGURE:
-
-		if (Configure()) {
-
-			// Wakeup accel and gyro after configuring registers
-			ScheduleDelayed(1_ms); // add a delay here to be safe
-			RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
-			ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
-
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				PX4_ERR("ICM42688P::RunImpl interrupt configuration failed");
-
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
-
-		} else {
-
-			PX4_ERR("ICM42688P::RunImpl configuration failed");
-
-			// CONFIGURE not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Configure failed, resetting");
-				_state = STATE::RESET;
-
-			} else {
-				PX4_DEBUG("Configure failed, retrying");
-			}
-
-			ScheduleDelayed(100_ms);
-		}
-
-		break;
-
-	case STATE::FIFO_READ: {
-#ifndef __PX4_QURT
-			uint32_t samples = 0;
-
-			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
-				if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
-					perf_count(_drdy_missed_perf);
-
-				} else {
-					samples = _fifo_gyro_samples;
-				}
-
-				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
-			}
-
-			if (samples == 0) {
-				// check current FIFO count
-				const uint16_t fifo_count = FIFOReadCount();
-
-				if (fifo_count >= FIFO::SIZE) {
-					FIFOReset();
-					perf_count(_fifo_overflow_perf);
-
-				} else if (fifo_count == 0) {
-					perf_count(_fifo_empty_perf);
-
-				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
-
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
-					}
-				}
-			}
-
-			bool success = false;
-
-			if (samples >= 1) {
-				if (FIFORead(now, samples)) {
-					success = true;
-
-					if (_failure_count > 0) {
-						_failure_count--;
-					}
-				}
-			}
-
-			if (!success) {
-				_failure_count++;
-
-				// full reset if things are failing consistently
-				if (_failure_count > 10) {
-					Reset();
-					return;
-				}
-			}
-
-			// check configuration registers periodically or immediately following any failure
-			if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
-			    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
-			    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
-			   ) {
-				_last_config_check_timestamp = now;
-				_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
-				_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
-				_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
-
-			} else {
-				// register check failed, force reset
-				perf_count(_bad_register_perf);
-				Reset();
-			}
-
-#endif
-		}
-
-		break;
-	}
-}
-
-void ICM42688P::ConfigureSampleRate(int sample_rate)
-{
-	if (sample_rate == 0) {
-		sample_rate = 800; // default to 800 Hz
-	}
-
-	// round down to nearest FIFO sample dt
-	const float min_interval = FIFO_SAMPLE_DT;
-	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
-
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
-
-	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
-
-	ConfigureFIFOWatermark(_fifo_gyro_samples);
-}
-
-void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
-{
-	// FIFO watermark threshold in number of bytes
-	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
-
-	for (auto &r : _register_bank0_cfg) {
-		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
-			// FIFO_WM[7:0]  FIFO_CONFIG2
-			r.set_bits = fifo_watermark_threshold & 0xFF;
-
-		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
-			// FIFO_WM[11:8] FIFO_CONFIG3
-			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
-		}
-	}
-}
-
-void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
-{
-	if (bank != _last_register_bank || force) {
-		// select BANK_0
-		uint8_t cmd_bank_sel[2] {};
-		cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
-		cmd_bank_sel[1] = bank;
-		transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
-
-		_last_register_bank = bank;
-	}
-}
-
-bool ICM42688P::Configure()
-{
-	// first set and clear all configured register bits
-	for (const auto &reg_cfg : _register_bank0_cfg) {
-		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
-	}
-
-	for (const auto &reg_cfg : _register_bank1_cfg) {
-		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
-	}
-
-	for (const auto &reg_cfg : _register_bank2_cfg) {
-		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
-	}
-
-	// now check that all are configured
-	bool success = true;
-
-	for (const auto &reg_cfg : _register_bank0_cfg) {
-		if (!RegisterCheck(reg_cfg)) {
-			success = false;
-		}
-	}
-
-	for (const auto &reg_cfg : _register_bank1_cfg) {
-		if (!RegisterCheck(reg_cfg)) {
-			success = false;
-		}
-	}
-
-	for (const auto &reg_cfg : _register_bank2_cfg) {
-		if (!RegisterCheck(reg_cfg)) {
-			success = false;
-		}
-	}
-
-	// // 20-bits data format used
-	// //  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
-	if (!hitl_mode) {
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_gyro.set_range(math::radians(2000.f));
-		_px4_gyro.set_scale(math::radians(1.f / 131.f));
-	}
-
-	return success;
-}
-
-static bool interrupt_debug = false;
-static uint32_t interrupt_debug_count = 0;
-static const uint32_t interrupt_debug_trigger = 800;
-static hrt_abstime last_interrupt_time = 0;
-static hrt_abstime avg_interrupt_delta = 0;
-static hrt_abstime max_interrupt_delta = 0;
-static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000;
-static hrt_abstime cumulative_interrupt_delta = 0;
-
-int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
-{
-	hrt_abstime current_interrupt_time = hrt_absolute_time();
-
-	if (interrupt_debug) {
-		if (last_interrupt_time) {
-			hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time;
-
-			if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; }
-
-			if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; }
-
-			cumulative_interrupt_delta += interrupt_delta_time;
-		}
-
-		last_interrupt_time = current_interrupt_time;
-
-		interrupt_debug_count++;
-
-		if (interrupt_debug_count == interrupt_debug_trigger) {
-			avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger;
-			PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta,
-				 min_interrupt_delta, avg_interrupt_delta);
-			interrupt_debug_count = 0;
-			cumulative_interrupt_delta = 0;
-		}
-	}
-
-	static_cast<ICM42688P *>(arg)->DataReady();
-
-	return 0;
-}
-
-void ICM42688P::DataReady()
-{
-#ifndef __PX4_QURT
-	uint32_t expected = 0;
-
-	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
-		ScheduleNow();
-	}
-
-#else
-	uint16_t fifo_byte_count = FIFOReadCount();
-
-	FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA));
-#endif
-}
-
-bool ICM42688P::DataReadyInterruptConfigure()
-{
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
-}
-
-bool ICM42688P::DataReadyInterruptDisable()
-{
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
-}
-
-template <typename T>
-bool ICM42688P::RegisterCheck(const T &reg_cfg)
-{
-	bool success = true;
-
-	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
-
-	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
-		success = false;
-	}
-
-	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
-		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
-		success = false;
-	}
-
-	return success;
-}
-
-template <typename T>
-uint8_t ICM42688P::RegisterRead(T reg)
-{
-	uint8_t cmd[2] {};
-	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
-	SelectRegisterBank(reg);
-	transfer(cmd, cmd, sizeof(cmd));
-	return cmd[1];
-}
-
-template <typename T>
-void ICM42688P::RegisterWrite(T reg, uint8_t value)
-{
-	uint8_t cmd[2] { (uint8_t)reg, value };
-	SelectRegisterBank(reg);
-	transfer(cmd, cmd, sizeof(cmd));
-}
-
-template <typename T>
-void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
-{
-	const uint8_t orig_val = RegisterRead(reg);
-
-	uint8_t val = (orig_val & ~clearbits) | setbits;
-
-	if (orig_val != val) {
-		RegisterWrite(reg, val);
-	}
-}
-
-uint16_t ICM42688P::FIFOReadCount()
-{
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return 0;
-	}
-
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
-}
-
-// static uint32_t debug_decimator = 0;
-// static hrt_abstime last_sample_time = 0;
-// static bool imu_debug = true;
-
-bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
-{
-	FIFOTransferBuffer buffer{};
-	const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4;
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size);
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return false;
-	}
-
-	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
-
-	if (fifo_count_bytes >= FIFO::SIZE) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
-		perf_count(_fifo_empty_perf);
-		return false;
-	}
-
-	// check FIFO header in every sample
-	uint16_t valid_samples = 0;
-
-	// for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-	for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) {
-		bool valid = true;
-
-		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
-
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
-			// Packet does not contain a new and valid extended 20-bit data
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
-			// accel ODR changed
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
-			// gyro ODR changed
-			valid = false;
-		}
-
-		if (valid) {
-			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
-		}
-	}
-
-	// if (imu_debug) {
-	// 	debug_decimator++;
-	// 	if (debug_decimator == 801) {
-	// 		debug_decimator = 0;
-	// 		PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time);
-	// 	}
-	// 	last_sample_time = timestamp_sample;
-	// }
-
-	if (valid_samples > 0) {
-		if (ProcessTemperature(buffer.f, valid_samples)) {
-			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
-			ProcessIMU(timestamp_sample, buffer.f, valid_samples);
-			return true;
-		}
-	}
-
-	return false;
-}
-
-void ICM42688P::FIFOReset()
-{
-	perf_count(_fifo_reset_perf);
-
-	// SIGNAL_PATH_RESET: FIFO flush
-	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
-
-	// reset while FIFO is disabled
-	_drdy_fifo_read_samples.store(0);
-}
-
-static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
-{
-	// 0xXXXAABBC
-	uint32_t high   = ((a << 12) & 0x000FF000);
-	uint32_t low    = ((b << 4)  & 0x00000FF0);
-	uint32_t lowest = (c         & 0x0000000F);
-
-	uint32_t x = high | low | lowest;
-
-	if (a & Bit7) {
-		// sign extend
-		x |= 0xFFF00000u;
-	}
-
-	return static_cast<int32_t>(x);
-}
-
-void ICM42688P::ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0;
-	float gyro_x = 0.0,  gyro_y = 0.0,  gyro_z = 0.0;
-
-	for (int i = 0; i < samples; i++) {
-		_imu_server_decimator++;
-
-		if (_imu_server_decimator == 8) {
-			_imu_server_decimator = 0;
-			// 20 bit hires mode
-
-			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-			// Accel data is 18 bit
-			int32_t temp_accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
-								fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
-			int32_t temp_accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
-								fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
-			int32_t temp_accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
-								fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
-
-			// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
-			int32_t temp_gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0,
-							       fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
-			int32_t temp_gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0,
-							       fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
-			int32_t temp_gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0,
-							       fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
-
-			// accel samples invalid if -524288
-			if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) {
-				// shift accel by 2 (2 least significant bits are always 0)
-				accel_x = (float) temp_accel_x / 4.f;
-				accel_y = (float) temp_accel_y / 4.f;
-				accel_z = (float) temp_accel_z / 4.f;
-
-				// shift gyro by 1 (least significant bit is always 0)
-				gyro_x = (float) temp_gyro_x / 2.f;
-				gyro_y = (float) temp_gyro_y / 2.f;
-				gyro_z = (float) temp_gyro_z / 2.f;
-
-				// correct frame for publication
-				// sensor's frame is +x forward, +y left, +z up
-				// flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel_y = -accel_y;
-				accel_z = -accel_z;
-				gyro_y  = -gyro_y;
-				gyro_z  = -gyro_z;
-
-				// Scale everything appropriately
-				float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f);
-				accel_x *= accel_scale_factor;
-				accel_y *= accel_scale_factor;
-				accel_z *= accel_scale_factor;
-
-				float gyro_scale_factor = math::radians(1.f / 131.f);
-				gyro_x *= gyro_scale_factor;
-				gyro_y *= gyro_scale_factor;
-				gyro_z *= gyro_scale_factor;
-
-				// Store the data in our array
-				_imu_server_data.accel_x[_imu_server_index] = accel_x;
-				_imu_server_data.accel_y[_imu_server_index] = accel_y;
-				_imu_server_data.accel_z[_imu_server_index] = accel_z;
-				_imu_server_data.gyro_x[_imu_server_index]  = gyro_x;
-				_imu_server_data.gyro_y[_imu_server_index]  = gyro_y;
-				_imu_server_data.gyro_z[_imu_server_index]  = gyro_z;
-				_imu_server_data.ts[_imu_server_index]      = timestamp_sample - (125 * (samples - 1 - i));
-				_imu_server_index++;
-
-				// If array is full, publish the data
-				if (_imu_server_index == 10) {
-					_imu_server_index = 0;
-					_imu_server_data.timestamp = hrt_absolute_time();
-					_imu_server_data.temperature = 0; // Not used right now
-					_imu_server_pub.publish(_imu_server_data);
-				}
-			}
-		}
-	}
-}
-
-void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
-
-	// 18-bits of accelerometer data
-	bool scale_20bit = false;
-
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-		// Accel data is 18 bit ()
-		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
-						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
-		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
-						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
-		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
-						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
-
-		// sample invalid if -524288
-		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
-			// check if any values are going to exceed int16 limits
-			static constexpr int16_t max_accel = INT16_MAX;
-			static constexpr int16_t min_accel = INT16_MIN;
-
-			if (accel_x >= max_accel || accel_x <= min_accel) {
-				scale_20bit = true;
-			}
-
-			if (accel_y >= max_accel || accel_y <= min_accel) {
-				scale_20bit = true;
-			}
-
-			if (accel_z >= max_accel || accel_z <= min_accel) {
-				scale_20bit = true;
-			}
-
-			// shift by 2 (2 least significant bits are always 0)
-			accel.x[accel.samples] = accel_x / 4;
-			accel.y[accel.samples] = accel_y / 4;
-			accel.z[accel.samples] = accel_z / 4;
-			accel.samples++;
-		}
-	}
-
-	if (!scale_20bit) {
-		// if highres enabled accel data is always 8192 LSB/g
-		if (!hitl_mode) {
-			_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		}
-
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			// 20 bit hires mode
-			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-			// Accel data is 18 bit ()
-			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
-
-			accel.x[i] = accel_x;
-			accel.y[i] = accel_y;
-			accel.z[i] = accel_z;
-		}
-
-		if (!hitl_mode) {
-			_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		}
-	}
-
-	// correct frame for publication
-	for (int i = 0; i < accel.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[i] = accel.x[i];
-		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
-		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
-	}
-
-	if (!hitl_mode) {
-		_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-	}
-
-	if (accel.samples > 0) {
-		if (!hitl_mode) {
-			_px4_accel.updateFIFO(accel);
-		}
-	}
-}
-
-void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = 0;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	// 20-bits of gyroscope data
-	bool scale_20bit = false;
-
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
-		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
-		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
-		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
-
-		// check if any values are going to exceed int16 limits
-		static constexpr int16_t max_gyro = INT16_MAX;
-		static constexpr int16_t min_gyro = INT16_MIN;
-
-		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		gyro.x[gyro.samples] = gyro_x / 2;
-		gyro.y[gyro.samples] = gyro_y / 2;
-		gyro.z[gyro.samples] = gyro_z / 2;
-		gyro.samples++;
-	}
-
-	if (!scale_20bit) {
-		// if highres enabled gyro data is always 131 LSB/dps
-		if (!hitl_mode) {
-			_px4_gyro.set_scale(math::radians(1.f / 131.f));
-		}
-
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-		}
-
-		if (!hitl_mode) {
-			_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
-		}
-	}
-
-	// correct frame for publication
-	for (int i = 0; i < gyro.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro.x[i];
-		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
-		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
-	}
-
-	if (!hitl_mode) {
-		_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-					  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-	}
-
-	if (gyro.samples > 0) {
-		if (!hitl_mode) {
-			_px4_gyro.updateFIFO(gyro);
-		}
-	}
-}
-
-bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
-{
-	int16_t temperature[FIFO_MAX_SAMPLES];
-	float temperature_sum{0};
-
-	int valid_samples = 0;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
-
-		// sample invalid if -32768
-		if (t != -32768) {
-			temperature_sum += t;
-			temperature[valid_samples] = t;
-			valid_samples++;
-		}
-	}
-
-	if (valid_samples > 0) {
-		const float temperature_avg = temperature_sum / valid_samples;
-
-		for (int i = 0; i < valid_samples; i++) {
-			// temperature changing wildly is an indication of a transfer error
-			if (fabsf(temperature[i] - temperature_avg) > 1000) {
-				perf_count(_bad_transfer_perf);
-				return false;
-			}
-		}
-
-		// use average temperature reading
-		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-		if (PX4_ISFINITE(TEMP_degC)) {
-			if (!hitl_mode) {
-				_px4_accel.set_temperature(TEMP_degC);
-				_px4_gyro.set_temperature(TEMP_degC);
-				return true;
-			}
-
-		} else {
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	return false;
-}

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp

@@ -1,235 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file ICM42688P.hpp
- *
- * Driver for the Invensense ICM42688P connected via SPI.
- *
- */
-
-#pragma once
-
-#include "InvenSense_ICM42688P_registers.hpp"
-
-#include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <lib/geo/geo.h>
-#include <lib/perf/perf_counter.h>
-#include <px4_platform_common/atomic.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <uORB/topics/imu_server.h>
-#include <uORB/topics/sensor_accel_fifo.h>
-#include <uORB/topics/sensor_gyro_fifo.h>
-#include <memory>
-
-using namespace InvenSense_ICM42688P;
-
-extern bool hitl_mode;
-
-class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
-{
-public:
-	// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
-	// 	  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
-	ICM42688P(const I2CSPIDriverConfig &config);
-	~ICM42688P() override;
-
-	// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-	// 				     int runtime_instance);
-	static void print_usage();
-
-	void RunImpl();
-
-	int init() override;
-	void print_status() override;
-
-private:
-	void exit_and_cleanup() override;
-
-	// Sensor Configuration
-	static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
-	static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
-
-	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	// static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-	static constexpr uint32_t FIFO_MAX_SAMPLES{10};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)),
-		      "Invalid FIFOTransferBuffer size");
-
-	struct register_bank0_config_t {
-		Register::BANK_0 reg;
-		uint8_t set_bits{0};
-		uint8_t clear_bits{0};
-	};
-
-	struct register_bank1_config_t {
-		Register::BANK_1 reg;
-		uint8_t set_bits{0};
-		uint8_t clear_bits{0};
-	};
-
-	struct register_bank2_config_t {
-		Register::BANK_2 reg;
-		uint8_t set_bits{0};
-		uint8_t clear_bits{0};
-	};
-
-	int probe() override;
-
-	bool Reset();
-
-	bool Configure();
-	void ConfigureSampleRate(int sample_rate);
-	void ConfigureFIFOWatermark(uint8_t samples);
-
-	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
-	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
-	void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
-	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
-
-	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
-	void DataReady();
-	bool DataReadyInterruptConfigure();
-	bool DataReadyInterruptDisable();
-
-	template <typename T> bool RegisterCheck(const T &reg_cfg);
-	template <typename T> uint8_t RegisterRead(T reg);
-	template <typename T> void RegisterWrite(T reg, uint8_t value);
-	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
-	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
-	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
-
-	uint16_t FIFOReadCount();
-	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
-	void FIFOReset();
-
-	void ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
-
-	const spi_drdy_gpio_t _drdy_gpio;
-
-	// std::shared_ptr<PX4Accelerometer> _px4_accel;
-	// std::shared_ptr<PX4Gyroscope> _px4_gyro;
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
-
-	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
-	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
-	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
-	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
-	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
-	perf_counter_t _drdy_missed_perf{nullptr};
-
-	hrt_abstime _reset_timestamp{0};
-	hrt_abstime _last_config_check_timestamp{0};
-	hrt_abstime _temperature_update_timestamp{0};
-	int _failure_count{0};
-
-	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
-
-	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
-	bool _data_ready_interrupt_enabled{false};
-
-	enum class STATE : uint8_t {
-		RESET,
-		WAIT_FOR_RESET,
-		CONFIGURE,
-		FIFO_READ,
-	} _state{STATE::RESET};
-
-	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
-
-	uint8_t _checked_register_bank0{0};
-	static constexpr uint8_t size_register_bank0_cfg{12};
-	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
-		// Register                              | Set bits, Clear bits
-		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
-		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
-		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
-		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
-		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
-		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
-		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
-		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
-		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
-		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
-	};
-
-	uint8_t _checked_register_bank1{0};
-	static constexpr uint8_t size_register_bank1_cfg{4};
-	register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
-		// Register                              | Set bits, Clear bits
-		{ Register::BANK_1::GYRO_CONFIG_STATIC2,  0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
-		{ Register::BANK_1::GYRO_CONFIG_STATIC3,  GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
-		{ Register::BANK_1::GYRO_CONFIG_STATIC4,  GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
-		{ Register::BANK_1::GYRO_CONFIG_STATIC5,  GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
-	};
-
-	uint8_t _checked_register_bank2{0};
-	static constexpr uint8_t size_register_bank2_cfg{3};
-	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
-		// Register                              | Set bits, Clear bits
-		{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
-		{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
-		{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
-	};
-
-	uint32_t _temperature_samples{0};
-
-	// Support for the IMU server
-	uint32_t _imu_server_index{0};
-	uint32_t _imu_server_decimator{0};
-	imu_server_s _imu_server_data;
-	uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
-
-};

boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp

@@ -1,430 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file InvenSense_ICM42688P_registers.hpp
- *
- * Invensense ICM-42688-P registers.
- *
- */
-
-#pragma once
-
-#include <cstdint>
-
-namespace InvenSense_ICM42688P
-{
-// TODO: move to a central header
-static constexpr uint8_t Bit0 = (1 << 0);
-static constexpr uint8_t Bit1 = (1 << 1);
-static constexpr uint8_t Bit2 = (1 << 2);
-static constexpr uint8_t Bit3 = (1 << 3);
-static constexpr uint8_t Bit4 = (1 << 4);
-static constexpr uint8_t Bit5 = (1 << 5);
-static constexpr uint8_t Bit6 = (1 << 6);
-static constexpr uint8_t Bit7 = (1 << 7);
-
-static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
-static constexpr uint8_t DIR_READ = 0x80;
-
-static constexpr uint8_t WHOAMI = 0x47;
-
-static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
-static constexpr float TEMPERATURE_OFFSET = 25.f; // C
-
-namespace Register
-{
-
-enum class BANK_0 : uint8_t {
-	DEVICE_CONFIG      = 0x11,
-
-	INT_CONFIG         = 0x14,
-
-	FIFO_CONFIG        = 0x16,
-
-	TEMP_DATA1         = 0x1D,
-	TEMP_DATA0         = 0x1E,
-
-	INT_STATUS         = 0x2D,
-	FIFO_COUNTH        = 0x2E,
-	FIFO_COUNTL        = 0x2F,
-	FIFO_DATA          = 0x30,
-
-	SIGNAL_PATH_RESET  = 0x4B,
-	INTF_CONFIG0       = 0x4C,
-	INTF_CONFIG1       = 0x4D,
-	PWR_MGMT0          = 0x4E,
-	GYRO_CONFIG0       = 0x4F,
-	ACCEL_CONFIG0      = 0x50,
-	GYRO_CONFIG1       = 0x51,
-	GYRO_ACCEL_CONFIG0 = 0x52,
-	ACCEL_CONFIG1      = 0x53,
-
-	FIFO_CONFIG1       = 0x5F,
-	FIFO_CONFIG2       = 0x60,
-	FIFO_CONFIG3       = 0x61,
-
-	INT_CONFIG0        = 0x63,
-
-	INT_SOURCE0        = 0x65,
-
-	SELF_TEST_CONFIG   = 0x70,
-
-	WHO_AM_I           = 0x75,
-	REG_BANK_SEL       = 0x76,
-};
-
-enum class BANK_1 : uint8_t {
-	GYRO_CONFIG_STATIC2 = 0x0B,
-	GYRO_CONFIG_STATIC3 = 0x0C,
-	GYRO_CONFIG_STATIC4 = 0x0D,
-	GYRO_CONFIG_STATIC5 = 0x0E,
-	INTF_CONFIG5        = 0x7B,
-};
-enum class BANK_2 : uint8_t {
-	ACCEL_CONFIG_STATIC2 = 0x03,
-	ACCEL_CONFIG_STATIC3 = 0x04,
-	ACCEL_CONFIG_STATIC4 = 0x05,
-};
-
-};
-
-//---------------- BANK0 Register bits
-
-// DEVICE_CONFIG
-enum DEVICE_CONFIG_BIT : uint8_t {
-	SOFT_RESET_CONFIG = Bit0, //
-};
-
-// INT_CONFIG
-enum INT_CONFIG_BIT : uint8_t {
-	INT1_MODE           = Bit2,
-	INT1_DRIVE_CIRCUIT  = Bit1,
-	INT1_POLARITY       = Bit0,
-};
-
-// FIFO_CONFIG
-enum FIFO_CONFIG_BIT : uint8_t {
-	// 7:6 FIFO_MODE
-	FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
-};
-
-// INT_STATUS
-enum INT_STATUS_BIT : uint8_t {
-	RESET_DONE_INT = Bit4,
-	DATA_RDY_INT   = Bit3,
-	FIFO_THS_INT   = Bit2,
-	FIFO_FULL_INT  = Bit1,
-};
-
-// SIGNAL_PATH_RESET
-enum SIGNAL_PATH_RESET_BIT : uint8_t {
-	ABORT_AND_RESET = Bit3,
-	FIFO_FLUSH      = Bit1,
-};
-
-// PWR_MGMT0
-enum PWR_MGMT0_BIT : uint8_t {
-	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
-	ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
-};
-
-// GYRO_CONFIG0
-enum GYRO_CONFIG0_BIT : uint8_t {
-	// 7:5 GYRO_FS_SEL
-	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
-	GYRO_FS_SEL_1000_DPS = Bit5,
-	GYRO_FS_SEL_500_DPS  = Bit6,
-	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
-	GYRO_FS_SEL_125_DPS  = Bit7,
-
-
-	// 3:0 GYRO_ODR
-	//  0001: 32kHz
-	GYRO_ODR_32KHZ_SET   = Bit0,
-	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	GYRO_ODR_16KHZ_SET   = Bit1,
-	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
-	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
-	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
-};
-
-// ACCEL_CONFIG0
-enum ACCEL_CONFIG0_BIT : uint8_t {
-	// 7:5 ACCEL_FS_SEL
-	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
-	ACCEL_FS_SEL_8G  = Bit5,
-	ACCEL_FS_SEL_4G  = Bit6,
-	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
-
-
-	// 3:0 ACCEL_ODR
-	//  0001: 32kHz
-	ACCEL_ODR_32KHZ_SET   = Bit0,
-	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	ACCEL_ODR_16KHZ_SET   = Bit1,
-	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
-	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
-	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
-};
-
-// GYRO_CONFIG1
-enum GYRO_CONFIG1_BIT : uint8_t {
-	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
-};
-
-// GYRO_ACCEL_CONFIG0
-enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
-	// 7:4 ACCEL_UI_FILT_BW
-	ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
-
-	// 3:0 GYRO_UI_FILT_BW
-	GYRO_UI_FILT_BW  = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
-};
-
-// ACCEL_CONFIG1
-enum ACCEL_CONFIG1_BIT : uint8_t {
-	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
-};
-
-// FIFO_CONFIG1
-enum FIFO_CONFIG1_BIT : uint8_t {
-	FIFO_RESUME_PARTIAL_RD = Bit6,
-	FIFO_WM_GT_TH          = Bit5,
-	FIFO_HIRES_EN          = Bit4,
-	FIFO_TEMP_EN           = Bit2,
-	FIFO_GYRO_EN           = Bit1,
-	FIFO_ACCEL_EN          = Bit0,
-};
-
-// INT_CONFIG0
-enum INT_CONFIG0_BIT : uint8_t {
-	// 3:2 FIFO_THS_INT_CLEAR
-	CLEAR_ON_FIFO_READ = Bit3,
-};
-
-// INT_SOURCE0
-enum INT_SOURCE0_BIT : uint8_t {
-	UI_FSYNC_INT1_EN   = Bit6,
-	PLL_RDY_INT1_EN    = Bit5,
-	RESET_DONE_INT1_EN = Bit4,
-	UI_DRDY_INT1_EN    = Bit3,
-	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
-	FIFO_FULL_INT1_EN  = Bit1,
-	UI_AGC_RDY_INT1_EN = Bit0,
-};
-
-// REG_BANK_SEL
-enum REG_BANK_SEL_BIT : uint8_t {
-	USER_BANK_0 = 0,           // 0: Select USER BANK 0.
-	USER_BANK_1 = Bit0,        // 1: Select USER BANK 1.
-	USER_BANK_2 = Bit1,        // 2: Select USER BANK 2.
-	USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
-};
-
-
-//---------------- BANK1 Register bits
-
-// GYRO_CONFIG_STATIC2
-enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
-	GYRO_AAF_DIS = Bit1,
-	GYRO_NF_DIS  = Bit0,
-};
-
-// GYRO_CONFIG_STATIC3
-enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
-
-	// 585 Hz
-	GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
-	GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
-
-	// 213 Hz
-	// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
-	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
-
-	// 126 Hz
-	//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
-	//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
-
-	// 42 Hz
-	// GYRO_AAF_DELT_SET = Bit0, //1
-	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
-
-};
-
-// GYRO_CONFIG_STATIC4
-enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
-
-	// 585 Hz
-	GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
-	GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
-
-	// 213 Hz
-	// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
-	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
-
-	// 126 Hz
-	//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
-	//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
-
-	// 42 Hz
-	// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
-	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
-};
-
-// GYRO_CONFIG_STATIC5
-enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
-
-	// 585 Hz
-	GYRO_AAF_DELTSQR_HIGH_SET = 0,
-	GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
-	GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
-	GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
-
-	// 213 Hz
-	// GYRO_AAF_DELTSQR_HIGH_SET = 0,
-	// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
-	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
-	// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
-
-	// 126 Hz
-	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
-	// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
-
-	// 42 Hz
-	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
-	// GYRO_AAF_BITSHIFT_CLEAR = 0,
-
-
-};
-
-
-//---------------- BANK2 Register bits
-
-// ACCEL_CONFIG_STATIC2
-enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
-	ACCEL_AAF_DIS  = Bit0,
-	ACCEL_AAF_DELT = Bit3 | Bit1,
-
-	// 213 Hz
-	ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
-	ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
-
-	// 42 Hz
-	// ACCEL_AAF_DELT_SET = Bit1, //1
-	// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
-};
-
-// ACCEL_CONFIG_STATIC3
-enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
-	ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
-	// 213 Hz
-	ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
-	ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
-
-	// 42 Hz
-	// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
-	// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
-
-};
-
-// ACCEL_CONFIG_STATIC4
-enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
-	ACCEL_AAF_BITSHIFT     = Bit7 | Bit5,
-	ACCEL_AAF_DELTSQR_HIGH = 0,
-	// 213 Hz
-	ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
-	ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
-
-	// 42 Hz
-	// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
-	// ACCEL_AAF_BITSHIFT_CLEAR = 0,
-
-	ACCEL_AAF_DELTSQR_HIGH_SET = 0,
-	ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
-};
-
-
-namespace FIFO
-{
-static constexpr size_t SIZE = 2048;
-
-// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
-
-// Packet 4
-struct DATA {
-	uint8_t FIFO_Header;
-	uint8_t ACCEL_DATA_X1; // Accel X [19:12]
-	uint8_t ACCEL_DATA_X0; // Accel X [11:4]
-	uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
-	uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
-	uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
-	uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
-	uint8_t GYRO_DATA_X1;  // Gyro X [19:12]
-	uint8_t GYRO_DATA_X0;  // Gyro X [11:4]
-	uint8_t GYRO_DATA_Y1;  // Gyro Y [19:12]
-	uint8_t GYRO_DATA_Y0;  // Gyro Y [11:4]
-	uint8_t GYRO_DATA_Z1;  // Gyro Z [19:12]
-	uint8_t GYRO_DATA_Z0;  // Gyro Z [11:4]
-	uint8_t TEMP_DATA1;    // Temperature[15:8]
-	uint8_t TEMP_DATA0;    // Temperature[7:0]
-	uint8_t TimeStamp_h;   // TimeStamp[15:8]
-	uint8_t TimeStamp_l;   // TimeStamp[7:0]
-	uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
-	uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
-	uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
-};
-
-// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-enum FIFO_HEADER_BIT : uint8_t {
-	HEADER_MSG             = Bit7, // 1: FIFO is empty
-	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
-	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
-	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
-	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
-	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
-	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
-};
-
-}
-} // namespace InvenSense_ICM42688P

boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp

@@ -1,116 +0,0 @@
-/****************************************************************************
- *
- *   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 "ICM42688P.hpp"
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-#include <string>
-
-void ICM42688P::print_usage()
-{
-	PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
-	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-}
-
-// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
-// 		int runtime_instance)
-// {
-// 	ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
-// 					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
-//
-// 	if (!instance) {
-// 		PX4_ERR("alloc failed");
-// 		return nullptr;
-// 	}
-//
-// 	if (OK != instance->init()) {
-// 		delete instance;
-// 		return nullptr;
-// 	}
-//
-// 	return instance;
-// }
-
-extern "C" int icm42688p_main(int argc, char *argv[])
-{
-
-	for (int i = 0; i <= argc - 1; i++) {
-		if (std::string(argv[i]) == "-h") {
-			argv[i] = 0;
-			hitl_mode = true;
-			break;
-		}
-	}
-
-	int ch;
-	using ThisDriver = ICM42688P;
-	BusCLIArguments cli{false, true};
-	cli.default_spi_frequency = SPI_SPEED;
-
-	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
-		switch (ch) {
-		case 'R':
-			cli.rotation = (enum Rotation)atoi(cli.optArg());
-			break;
-		}
-	}
-
-	const char *verb = cli.optArg();
-
-	if (!verb) {
-		ThisDriver::print_usage();
-		return -1;
-	}
-
-	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
-
-	if (!strcmp(verb, "start")) {
-		return ThisDriver::module_start(cli, iterator);
-	}
-
-	if (!strcmp(verb, "stop")) {
-		return ThisDriver::module_stop(iterator);
-	}
-
-	if (!strcmp(verb, "status")) {
-		return ThisDriver::module_status(iterator);
-	}
-
-	ThisDriver::print_usage();
-	return -1;
-}

boards/mro/ctrl-zero-classic/default.px4board

@@ -1,9 +1,11 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -25,6 +27,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -96,4 +99,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y

boards/mro/ctrl-zero-classic/init/rc.board_defaults

@@ -6,4 +6,4 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 17
 
-safety_button start
+param set-default TEL_FRSKY_CONFIG 103

boards/mro/ctrl-zero-classic/init/rc.board_sensors

@@ -16,3 +16,5 @@ icm20948 -s -b 1 -R 8 -M start
 
 # Interal DPS310 (barometer)
 dps310 -s -b 2 start
+
+safety_button start

boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig

@@ -15,7 +15,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARMV7M_BASEPRI_WAR=y

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

@@ -222,6 +222,9 @@
 
 
 /* UART/USART */
+#define GPIO_USART1_TX	 GPIO_USART1_TX_3      /* PB6  */
+#define GPIO_USART1_RX	 GPIO_USART1_RX_3      /* PB7  */
+
 #define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
 #define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
@@ -235,9 +238,6 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
-#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
@@ -268,13 +268,14 @@
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13  */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12  */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14  */
+
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
 
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */

boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig

@@ -56,7 +56,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=768
 CONFIG_ARCH_STACKDUMP=y
@@ -192,7 +192,6 @@ CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C3=y
 CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
@@ -212,17 +211,20 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI5_DMA=y
 CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM16=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -252,9 +254,6 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

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

@@ -45,95 +45,111 @@
 #include <stm32_gpio.h>
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_nLED_RED   /* PB4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_nLED_GREEN /* PB5  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
 #define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
 
+#define GPIO_LED_SAFETY /* PE6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
+
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 /* ADC channels */
 #define PX4_ADC_GPIO  \
-	/* PA2 */  GPIO_ADC12_INP14,  \
+	/* PC4 */  GPIO_ADC12_INP4,   \
 	/* PA3 */  GPIO_ADC12_INP15,  \
 	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INP11
+	/* PC0 */  GPIO_ADC123_INP10, \
+	/* PC5 */  GPIO_ADC12_INP8,   \
+	/* PB0 */  GPIO_ADC12_INP9,   \
+	/* PB1 */  GPIO_ADC12_INP5
 
 /* Define Channel numbers must match above GPIO pins */
-#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
+#define ADC_BATTERY_VOLTAGE_CHANNEL       4 /* PC4 BATT_VOLT_SENS */
 #define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
 #define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
+#define ADC_RC_RSSI_CHANNEL               10 /* PC0 */
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL       8 /* PC5 */
+#define ADC_AUX1_VOLTAGE_CHANNEL       	   9 /* PB0 */
+#define ADC_AUX2_VOLTAGE_CHANNEL       	   5 /* PB1 */
 
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RC_RSSI_CHANNEL))
+	 (1 << ADC_RC_RSSI_CHANNEL)		  | \
+	 (1 << ADC_AIRSPEED_VOLTAGE_CHANNEL)	  | \
+	 (1 << ADC_AUX1_VOLTAGE_CHANNEL)	  | \
+	 (1 << ADC_AUX2_VOLTAGE_CHANNEL))
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+#define GPIO_CAN1_SILENT_S0  /* PF11  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
+#define GPIO_CAN2_SILENT_S0  /* PF12  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN12)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  12
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nPOWER_IN_A                /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
 
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 
+#define GPIO_LEVEL_SHIFTER_OE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+
 /* 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 TONE_ALARM_TIMER        16  /* timer 16 */
+#define TONE_ALARM_CHANNEL      1  /* PF6 TIM16_CH1 */
 
-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_BUZZER_1           /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN6)
 
 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
+#define GPIO_TONE_ALARM         GPIO_TIM16_CH1OUT_2
 
 /* USB OTG FS */
 #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2 /* use capture/compare channel 1 */
 
-#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
-#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
+#define HRT_PPM_CHANNEL         /* T3C2 */  2  /* use capture/compare channel 2 */
+#define GPIO_PPM_IN             /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3
 
 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
+#define RC_SERIAL_PORT          "/dev/ttyS5"
 
-#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_RSSI_IN            /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
 
 /* 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_SAFETY_SWITCH_IN              /* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFETY_BUTTON() */
 #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
 
+/* No PX4IO processor present */
+#define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 0
+
 /* 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
+ * GPIO PPM_IN on PC7 T3CH2
  * 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 GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
 #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))
@@ -156,7 +172,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
-#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_NUM_IO_TIMERS 6
 
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -171,9 +187,12 @@
 		GPIO_CAN2_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_LEVEL_SHIFTER_OE, 		  \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
 	}
 
 __BEGIN_DECLS

boards/mro/ctrl-zero-classic/src/i2c.cpp

@@ -35,6 +35,5 @@
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
-	initI2CBusExternal(3),
 	initI2CBusExternal(4),
 };

boards/mro/ctrl-zero-classic/src/spi.cpp

@@ -37,7 +37,7 @@
 
 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_ICM20602, SPI::CS{GPIO::PortG, GPIO::Pin3}, SPI::DRDY{GPIO::PortG, GPIO::Pin2}),
 		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, {
@@ -46,7 +46,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	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}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin0}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),
 	}),
 };
 

boards/mro/ctrl-zero-classic/src/timer_config.cpp

@@ -33,6 +33,28 @@
 
 #include <px4_arch/io_timer_hw_description.h>
 
+/* Timer allocation
+ *
+ * TIM1_CH4	T FMU_CH1
+ * TIM1_CH3	T FMU_CH2
+ * TIM1_CH2	T FMU_CH3
+ * TIM1_CH1	T FMU_CH4
+ *
+ * TIM4_CH2	T FMU_CH5
+ * TIM4_CH3	T FMU_CH6
+ * TIM2_CH3	T FMU_CH7
+ * TIM2_CH1	T FMU_CH8
+ *
+ * TIM2_CH4	T FMU_CH9
+ * TIM15_CH1	T FMU_CH10
+ *
+ * TIM8_CH1	T FMU_CH11
+ *
+ * TIM4_CH4	T FMU_CH12
+ *
+ * TIM16_CH1	T BUZZER	- Driven by other driver
+ */
+
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),

msg/CMakeLists.txt

@@ -99,6 +99,7 @@ set(msg_files
 	FollowTargetStatus.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
+	GeofenceStatus.msg
 	GimbalControls.msg
 	GimbalDeviceAttitudeStatus.msg
 	GimbalDeviceInformation.msg

msg/GeofenceStatus.msg

@@ -0,0 +1,7 @@
+uint64 timestamp                        # time since system start (microseconds)
+
+uint32 geofence_id 			# loaded geofence id
+uint8 status 				# Current geofence status
+
+uint8 GF_STATUS_LOADING = 0
+uint8 GF_STATUS_READY = 1

msg/MissionResult.msg

@@ -1,8 +1,8 @@
 uint64 timestamp		# time since system start (microseconds)
 
-uint16 mission_id   		# Id for the mission for which the result was generated
-uint16 geofence_id  		# Id for the corresponding geofence for which the result was generated (used for mission feasibility)
-uint64 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
+uint32 mission_id   		# Id for the mission for which the result was generated
+uint32 geofence_id  		# Id for the corresponding geofence for which the result was generated (used for mission feasibility)
+uint32 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
 
 int32 seq_reached		# Sequence of the mission item which has been reached, default -1
 uint16 seq_current		# Sequence of the current mission item

msg/OrbTestMedium.msg

@@ -4,4 +4,6 @@ int32 val
 
 uint8[64] junk
 
+uint8 ORB_QUEUE_LENGTH = 16
+
 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll

msg/TransponderReport.msg

@@ -47,4 +47,4 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
 uint16 ADSB_EMITTER_TYPE_ENUM_END=20
 
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16

platforms/common/CMakeLists.txt

@@ -52,7 +52,6 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
-	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/Serial.cpp

@@ -1,143 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/Serial.hpp>
-
-namespace device
-{
-
-Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-	       FlowControl flowcontrol) :
-	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
-{
-	// If no baudrate was specified then set it to a reasonable default value
-	if (baudrate == 0) {
-		(void) _impl.setBaudrate(9600);
-	}
-}
-
-Serial::~Serial()
-{
-}
-
-bool Serial::open()
-{
-	return _impl.open();
-}
-
-bool Serial::isOpen() const
-{
-	return _impl.isOpen();
-}
-
-bool Serial::close()
-{
-	return _impl.close();
-}
-
-ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
-{
-	return _impl.read(buffer, buffer_size);
-}
-
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
-}
-
-ssize_t Serial::write(const void *buffer, size_t buffer_size)
-{
-	return _impl.write(buffer, buffer_size);
-}
-
-void Serial::flush()
-{
-	return _impl.flush();
-}
-
-uint32_t Serial::getBaudrate() const
-{
-	return _impl.getBaudrate();
-}
-
-bool Serial::setBaudrate(uint32_t baudrate)
-{
-	return _impl.setBaudrate(baudrate);
-}
-
-ByteSize Serial::getBytesize() const
-{
-	return _impl.getBytesize();
-}
-
-bool Serial::setBytesize(ByteSize bytesize)
-{
-	return _impl.setBytesize(bytesize);
-}
-
-Parity Serial::getParity() const
-{
-	return _impl.getParity();
-}
-
-bool Serial::setParity(Parity parity)
-{
-	return _impl.setParity(parity);
-}
-
-StopBits Serial::getStopbits() const
-{
-	return _impl.getStopbits();
-}
-
-bool Serial::setStopbits(StopBits stopbits)
-{
-	return _impl.setStopbits(stopbits);
-}
-
-FlowControl Serial::getFlowcontrol() const
-{
-	return _impl.getFlowcontrol();
-}
-
-bool Serial::setFlowcontrol(FlowControl flowcontrol)
-{
-	return _impl.setFlowcontrol(flowcontrol);
-}
-
-const char *Serial::getPort() const
-{
-	return _impl.getPort();
-}
-
-} // namespace device

platforms/common/include/px4_platform_common/Serial.hpp

@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <SerialImpl.hpp>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device __EXPORT
-{
-
-class Serial
-{
-public:
-	Serial(const char *port, uint32_t baudrate = 57600,
-	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
-	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
-	virtual ~Serial();
-
-	// Open sets up the port and gets it configured based on desired configuration
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	// If port is already open then the following configuration functions
-	// will reconfigure the port. If the port is not yet open then they will
-	// simply store the configuration in preparation for the port to be opened.
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-	const char *getPort() const;
-
-private:
-	// Disable copy constructors
-	Serial(const Serial &);
-	Serial &operator=(const Serial &);
-
-	// platform implementation
-	SerialImpl _impl;
-};
-
-} // namespace device

platforms/common/include/px4_platform_common/SerialCommon.hpp

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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
-
-namespace device
-{
-namespace SerialConfig
-{
-
-
-// ByteSize: number of data bits
-enum class ByteSize {
-	FiveBits  = 5,
-	SixBits   = 6,
-	SevenBits = 7,
-	EightBits = 8,
-};
-
-// Parity: enable parity checking
-enum class Parity {
-	None = 0,
-	Odd  = 1,
-	Even = 2,
-};
-
-// StopBits: number of stop bits
-enum class StopBits {
-	One = 1,
-	Two = 2
-};
-
-// FlowControl: enable flow control
-enum class FlowControl {
-	Disabled = 0,
-	Enabled  = 1,
-};
-
-} // namespace SerialConfig
-} // namespace device

platforms/common/include/px4_platform_common/time.h

@@ -13,21 +13,11 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
-
-__BEGIN_DECLS
-__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
-__END_DECLS
-
-#else
-
-#define px4_clock_settime system_clock_settime
-
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 
 __BEGIN_DECLS
+__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -37,6 +27,7 @@ __END_DECLS
 
 #else
 
+#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait

platforms/common/px4_log.cpp

@@ -74,7 +74,7 @@ void px4_log_initialize(void)
 	log_message.severity = 6; // info
 	strcpy((char *)log_message.text, "initialized uORB logging");
 	log_message.timestamp = hrt_absolute_time();
-	orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);
+	orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message);
 }
 
 __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)

platforms/common/uORB/Publication.hpp

@@ -48,24 +48,6 @@
 namespace uORB
 {
 
-template <typename U> class DefaultQueueSize
-{
-private:
-	template <typename T>
-	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
-	{
-		return T::ORB_QUEUE_LENGTH;
-	}
-
-	template <typename T> static constexpr uint8_t get_queue_size(...)
-	{
-		return 1;
-	}
-
-public:
-	static constexpr unsigned value = get_queue_size<U>(nullptr);
-};
-
 class PublicationBase
 {
 public:
@@ -97,7 +79,7 @@ protected:
 /**
  * uORB publication wrapper class
  */
-template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class Publication : public PublicationBase
 {
 public:
@@ -113,7 +95,7 @@ public:
 	bool advertise()
 	{
 		if (!advertised()) {
-			_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
+			_handle = orb_advertise(get_topic(), nullptr);
 		}
 
 		return advertised();

platforms/common/uORB/PublicationMulti.hpp

@@ -51,7 +51,7 @@ namespace uORB
 /**
  * Base publication multi wrapper class
  */
-template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class PublicationMulti : public PublicationBase
 {
 public:
@@ -73,7 +73,7 @@ public:
 	{
 		if (!advertised()) {
 			int instance = 0;
-			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
+			_handle = orb_advertise_multi(get_topic(), nullptr, &instance);
 		}
 
 		return advertised();

platforms/common/uORB/uORB.cpp

@@ -118,22 +118,11 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);
 }
 
-orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
-{
-	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
-}
-
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
 }
 
-orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-				       unsigned int queue_size)
-{
-	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
-}
-
 int orb_unadvertise(orb_advert_t handle)
 {
 	return uORB::Manager::get_instance()->orb_unadvertise(handle);
@@ -227,6 +216,14 @@ const char *orb_get_c_type(unsigned char short_type)
 	return nullptr;
 }
 
+uint8_t orb_get_queue_size(const struct orb_metadata *meta)
+{
+	if (meta) {
+		return meta->o_queue;
+	}
+
+	return 0;
+}
 
 void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
 {

platforms/common/uORB/uORB.h

@@ -53,6 +53,8 @@ struct orb_metadata {
 	const uint16_t o_size_no_padding;   /**< object size w/o padding at the end (for logger) */
 	uint32_t message_hash;	/**< Hash over all fields for message compatibility checks */
 	orb_id_size_t  o_id;                /**< ORB_ID enum */
+	uint8_t o_queue;					/**< queue size */
+
 };
 
 typedef const struct orb_metadata *orb_id_t;
@@ -102,14 +104,16 @@ typedef const struct orb_metadata *orb_id_t;
  * @param _size_no_padding	Struct size w/o padding at the end
  * @param _message_hash	32 bit message hash over all fields
  * @param _orb_id_enum	ORB ID enum e.g.: ORB_ID::vehicle_status
+ * @param _queue_size Queue size from topic definition
  */
-#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum)		\
-	const struct orb_metadata __orb_##_name = {	\
-		#_name,					\
-		sizeof(_struct),		\
-		_size_no_padding,			\
-		_message_hash,				\
-		_orb_id_enum				\
+#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
+	const struct orb_metadata __orb_##_name = {     \
+		#_name,                                 \
+		sizeof(_struct),                \
+		_size_no_padding,                       \
+		_message_hash,                          \
+		_orb_id_enum,                           \
+		_queue_size                             \
 	}; struct hack
 
 __BEGIN_DECLS
@@ -135,23 +139,11 @@ typedef void 	*orb_advert_t;
  */
 extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
 
-/**
- * @see uORB::Manager::orb_advertise()
- */
-extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
-					unsigned int queue_size) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
 
-/**
- * @see uORB::Manager::orb_advertise_multi()
- */
-extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_unadvertise()
  */
@@ -160,7 +152,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
 /**
  * @see uORB::Manager::orb_publish()
  */
-extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
 
 /**
  * Advertise as the publisher of a topic.
@@ -241,6 +233,12 @@ extern int	orb_get_interval(int handle, unsigned *interval) __EXPORT;
  */
 const char *orb_get_c_type(unsigned char short_type);
 
+/**
+ * Returns the queue size of a topic
+ * @param meta orb topic metadata
+ */
+extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
+
 /**
  * Print a topic to console. Do not call this directly, use print_message() instead.
  * @param meta orb topic metadata

platforms/common/uORB/uORBDeviceNode.cpp

@@ -48,37 +48,10 @@
 
 static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
 
-// round up to nearest power of two
-// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128
-// Note: When the input value > 128, the output is always 128
-static inline uint8_t round_pow_of_two_8(uint8_t n)
-{
-	if (n == 0) {
-		return 1;
-	}
-
-	// Avoid is already a power of 2
-	uint8_t value = n - 1;
-
-	// Fill 1
-	value |= value >> 1U;
-	value |= value >> 2U;
-	value |= value >> 4U;
-
-	// Unable to round-up, take the value of round-down
-	if (value == UINT8_MAX) {
-		value >>= 1U;
-	}
-
-	return value + 1;
-}
-
-uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
-			     uint8_t queue_size) :
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) :
 	CDev(strdup(path)), // success is checked in CDev::init
 	_meta(meta),
-	_instance(instance),
-	_queue_size(round_pow_of_two_8(queue_size))
+	_instance(instance)
 {
 }
 
@@ -186,7 +159,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 
 			/* re-check size */
 			if (nullptr == _data) {
-				const size_t data_size = _meta->o_size * _queue_size;
+				const size_t data_size = _meta->o_size * _meta->o_queue;
 				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
 
 				if (_data) {
@@ -217,7 +190,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 	/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
 	unsigned generation = _generation.fetch_add(1);
 
-	memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);
+	memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
 
 	// callbacks
 	for (auto item : _callbacks) {
@@ -254,13 +227,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		*(uintptr_t *)arg = (uintptr_t)this;
 		return PX4_OK;
 
-	case ORBIOCSETQUEUESIZE: {
-			lock();
-			int ret = update_queue_size(arg);
-			unlock();
-			return ret;
-		}
-
 	case ORBIOCGETINTERVAL:
 		*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
 		return PX4_OK;
@@ -389,12 +355,11 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 
 	const uint8_t instance = get_instance();
 	const int8_t sub_count = subscriber_count();
-	const uint8_t queue_size = get_queue_size();
 
 	unlock();
 
 	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
-		     queue_size, get_meta()->o_size, get_devname());
+		     get_meta()->o_queue, get_meta()->o_size, get_devname());
 
 	return true;
 }
@@ -483,21 +448,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 #endif /* CONFIG_ORB_COMMUNICATOR */
 
-int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
-{
-	if (_queue_size == queue_size) {
-		return PX4_OK;
-	}
-
-	//queue size is limited to 255 for the single reason that we use uint8 to store it
-	if (_data || _queue_size > queue_size || queue_size > 255) {
-		return PX4_ERROR;
-	}
-
-	_queue_size = round_pow_of_two_8(queue_size);
-	return PX4_OK;
-}
-
 unsigned uORB::DeviceNode::get_initial_generation()
 {
 	ATOMIC_ENTER;

platforms/common/uORB/uORBDeviceNode.hpp

@@ -62,7 +62,7 @@ class UnitTest;
 class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path);
 	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
@@ -179,15 +179,6 @@ public:
 
 	void mark_as_advertised() { _advertised = true; }
 
-	/**
-	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
-	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
-	 * The queue size can only be increased.
-	 * @param queue_size new size of the queue
-	 * @return PX4_OK if queue size successfully set
-	 */
-	int update_queue_size(unsigned int queue_size);
-
 	/**
 	 * Print statistics
 	 * @param max_topic_length max topic name length for printing
@@ -195,7 +186,7 @@ public:
 	 */
 	bool print_statistics(int max_topic_length);
 
-	uint8_t get_queue_size() const { return _queue_size; }
+	uint8_t get_queue_size() const { return _meta->o_queue; }
 
 	int8_t subscriber_count() const { return _subscriber_count; }
 
@@ -234,7 +225,7 @@ public:
 	bool copy(void *dst, unsigned &generation)
 	{
 		if ((dst != nullptr) && (_data != nullptr)) {
-			if (_queue_size == 1) {
+			if (_meta->o_queue == 1) {
 				ATOMIC_ENTER;
 				memcpy(dst, _data, _meta->o_size);
 				generation = _generation.load();
@@ -253,12 +244,12 @@ public:
 				}
 
 				// Compatible with normal and overflow conditions
-				if (!is_in_range(current_generation - _queue_size, generation, current_generation - 1)) {
+				if (!is_in_range(current_generation - _meta->o_queue, generation, current_generation - 1)) {
 					// Reader is too far behind: some messages are lost
-					generation = current_generation - _queue_size;
+					generation = current_generation - _meta->o_queue;
 				}
 
-				memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size);
+				memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size);
 				ATOMIC_LEAVE;
 
 				++generation;
@@ -295,7 +286,7 @@ private:
 
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
-	uint8_t _queue_size; /**< maximum number of elements in the queue */
+
 	int8_t _subscriber_count{0};
 
 

platforms/common/uORB/uORBManager.cpp

@@ -265,8 +265,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 #ifdef ORB_USE_PUBLISHER_RULES
 
@@ -300,19 +299,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
-	/* Set the queue size. This must be done before the first publication; thus it fails if
-	 * this is not the first advertiser.
-	 */
-	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
-
-	if (result < 0 && queue_size > 1) {
-		PX4_WARN("orb_advertise_multi: failed to set queue size");
-	}
-
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {
@@ -602,6 +592,22 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 {
 	PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);
 
+	// First make sure this is a valid topic
+	const struct orb_metadata *const *topic_list = orb_get_topics();
+	orb_id_t topic_ptr = nullptr;
+
+	for (size_t i = 0; i < orb_topics_count(); i++) {
+		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
+			topic_ptr = topic_list[i];
+			break;
+		}
+	}
+
+	if (! topic_ptr) {
+		PX4_ERR("process_remote_topic meta not found for %s\n", topic_name);
+		return -1;
+	}
+
 	// Look to see if we already have a node for this topic
 	char nodepath[orb_maxpath];
 	int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
@@ -613,7 +619,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 			uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
 
 			if (node) {
-				PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
+				PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
 				node->mark_as_advertised();
 				_remote_topics.insert(topic_name);
 				return 0;
@@ -622,27 +628,9 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 	}
 
 	// We didn't find a node so we need to create it via an advertisement
-	const struct orb_metadata *const *topic_list = orb_get_topics();
-	orb_id_t topic_ptr = nullptr;
-
-	for (size_t i = 0; i < orb_topics_count(); i++) {
-		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
-			topic_ptr = topic_list[i];
-			break;
-		}
-	}
-
-	if (topic_ptr) {
-		PX4_INFO("Advertising remote topic %s", topic_name);
-		_remote_topics.insert(topic_name);
-		// Add some queue depth when advertising remote topics. These
-		// topics may get aggregated and thus delivered in a batch that
-		// requires some buffering in a queue.
-		orb_advertise(topic_ptr, nullptr, 5);
-
-	} else {
-		PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
-	}
+	PX4_DEBUG("Advertising remote topic %s", topic_name);
+	_remote_topics.insert(topic_name);
+	orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue);
 
 	return 0;
 }
@@ -663,8 +651,11 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName)
 			PX4_DEBUG("DeviceNode(%s) not created yet", messageName);
 
 		} else {
-			// node is present.
-			node->process_add_subscription();
+			// node is present. But don't send any data to it if it
+			// is a node advertised by the remote side
+			if (_remote_topics.find(messageName) == false) {
+				node->process_add_subscription();
+			}
 		}
 
 	} else {

platforms/common/uORB/uORBManager.hpp

@@ -215,17 +215,15 @@ public:
 	 * @param data    A pointer to the initial data to be published.
 	 *      For topics updated by interrupt handlers, the advertisement
 	 *      must be performed from non-interrupt context.
-	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
-	 *      used.
 	 * @return    nullptr on error, otherwise returns an object pointer
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
+	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr)
 	{
-		return orb_advertise_multi(meta, data, nullptr, queue_size);
+		return orb_advertise_multi(meta, data, nullptr);
 	}
 
 	/**
@@ -250,16 +248,13 @@ public:
 	 * @param instance  Pointer to an integer which will yield the instance ID (0-based)
 	 *      of the publication. This is an output parameter and will be set to the newly
 	 *      created instance, ie. 0 for the first advertiser, 1 for the next and so on.
-	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
-	 *      used.
 	 * @return    nullptr on error, otherwise returns a handle
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-					 unsigned int queue_size = 1);
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance);
 
 	/**
 	 * Unadvertise a topic.

platforms/common/uORB/uORBManagerUsr.cpp

@@ -89,8 +89,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return data.ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	/* open the node as an advertiser */
 	int fd = node_open(meta, true, instance);
@@ -100,19 +99,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
-	/* Set the queue size. This must be done before the first publication; thus it fails if
-	 * this is not the first advertiser.
-	 */
-	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
-
-	if (result < 0 && queue_size > 1) {
-		PX4_WARN("orb_advertise_multi: failed to set queue size");
-	}
-
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around()
 	bool updated{false};
 
 	// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
-	const int queue_size = 16;
-	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around));
+	ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue()
 		return test_fail("subscribe failed: %d", errno);
 	}
 
-	const int queue_size = 16;
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue));
 	orb_test_medium_s t{};
-	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
+	ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
 {
 	orb_test_medium_s t{};
 	orb_advert_t ptopic{nullptr};
-	const int queue_size = 50;
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll));
 
-	if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
+	if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
 		_thread_should_exit = true;
 		return test_fail("advertise failed: %d", errno);
 	}

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

@@ -1,391 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-#define MODULE_NAME "SerialImpl"
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-	}
-
-	return written;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		tcflush(_serial_fd, TCIOFLUSH);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -1,106 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-
-};
-
-} // namespace device

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

@@ -3,8 +3,6 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		cdc_acm_check.cpp
-		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-		SerialImpl.cpp
 	)
 
 target_link_libraries(px4_layer

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

@@ -15,8 +15,6 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 
 target_link_libraries(px4_layer

platforms/posix/include/SerialImpl.hpp

@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-};
-
-} // namespace device

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

@@ -46,8 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -1,391 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
-	}
-
-	return written;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		tcflush(_serial_fd, TCIOFLUSH);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/qurt/CMakeLists.txt

@@ -50,4 +50,5 @@ add_library(px4 SHARED
 target_link_libraries(px4
 	modules__muorb__slpi
 	${module_libraries}
+	px4_layer
 	)

platforms/qurt/include/SerialImpl.hpp

@@ -1,110 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	void flush();
-
-	const char *getPort() const;
-	bool setPort(const char *port);
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-
-	// Mutex used to lock the read functions
-	//pthread_mutex_t read_mutex;
-
-	// Mutex used to lock the write functions
-	//pthread_mutex_t write_mutex;
-};
-
-} // namespace device

platforms/qurt/src/px4/CMakeLists.txt

@@ -38,7 +38,6 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp
-	SerialImpl.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/SerialImpl.cpp

@@ -1,335 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name 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 <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <drivers/device/qurt/uart.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	if ((baudrate != 9600)   &&
-	    (baudrate != 38400)  &&
-	    (baudrate != 57600)  &&
-	    (baudrate != 115200) &&
-	    (baudrate != 230400) &&
-	    (baudrate != 250000) &&
-	    (baudrate != 420000) &&
-	    (baudrate != 460800) &&
-	    (baudrate != 921600) &&
-	    (baudrate != 1000000) &&
-	    (baudrate != 1843200) &&
-	    (baudrate != 2000000)) {
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	// There's no harm in calling open multiple times on the same port.
-	// In fact, that's the only way to change the baudrate
-
-	_open = false;
-	_serial_fd = -1;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", _baudrate);
-		return false;
-	}
-
-	if (_bytesize != ByteSize::EightBits) {
-		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
-		return false;
-	}
-
-	if (_parity != Parity::None) {
-		PX4_ERR("Qurt platform only supports Parity::None");
-		return false;
-	}
-
-	if (_stopbits != StopBits::One) {
-		PX4_ERR("Qurt platform only supports StopBits::One");
-		return false;
-	}
-
-	if (_flowcontrol != FlowControl::Disabled) {
-		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
-		return false;
-	}
-
-	// qurt_uart_open will check validity of port and baudrate
-	int serial_fd = qurt_uart_open(_port, _baudrate);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
-		return false;
-
-	} else {
-		PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
-	}
-
-	_serial_fd = serial_fd;
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	// No close defined for qurt uart yet
-	// if (_serial_fd >= 0) {
-	// 	qurt_uart_close(_serial_fd);
-	// }
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
-
-	if (ret_read < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret_read);
-
-	}
-
-	return ret_read;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while (total_bytes_read < (int) character_count) {
-
-		if (timeout_us > 0) {
-			const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-
-			if (elapsed_us >= timeout_us) {
-				// If there was a partial read but not enough to satisfy the minimum then they will be lost
-				// but this really should never happen when everything is working normally.
-				// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
-				// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-				return total_bytes_read;
-			}
-		}
-
-		int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-		if (current_bytes_read < 0) {
-			// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
-			// but this really should never happen when everything is working normally.
-			PX4_ERR("%s failed to read uart", __FUNCTION__);
-			// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-			return -1;
-		}
-
-		// Current bytes read could be zero
-		total_bytes_read += current_bytes_read;
-
-		// If we have at least reached our desired minimum number of characters
-		// then we can return now
-		if (total_bytes_read >= (int) character_count) {
-			return total_bytes_read;
-		}
-
-		// Wait a set amount of time before trying again or the remaining time
-		// until the timeout if we are getting close
-		const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-		int64_t time_until_timeout = timeout_us - elapsed_us;
-		uint64_t time_to_sleep = 5000;
-
-		if ((time_until_timeout >= 0) &&
-		    (time_until_timeout < (int64_t) time_to_sleep)) {
-			time_to_sleep = time_until_timeout;
-		}
-
-		px4_usleep(time_to_sleep);
-	}
-
-	return -1;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
-
-	if (ret_write < 0) {
-		PX4_ERR("%s write error %d", _port, ret_write);
-
-	}
-
-	return ret_write;
-}
-
-void SerialImpl::flush()
-{
-	if (_open) {
-		uint8_t buffer[4];
-		// A read clears out all current data
-		read(buffer, 4);
-	}
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return open();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/qurt/src/px4/drv_hrt.cpp

@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }
 
-int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
 {
 	return 0;
 }

platforms/ros2/include/uORB/Publication.hpp

@@ -45,28 +45,10 @@
 namespace uORB
 {
 
-template <typename U> class DefaultQueueSize
-{
-private:
-	template <typename T>
-	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
-	{
-		return T::ORB_QUEUE_LENGTH;
-	}
-
-	template <typename T> static constexpr uint8_t get_queue_size(...)
-	{
-		return 1;
-	}
-
-public:
-	static constexpr unsigned value = get_queue_size<U>(nullptr);
-};
-
 /**
  * uORB publication wrapper class
  */
-template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class Publication
 {
 public:

src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp

@@ -251,7 +251,7 @@ ICP201XX::RunImpl()
 	case STATE::CONFIG: {
 			if (configure()) {
 				_state = STATE::WAIT_READ;
-				ScheduleDelayed(30_ms);
+				ScheduleDelayed(50_ms);
 
 			} else {
 				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {

src/drivers/camera_trigger/camera_trigger.cpp

@@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};
 
-	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
+	_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
 }
 
 CameraTrigger::~CameraTrigger()

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h

@@ -160,6 +160,11 @@ status_t Argus_InitMode(argus_hnd_t *hnd, s2pi_slave_t spi_slave, argus_mode_t m
  *          Also refer to #Argus_ReinitMode, which uses a specified measurement
  *          mode instead of the currently active measurement mode.
  *
+ * @note    If a full re-initialization is not desired, refer to the
+ *          #Argus_RestoreDeviceState function that will only re-write the
+ *          register map to the device to restore its state after an power
+ *          cycle.
+ *
  * @param   hnd The API handle; contains all internal states and data.
  *
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
@@ -182,6 +187,11 @@ status_t Argus_Reinit(argus_hnd_t *hnd);
  *          Also refer to #Argus_Reinit, which re-uses the currently active
  *          measurement mode instead of an user specified measurement mode.
  *
+ * @note    If a full re-initialization is not desired, refer to the
+ *          #Argus_RestoreDeviceState function that will only re-write the
+ *          register map to the device to restore its state after an power
+ *          cycle.
+ *
  * @param   hnd The API handle; contains all internal states and data.
  *
  * @param   mode The specified measurement mode to be initialized.
@@ -274,6 +284,69 @@ argus_hnd_t *Argus_CreateHandle(void);
  *****************************************************************************/
 status_t Argus_DestroyHandle(argus_hnd_t *hnd);
 
+/*!***************************************************************************
+ * @brief   Restores the device state with a re-write of all register values.
+ *
+ * @details The function invalidates and restores the device state by executing
+ *          a re-write of the full register map.
+ *
+ *          The purpose of this function is to recover from known external
+ *          events like power cycles, for example due to sleep / wake-up
+ *          functionality. This can be implemented by cutting off the external
+ *          power supply of the device (e.g. via a MOSFET switch controlled by
+ *          a GPIB pin). By calling this function, the expected state of the
+ *          API is written to the device without the need to fully re-initialize
+ *          the device. Thus, the API can resume where it has stopped as if
+ *          there has never been a power cycle.
+ *
+ *          The internal state machines like the dynamic configuration adaption
+ *          (DCA) algorithm will not be reseted. The API/sensor will immediately
+ *          resume at the last state that was optimized for the given
+ *          environmental conditions.
+ *
+ *          The use case of sleep / wake-up can be implemented as follows:
+ *
+ *          1. In case of ongoing measurements, stop the measurements via
+ *             the #Argus_StopMeasurementTimer function (if started by the
+ *             #Argus_StartMeasurementTimer function).
+ *
+ *          2. Shut down the device by removing the 5V power supply, e.g.
+ *             via a GPIO pin that switches a MOSFET circuit.
+ *
+ *          3. After the desired sleep period, power the device by switching
+ *             the 5V power supply on again. Wait until the power-on-reset
+ *             (POR) is finished (approx. 1 ms) or just repeat step 4 until
+ *             it succeeds.
+ *
+ *          4. Call the #Argus_RestoreDeviceState function to trigger the
+ *             restoration of the device state in the API. Note that the
+ *             function will return an error code if it fails. One can repeat
+ *             the execution of that function a few times until it succeeds.
+ *
+ *          6. Continue with measurements via #Argus_StartMeasurementTimer
+ *             of #Argus_TriggerMeasurement functions as desired.
+ *
+ * @note    If a complete re-initialization (= soft-reset) is desired, see
+ *          the #Argus_Reinit functionality.
+ *
+ * @note    Changing a configuration or calibration parameter will always
+ *          invalidate the device state as well as the state machine of the
+ *          dynamic configuration adaption (DCA) algorithm. In that case, the
+ *          device/API needs a few measurements to adopt to the present
+ *          environmental conditions before the first valid measurement result
+ *          can be obtained. This is almost similar to re-initializing the
+ *          device (see #Argus_Reinit) which would also re-read the EEPROM.
+ *          On the other hand, the #Argus_RestoreDeviceState does not reset
+ *          or re-initialize anything. It just makes sure that the device
+ *          register map (which has changed to its reset values after the
+ *          power cycle) is what the API expects upon the next measurement.
+ *
+ * @param   hnd The device handle object to be invalidated.
+ *
+ * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
+ *****************************************************************************/
+status_t Argus_RestoreDeviceState(argus_hnd_t *hnd);
+
 /*!**************************************************************************
  * Generic API
  ****************************************************************************/
@@ -726,7 +799,7 @@ status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd);
  *          After calibration has finished successfully, the obtained data is
  *          applied immediately and can be read from the API using the
  *          #Argus_GetCalibrationPixelRangeOffsets or
- *          #Argus_GetCalibrationGlobalRangeOffset function.
+ *          #Argus_GetCalibrationGlobalRangeOffsets function.
  *
  * @param   hnd The API handle; contains all internal states and data.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
@@ -775,7 +848,7 @@ status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd);
  *          After calibration has finished successfully, the obtained data is
  *          applied immediately and can be read from the API using the
  *          #Argus_GetCalibrationPixelRangeOffsets or
- *          #Argus_GetCalibrationGlobalRangeOffset function.
+ *          #Argus_GetCalibrationGlobalRangeOffsets function.
  *
  * @param   hnd The API handle; contains all internal states and data.
  * @param   targetRange The absolute range between the reference plane and the
@@ -1043,28 +1116,40 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd,
  ****************************************************************************/
 
 /*!***************************************************************************
- * @brief   Sets the global range offset value to a specified device.
+ * @brief   Sets the global range offset values to a specified device.
  *
- * @details The global range offset is subtracted from the raw range values.
+ * @details The global range offsets are subtracted from the raw range values.
+ *          There are two distinct values that are applied in low or high
+ *          power stage setting respectively.
  *
  * @param   hnd The API handle; contains all internal states and data.
- * @param   value The new global range offset in meter and Q0.15 format.
+ * @param   offset_low The new global range offset for the low power stage in
+ *                     meter and Q0.15 format.
+ * @param   offset_high The new global range offset for the high power stage in
+ *                      meter and Q0.15 format.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
  *****************************************************************************/
-status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
-		q0_15_t value);
+status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
+		q0_15_t offset_low,
+		q0_15_t offset_high);
 
 /*!***************************************************************************
- * @brief   Gets the global range offset value from a specified device.
+ * @brief   Gets the global range offset values from a specified device.
  *
- * @details The global range offset is subtracted from the raw range values.
+ * @details The global range offsets are subtracted from the raw range values.
+ *          There are two distinct values that are applied in low or high
+ *          power stage setting respectively.
  *
  * @param   hnd The API handle; contains all internal states and data.
- * @param   value The current global range offset in meter and Q0.15 format.
+ * @param   offset_low The current range offset for the low power stage in
+ *                     meter and Q0.15 format.
+ * @param   offset_high The current global range offset for the high power stage
+ *                      in meter and Q0.15 format.
  * @return  Returns the \link #status_t status\endlink (#STATUS_OK on success).
  *****************************************************************************/
-status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd,
-		q0_15_t *value);
+status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd,
+		q0_15_t *offset_low,
+		q0_15_t *offset_high);
 
 /*!***************************************************************************
  * @brief   Sets the relative pixel offset table to a specified device.

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h

@@ -210,9 +210,13 @@ typedef enum argus_dca_gain_t {
  *          - [9]: #ARGUS_STATE_LASER_ERROR
  *          - [10]: #ARGUS_STATE_HAS_DATA
  *          - [11]: #ARGUS_STATE_HAS_AUX_DATA
- *          - [12]: #ARGUS_STATE_DCA_MAX
+ *          - [12]: #ARGUS_STATE_SATURATED_PIXELS
  *          - [13]: DCA Power Stage
  *          - [14-15]: DCA Gain Stages
+ *          - [16]: #ARGUS_STATE_DCA_MIN
+ *          - [17]: #ARGUS_STATE_DCA_MAX
+ *          - [18]: #ARGUS_STATE_DCA_RESET
+ *          - [18-31]: not used
  *          .
  *****************************************************************************/
 typedef enum argus_state_t {
@@ -229,36 +233,35 @@ typedef enum argus_state_t {
 	 *          - 1: Enabled: measurement with detuned frequency. */
 	ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U,
 
-	/*! 0x0004: Measurement Frequency for Dual Frequency Mode
+	/*! 0x0004: Measurement Frequency for Dual Frequency Mode \n
 	 *          (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set).
 	 *          - 0: A-Frame w/ detuned frequency,
 	 *          - 1: B-Frame w/ detuned frequency */
 	ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U,
 
-	/*! 0x0008: Debug Mode. If set, the range value of erroneous pixels
+	/*! 0x0008: Debug Mode. \n
+	 *          If set, the range value of erroneous pixels
 	 *          are not cleared or reset.
 	 *          - 0: Disabled (default).
 	 *          - 1: Enabled. */
 	ARGUS_STATE_DEBUG_MODE = 1U << 3U,
 
-	/*! 0x0010: Weak Signal Flag.
+	/*! 0x0010: Weak Signal Flag. \n
 	 *          Set whenever the Pixel Binning Algorithm is detecting a
 	 *          weak signal, i.e. if the amplitude dies not reach its
-	 *          (absolute) threshold. If the Golden Pixel is enabled,
-	 *          this also indicates that the Pixel Binning Algorithm
-	 *          falls back to the Golden Pixel.
+	 *          (absolute) threshold.
 	 *          - 0: Normal Signal.
-	 *          - 1: Weak Signal or Golden Pixel Mode. */
+	 *          - 1: Weak Signal. */
 	ARGUS_STATE_WEAK_SIGNAL = 1U << 4U,
 
-	/*! 0x0020: Background Light Warning Flag.
+	/*! 0x0020: Background Light Warning Flag. \n
 	 *          Set whenever the background light is very high and the
 	 *          measurement data might be unreliable.
 	 *          - 0: No Warning: Background Light is within valid range.
 	 *          - 1: Warning: Background Light is very high. */
 	ARGUS_STATE_BGL_WARNING = 1U << 5U,
 
-	/*! 0x0040: Background Light Error Flag.
+	/*! 0x0040: Background Light Error Flag. \n
 	 *          Set whenever the background light is too high and the
 	 *          measurement data is unreliable or invalid.
 	 *          - 0: No Error: Background Light is within valid range.
@@ -270,7 +273,7 @@ typedef enum argus_state_t {
 	 *          - 1: PLL locked at start of integration. */
 	ARGUS_STATE_PLL_LOCKED = 1U << 7U,
 
-	/*! 0x0100: Laser Failure Warning Flag.
+	/*! 0x0100: Laser Failure Warning Flag. \n
 	 *          Set whenever the an invalid system condition is detected.
 	 *          (i.e. DCA at max state but no amplitude on any (incl. reference)
 	 *          pixel, not amplitude but any saturated pixel).
@@ -279,7 +282,7 @@ typedef enum argus_state_t {
 	 *               condition stays, a laser malfunction error is raised. */
 	ARGUS_STATE_LASER_WARNING = 1U << 8U,
 
-	/*! 0x0200: Laser Failure Error Flag.
+	/*! 0x0200: Laser Failure Error Flag. \n
 	 *          Set whenever a laser malfunction error is raised and the
 	 *          system is put into a safe state.
 	 *          - 0: No Error: Laser is operating properly.
@@ -297,13 +300,12 @@ typedef enum argus_state_t {
 	 *          - 1: Auxiliary data is available and correctly evaluated. */
 	ARGUS_STATE_HAS_AUX_DATA = 1U << 11U,
 
-	/*! 0x1000: DCA Maximum State Flag.
-	 *          Set whenever the DCA has extended all its parameters to their
-	 *          maximum values and can not increase the integration energy any
-	 *          further.
-	 *          - 0: DCA has not yet reached its maximum state.
-	 *          - 1: DCA has reached its maximum state and can not increase any further. */
-	ARGUS_STATE_DCA_MAX = 1U << 12U,
+	/*! 0x0100: Pixel Saturation Flag. \n
+	 *          Set whenever any pixel is saturated, i.e. its pixel state is
+	 *          #PIXEL_SAT
+	 *          - 0: No saturated pixels.
+	 *          - 1: Any saturated pixels. */
+	ARGUS_STATE_SATURATED_PIXELS = 1U << 12U,
 
 	/*! 0x2000: DCA is in high Optical Output Power stage. */
 	ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT,
@@ -320,6 +322,31 @@ typedef enum argus_state_t {
 	/*! 0xC000: DCA is in high Pixel Input Gain stage. */
 	ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT,
 
+	/*! 0x10000: DCA Minimum State Flag. \n
+	 *           Set whenever the DCA has reduced all its parameters to their
+	 *           minimum values and it can not decrease the integration energy
+	 *           any further.
+	 *           - 0: DCA has not yet reached its minimum state.
+	 *           - 1: DCA has reached its minimum state and can not decrease
+	 *                its parameters any further. */
+	ARGUS_STATE_DCA_MIN = 1U << 16U,
+
+	/*! 0x20000: DCA Maximum State Flag. \n
+	 *           Set whenever the DCA has extended all its parameters to their
+	 *           maximum values and it can not increase the integration energy
+	 *           any further.
+	 *           - 0: DCA has not yet reached its maximum state.
+	 *           - 1: DCA has reached its maximum state and can not increase
+	 *                its parameters any further. */
+	ARGUS_STATE_DCA_MAX = 1U << 17U,
+
+	/*! 0x20000: DCA Reset State Flag. \n
+	 *           Set whenever the DCA is resetting all its parameters to their
+	 *           minimum values because it has detected too many saturated pixels.
+	 *           - 0: DCA is operating in normal mode.
+	 *           - 1: DCA is performing a reset. */
+	ARGUS_STATE_DCA_RESET = 1U << 18U,
+
 } argus_state_t;
 
 /*!***************************************************************************

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h

@@ -58,6 +58,7 @@ extern "C" {
  *****************************************************************************/
 
 #include "utility/int_math.h"
+#include <stdbool.h>
 #include <assert.h>
 
 
@@ -138,6 +139,13 @@ extern "C" {
 #define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U))
 
 
+/*!*****************************************************************************
+ * @brief   Macro to create a pixel mask given by the pixels n-index.
+ * @param   n n-index of the pixel.
+ * @return  The pixel mask with only n-index pixel set.
+ ******************************************************************************/
+#define PIXELN_MASK(n) (0x01U << (n))
+
 /*!*****************************************************************************
  * @brief   Macro to determine if a pixel given by the n-index is enabled in a pixel mask.
  * @param   msk 32-bit pixel mask
@@ -151,16 +159,23 @@ extern "C" {
  * @param   msk 32-bit pixel mask
  * @param   n n-index of the pixel to enable.
  ******************************************************************************/
-#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n)))
+#define PIXELN_ENABLE(msk, n) ((msk) |= (PIXELN_MASK(n)))
 
 /*!*****************************************************************************
  * @brief   Macro disable a pixel given by the n-index in a pixel mask.
  * @param   msk 32-bit pixel mask
  * @param   n n-index of the pixel to disable.
  ******************************************************************************/
-#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n))))
+#define PIXELN_DISABLE(msk, n) ((msk) &= (~PIXELN_MASK(n)))
 
 
+/*!*****************************************************************************
+ * @brief   Macro to create a pixel mask given by the pixels ADC channel number.
+ * @param   c The ADC channel number of the pixel.
+ * @return  The 32-bit pixel mask with only pixel ADC channel set.
+ ******************************************************************************/
+#define PIXELCH_MASK(c) (0x01U << (PIXEL_CH2N(c)))
+
 /*!*****************************************************************************
  * @brief   Macro to determine if an ADC pixel channel is enabled from a pixel mask.
  * @param   msk The 32-bit pixel mask
@@ -184,6 +199,14 @@ extern "C" {
 #define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c)))
 
 
+/*!*****************************************************************************
+ * @brief   Macro to create a pixel mask given by the pixel x-y-indices.
+ * @param   x x-index of the pixel.
+ * @param   y y-index of the pixel.
+ * @return  The 32-bit pixel mask with only pixel ADC channel set.
+ ******************************************************************************/
+#define PIXELXY_MASK(x, y) (0x01U << (PIXEL_XY2N(x, y)))
+
 /*!*****************************************************************************
  * @brief   Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask.
  * @param   msk 32-bit pixel mask
@@ -337,10 +360,10 @@ static inline uint32_t ShiftSelectedPixels(const uint32_t pixel_mask,
 
 	uint32_t shifted_mask = 0;
 
-	for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
-		for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
-			int8_t x_src = x - dx;
-			int8_t y_src = y - dy;
+	for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
+		for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
+			int8_t x_src = (int8_t)(x - dx);
+			int8_t y_src = (int8_t)(y - dy);
 
 			if (dy & 0x1) {
 				/* Compensate for hexagonal pixel shape. */
@@ -409,8 +432,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 		int8_t min_y = -1;
 
 		/* Find nearest not selected pixel. */
-		for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
-			for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
+		for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) {
+			for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) {
 				if (!PIXELXY_ISENABLED(pixel_mask, x, y)) {
 					int32_t distx = (x - center_x) << 1;
 
@@ -423,8 +446,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 
 					if (dist < min_dist) {
 						min_dist = dist;
-						min_x = x;
-						min_y = y;
+						min_x = (int8_t)x;
+						min_y = (int8_t)y;
 					}
 				}
 			}
@@ -438,6 +461,64 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask,
 
 	return pixel_mask;
 }
+
+/*!*****************************************************************************
+ * @brief   Fills a pixel mask with the direct neighboring pixels around a pixel.
+ *
+ * @details The pixel mask is iteratively filled with the direct neighbors of the
+ *          specified center pixel.
+ *
+ *          Note that the function is able to handle corner and edge pixels and
+ *          also to handle odd/even lines (which have different layouts)
+ *
+ * @param   x The selected pixel x-index.
+ * @param   y The selected pixel y-index.
+ * @return  The filled pixel mask with all direct neighbors of the selected pixel.
+ ******************************************************************************/
+static inline uint32_t GetAdjacentPixelsMask(const uint_fast8_t x,
+		const uint_fast8_t y)
+{
+	assert(x < ARGUS_PIXELS_X);
+	assert(y < ARGUS_PIXELS_Y);
+
+	uint32_t mask = 0u;
+
+	bool isXEdgeLow = (x == 0);
+	bool isXEdgeHigh = (x == (ARGUS_PIXELS_X - 1));
+	bool isYEdgeLow = (y == 0);
+	bool isYEdgeHigh = (y == (ARGUS_PIXELS_Y - 1));
+
+	if (y % 2 == 0) {
+		if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x,     y - 1); }
+
+		if ((!isXEdgeHigh) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x + 1, y - 1); }
+
+		if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
+
+		if ((!isXEdgeHigh) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x + 1, y + 1); }
+
+		if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x,     y + 1); }
+
+		if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
+
+	} else {
+		if ((!isXEdgeLow) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x - 1, y - 1); }
+
+		if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x,     y - 1); }
+
+		if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); }
+
+		if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x,     y + 1); }
+
+		if ((!isXEdgeLow) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x - 1, y + 1); }
+
+		if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); }
+	}
+
+	return mask;
+}
+
+
 /*! @} */
 #ifdef __cplusplus
 } // extern "C"

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h

@@ -1,170 +0,0 @@
-/*************************************************************************//**
- * @file
- * @brief    	This file is part of the AFBR-S50 API.
- * @details		Defines macros to work with pixel and ADC channel masks.
- *
- * @copyright
- *
- * Copyright (c) 2021, Broadcom Inc
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- *    list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder 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 HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *****************************************************************************/
-
-#ifndef ARGUS_MSK_H
-#define ARGUS_MSK_H
-
-/*!***************************************************************************
- * @defgroup	argusmap ADC Channel Mapping
- * @ingroup		argusres
- *
- * @brief		Pixel ADC Channel (n) to x-y-Index Mapping
- *
- * @details		The ADC Channels of each pixel or auxiliary channel on the device
- * 				is numbered in a way that is convenient on the chip. The macros
- * 				in this module are defined in order to obtain the x-y-indices of
- * 				each channel and vice versa.
- *
- * @addtogroup 	argusmap
- * @{
- *****************************************************************************/
-
-#include "api/argus_def.h"
-#include "utility/int_math.h"
-
-/*!*****************************************************************************
- * @brief	Macro to determine the channel number of an specified Pixel.
- * @param	x The x index of the pixel.
- * @param	y The y index of the pixel.
- * @return	The channel number n of the pixel.
- ******************************************************************************/
-#define PIXEL_XY2N(x, y) ((((x) ^ 7) << 1) | ((y) & 2) << 3 | ((y) & 1))
-
-/*!*****************************************************************************
- * @brief	Macro to determine the x index of an specified Pixel channel.
- * @param	n The channel number of the pixel.
- * @return	The x index number of the pixel.
- ******************************************************************************/
-#define PIXEL_N2X(n) ((((n) >> 1U) & 7) ^ 7)
-
-/*!*****************************************************************************
- * @brief	Macro to determine the y index of an specified Pixel channel.
- * @param	n The channel number of the pixel.
- * @return	The y index number of the pixel.
- ******************************************************************************/
-#define PIXEL_N2Y(n) (((n) & 1U) | (((n) >> 3) & 2U))
-
-/*!*****************************************************************************
- * @brief	Macro to determine if a ADC Pixel channel was enabled from a pixel mask.
- * @param	msk The 32-bit pixel mask
- * @param	ch The channel number of the pixel.
- * @return 	True if the pixel channel n was enabled, false elsewise.
- ******************************************************************************/
-#define PIXELN_ISENABLED(msk, ch) (((msk) >> (ch)) & 0x01U)
-
-/*!*****************************************************************************
- * @brief	Macro enables an ADC Pixel channel in a pixel mask.
- * @param	msk The 32-bit pixel mask
- * @param	ch The channel number of the pixel.
- ******************************************************************************/
-#define PIXELN_ENABLE(msk, ch) ((msk) |= (0x01U << (ch)))
-
-/*!*****************************************************************************
- * @brief	Macro disables an ADC Pixel channel in a pixel mask.
- * @param	msk The 32-bit pixel mask
- * @param	ch The channel number of the pixel.
- ******************************************************************************/
-#define PIXELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << (ch))))
-
-/*!*****************************************************************************
- * @brief	Macro to determine if an ADC Pixel channel was enabled from a pixel mask.
- * @param	msk 32-bit pixel mask
- * @param	x x index of the pixel.
- * @param	y y index of the pixel.
- * @return 	True if the pixel (x,y) was enabled, false elsewise.
- ******************************************************************************/
-#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y)))
-
-/*!*****************************************************************************
- * @brief	Macro enables an ADC Pixel channel in a pixel mask.
- * @param	msk 32-bit pixel mask
- * @param	x x index of the pixel.
- * @param	y y index of the pixel.
- ******************************************************************************/
-#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y)))
-
-/*!*****************************************************************************
- * @brief	Macro disables an ADC Pixel channel in a pixel mask.
- * @param	msk 32-bit pixel mask
- * @param	x x index of the pixel.
- * @param	y y index of the pixel.
- ******************************************************************************/
-#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y)))
-
-/*!*****************************************************************************
- * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
- * @param	msk 32-bit channel mask
- * @param	ch channel number of the ADC channel.
- * @return 	True if the ADC channel n was enabled, false elsewise.
- ******************************************************************************/
-#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U)
-
-/*!*****************************************************************************
- * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
- * @param	msk 32-bit channel mask
- * @param	ch channel number of the ADC channel.
- * @return 	True if the ADC channel n was enabled, false elsewise.
- ******************************************************************************/
-#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U)))
-
-/*!*****************************************************************************
- * @brief	Macro to determine if a ADC channel was enabled from a channel mask.
- * @param	msk 32-bit channel mask
- * @param	ch channel number of the ADC channel.
- * @return 	True if the ADC channel n was enabled, false elsewise.
- ******************************************************************************/
-#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U))))
-
-
-/*!*****************************************************************************
- * @brief	Macro to determine the number of enabled pixel channels via a popcount
- * 			algorithm.
- * @param	pxmsk 32-bit pixel mask
- * @return 	The count of enabled pixel channels.
- ******************************************************************************/
-#define PIXEL_COUNT(pxmsk) popcount(pxmsk)
-
-/*!*****************************************************************************
- * @brief	Macro to determine the number of enabled channels via a popcount
- * 			algorithm.
- * @param	pxmsk 32-bit pixel mask
- * @param	chmsk 32-bit channel mask
- * @return 	The count of enabled ADC channels.
- ******************************************************************************/
-#define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk))
-
-/*! @} */
-#endif /* ARGUS_MSK_H */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h

@@ -36,6 +36,9 @@
 
 #ifndef ARGUS_OFFSET_H
 #define ARGUS_OFFSET_H
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /*!***************************************************************************
  * @addtogroup  argus_cal
@@ -48,12 +51,26 @@
  * @brief   Pixel Range Offset Table.
  * @details Contains pixel range offset values for all 32 active pixels.
  *****************************************************************************/
-typedef struct argus_cal_offset_table_t {
-	/*! The offset values per pixel in meter and Q0.15 format. */
-	q0_15_t Table[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+typedef union argus_cal_offset_table_t {
+	struct {
+		/*! The offset values table for Low Power Stage of all 32 pixels.
+		 *  Unit: meter; Format: Q0.15 */
+		q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+
+		/*! The offset values table for High Power Stage of all 32 pixels.
+		 *  Unit: meter; Format: Q0.15 */
+		q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+	};
+
+	/*! The offset values table for Low/High Power Stages of all 32 pixels.
+	 *  Unit: meter; Format: Q0.15 */
+	q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
 } argus_cal_offset_table_t;
 
 
 /*! @} */
+#ifdef __cplusplus
+} // extern "C"
+#endif
 #endif /* ARGUS_OFFSET_T */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h

@@ -55,11 +55,11 @@ extern "C" {
  *              information from the filtered pixels by averaging them in a
  *              specified way.
  *
- *              The Pixel Binning Algorithm is a three-stage filter with a
- *              fallback value:
+ *              Basically, the Pixel Binning Algorithm is a multi-stage filter:
  *
  *              -# A fixed pre-filter mask is applied to statically disable
  *                  specified pixels.
+ *
  *              -# A relative and absolute amplitude filter is applied in the
  *                  second stage. The relative filter is determined by a ratio
  *                  of the maximum amplitude off all available (i.e. not filtered
@@ -75,12 +75,28 @@ extern "C" {
  *                  selected and considered for the final 1D distance. The
  *                  absolute threshold is used to dismiss pixels that are below
  *                  the noise level. The latter would be considered for the 1D
- *                  result if the maximum amplitude is already very low.
+ *                  result if the maximum amplitude is already very low.\n
+ *                  Those threshold are implemented using a hysteresis behavior.
+ *                  For its configuration, see the following parameters:
+ *                  - #argus_cfg_pba_t::RelativeAmplitudeInclusion
+ *                  - #argus_cfg_pba_t::RelativeAmplitudeExclusion
+ *                  - #argus_cfg_pba_t::AbsoluteAmplitudeInclusion
+ *                  - #argus_cfg_pba_t::AbsoluteAmplitudeExclusion
+ *                  .
+ *
  *              -# An absolute minimum distance filter is applied in addition
  *                  to the amplitude filter. This removes all pixel that have
  *                  a lower distance than the specified threshold. This is used
  *                  to remove invalid pixels that can be detected by a physically
- *                  not correct negative distance.
+ *                  not correct negative distance.\n
+ *                  For its configuration, see the following parameters:
+ *                  - #PBA_ENABLE_MIN_DIST_SCOPE
+ *                  - #argus_cfg_pba_t::AbsoluteDistanceScopeInclusion
+ *                  - #argus_cfg_pba_t::AbsoluteDistanceScopeExclusion
+ *                  - #argus_cfg_pba_t::RelativeDistanceScopeInclusion
+ *                  - #argus_cfg_pba_t::RelativeDistanceScopeExclusion
+ *                  .
+ *
  *              -# A distance filter is used to distinguish pixels that target
  *                  the actual object from pixels that see the brighter background,
  *                  e.g. white walls. Thus, the pixel with the minimum distance
@@ -90,11 +106,31 @@ extern "C" {
  *                  determined by an relative (to the current minimum distance)
  *                  and an absolute value. The larger scope value is the
  *                  relevant one, i.e. the relative distance scope can be used
- *                  to heed the increasing noise at larger distances.
+ *                  to heed the increasing noise at larger distances.\n
+ *                  For its configuration, see the following parameters:
+ *                  - #argus_cfg_pba_t::AbsoluteMinimumDistanceThreshold
+ *                  .
+ *
  *              -# If all of the above filters fail to determine a single valid
  *                  pixel, the Golden Pixel is used as a fallback value. The
  *                  Golden Pixel is the pixel that sits right at the focus point
- *                  of the optics at large distances.
+ *                  of the optics at large distances. Thus, it is expected to
+ *                  have the best signal at large distances.\n
+ *                  For its configuration, see the following parameters:
+ *                  - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
+ *                  .
+ *
+ *              -# In order to avoid unwanted effects from "out-of-focus" pixels
+ *                  in application that require a smaller focus, the Golden Pixel
+ *                  Priority Mode prioritizes a valid signal on the central
+ *                  Golden Pixel over other pixels. That is, while the Golden
+ *                  Pixel has a reasonable signal strength, it is the only pixel
+ *                  considered for the 1D result.\n
+ *                  For its configuration, see the following parameters:
+ *                  - #PBA_ENABLE_GOLDPX_FALLBACK_MODE
+ *                  - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeInclusion
+ *                  - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeExclusion
+ *                  .
  *              .
  *
  *              After filtering is done, there may be more than a single pixel
@@ -113,14 +149,17 @@ extern "C" {
  * @brief   Enable flags for the pixel binning algorithm.
  *
  * @details Determines the pixel binning algorithm feature enable status.
+ *
  *          - [0]: #PBA_ENABLE: Enables the pixel binning feature.
  *          - [1]: reserved
  *          - [2]: reserved
  *          - [3]: reserved
- *          - [4]: reserved
- *          - [5]: #PBA_ENABLE_GOLDPX: Enables the Golden Pixel feature.
- *          - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope
- *                   feature.
+ *          - [4]: #PBA_ENABLE_GOLDPX_PRIORITY_MODE: Enables the Golden Pixel
+ *                                                   priority mode feature.
+ *          - [5]: #PBA_ENABLE_GOLDPX_FALLBACK_MODE: Enables the Golden Pixel
+ *                                                   fallback mode feature.
+ *          - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance
+ *                                             scope feature.
  *          - [7]: reserved
  *          .
  *****************************************************************************/
@@ -128,8 +167,17 @@ typedef enum argus_pba_flags_t {
 	/*! Enables the pixel binning feature. */
 	PBA_ENABLE = 1U << 0U,
 
-	/*! Enables the Golden Pixel. */
-	PBA_ENABLE_GOLDPX = 1U << 5U,
+	/*! Enables the Golden Pixel Priority Mode.
+	 *  If enabled, the Golden Pixel is prioritized over other Pixels as long
+	 *  as it has a good signal (determined by # */
+	PBA_ENABLE_GOLDPX_PRIORITY_MODE = 1U << 4U,
+
+	/*! Enables the Golden Pixel Fallback Mode.
+	 *  If enabled, the Golden Pixel is used as a last fallback pixel to obtain
+	 *  a valid signal from. This is recommended for all non-multi pixel
+	 *  devices whose TX field-of-view is aligned to target the Golden Pixel in
+	 *  factory calibration. */
+	PBA_ENABLE_GOLDPX_FALLBACK_MODE = 1U << 5U,
 
 	/*! Enables the minimum distance scope filter. */
 	PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U,
@@ -168,65 +216,297 @@ typedef struct {
 	 *  about the individual evaluation modes. */
 	argus_pba_averaging_mode_t AveragingMode;
 
-	/*! The Relative amplitude threshold value (in %) of the max. amplitude.
+	/*! The relative amplitude inclusion threshold (in %) of the max. amplitude.
 	 *
-	 *  Pixels with amplitude below this threshold value are dismissed.
+	 *  Pixels, whose amplitudes raise above this inclusion threshold, are
+	 *  added to the pixel binning. The amplitude must fall below the
+	 *  exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
+	 *  the pixel binning again.
 	 *
 	 *  All available values from the 8-bit representation are valid.
 	 *  The actual percentage value is determined by 100%/256*x.
 	 *
-	 *  Use 0 to disable the relative amplitude threshold. */
-	uq0_8_t RelAmplThreshold;
-
-	/*! The relative minimum distance scope value in %.
+	 *  Note: in addition to the relative criteria, there is also the absolute
+	 *  criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
+	 *  The pixels are added to the pixel binning if their respective amplitude
+	 *  is larger than the absolute AND relative inclusion values. On the other
+	 *  hand, they are removed if their amplitude falls below the absolute OR
+	 *  relative exclusion threshold.
 	 *
-	 *  Pixels that have a range value within [x0, x0 + dx] are considered
-	 *  for the pixel binning, where x0 is the minimum distance of all
-	 *  amplitude picked pixels and dx is the minimum distance scope value.
-	 *  The minimum distance scope value will be the maximum of relative
-	 *  and absolute value.
+	 *  Must be greater than or equal to the #RelativeAmplitudeExclusion.
+	 *
+	 *  Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only.
+	 *
+	 *  Use 0 (for both, #RelativeAmplitudeExclusion and
+	 *  #RelativeAmplitudeInclusion) to disable the relative amplitude
+	 *  hysteresis. */
+	uq0_8_t RelativeAmplitudeInclusion;
+
+	/*! The relative amplitude exclusion threshold (in %) of the max. amplitude.
+	 *
+	 *  Pixels, whose amplitudes fall below this exclusion threshold, are
+	 *  removed from the pixel binning. The amplitude must raise above the
+	 *  inclusion (#RelativeAmplitudeInclusion) threshold to be added back
+	 *  to be pixel binning again.
 	 *
 	 *  All available values from the 8-bit representation are valid.
 	 *  The actual percentage value is determined by 100%/256*x.
 	 *
-	 *  Special values:
-	 *  - 0: Use 0 for absolute value only or to choose the pixel with the
-	 *       minimum distance only (of also the absolute value is 0)! */
-	uq0_8_t RelMinDistanceScope;
+	 *  Note: in addition to the relative criteria, there is also the absolute
+	 *  criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion).
+	 *  The pixels are added to the pixel binning if their respective amplitude
+	 *  is larger than the absolute AND relative inclusion values. On the other
+	 *  hand, they are removed if their amplitude falls below the absolute OR
+	 *  relative exclusion threshold.
+	 *
+	 *  Must be less than or equal to #RelativeAmplitudeInclusion.
+	 *
+	 *  Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only.
+	 *
+	 *  Use 0 (for both, #RelativeAmplitudeExclusion and
+	 *  #RelativeAmplitudeInclusion) to disable the relative amplitude
+	 *  hysteresis. */
+	uq0_8_t RelativeAmplitudeExclusion;
 
-	/*! The absolute amplitude threshold value in LSB.
+	/*! The absolute amplitude inclusion threshold in LSB.
 	 *
-	 *  Pixels with amplitude below this threshold value are dismissed.
+	 *  Pixels, whose amplitudes raise above this inclusion threshold, are
+	 *  added to the pixel binning. The amplitude must fall below the
+	 *  exclusion (#RelativeAmplitudeExclusion) threshold to be removed from
+	 *  the pixel binning again.
 	 *
-	 *  The absolute amplitude threshold is only valid if the Golden Pixel
-	 *  mode is enabled. Otherwise, the threshold is set to 0 LSB internally.
+	 *  The absolute amplitude hysteresis is only valid if the Golden Pixel
+	 *  mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
+	 *  which disables the absolute criteria.
 	 *
 	 *  All available values from the 16-bit representation are valid.
 	 *  The actual LSB value is determined by x/16.
 	 *
-	 *  Use 0 to disable the absolute amplitude threshold. */
-	uq12_4_t AbsAmplThreshold;
-
-	/*! The absolute minimum distance scope value in m.
+	 *  Note: in addition to the absolute criteria, there is also the relative
+	 *  criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
+	 *  The pixels are added to the pixel binning if their respective amplitude
+	 *  is larger than the absolute AND relative inclusion values. On the other
+	 *  hand, they are removed if their amplitude falls below the absolute OR
+	 *  relative exclusion threshold.
 	 *
-	 *  Pixels that have a range value within [x0, x0 + dx] are considered
-	 *  for the pixel binning, where x0 is the minimum distance of all
-	 *  amplitude picked pixels and dx is the minimum distance scope value.
-	 *  The minimum distance scope value will be the maximum of relative
-	 *  and absolute value.
+	 *  Must be greater than or equal to #AbsoluteAmplitudeExclusion.
+	 *
+	 *  Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only.
+	 *
+	 *  Use 0 (for both, #AbsoluteAmplitudeExclusion and
+	 *  #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
+	 *  hysteresis. */
+	uq12_4_t AbsoluteAmplitudeInclusion;
+
+	/*! The absolute amplitude exclusion threshold in LSB.
+	 *
+	 *  Pixels, whose amplitudes fall below this exclusion threshold, are
+	 *  removed from the pixel binning. The amplitude must raise above the
+	 *  inclusion (#RelativeAmplitudeInclusion) threshold to be added back
+	 *  to be pixel binning again.
+	 *
+	 *  The absolute amplitude hysteresis is only valid if the Golden Pixel
+	 *  mode is enabled. Otherwise, the thresholds are set to 0 LSB internally
+	 *  which disables the absolute criteria.
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/16.
+	 *
+	 *  Note: in addition to the absolute criteria, there is also the relative
+	 *  criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion).
+	 *  The pixels are added to the pixel binning if their respective amplitude
+	 *  is larger than the absolute AND relative inclusion values. On the other
+	 *  hand, they are removed if their amplitude falls below the absolute OR
+	 *  relative exclusion threshold.
+	 *
+	 *  Must be less than or equal to #AbsoluteAmplitudeInclusion.
+	 *
+	 *  Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only.
+	 *
+	 *  Use 0 (for both, #AbsoluteAmplitudeExclusion and
+	 *  #AbsoluteAmplitudeInclusion) to disable the absolute amplitude
+	 *  hysteresis. */
+	uq12_4_t AbsoluteAmplitudeExclusion;
+
+	/*! The Golden Pixel Priority Mode inclusion threshold in LSB.
+	 *
+	 *  The Golden Pixel Priority Mode prioritizes a valid signal on the
+	 *  Golden Pixel over other pixel to avoid unwanted effects from
+	 *  "out-of-focus" pixels in application that require a smaller focus.
+	 *
+	 *  If the Golden Pixel priority mode is enabled (see
+	 *  #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid signal
+	 *  with amplitude higher than this inclusion threshold, its priority state
+	 *  is enabled and the binning exits early by dismissing all other pixels
+	 *  regardless of their respective amplitude or state. The Golden Pixel
+	 *  priority state is disabled if the Golden Pixel amplitude falls below
+	 *  the exclusion threshold (#GoldenPixelPriorityAmplitudeExclusion) or its
+	 *  state becomes invalid (e.g. #PIXEL_SAT).
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/16.
+	 *
+	 *  Use 0 to disable the Golden Pixel priority mode hysteresis. */
+	uq12_4_t GoldenPixelPriorityAmplitudeInclusion;
+
+	/*! The Golden Pixel Priority Mode exclusion threshold in LSB.
+	 *
+	 *  The Golden Pixel Priority Mode prioritizes a valid signal on the
+	 *  Golden Pixel over other pixel to avoid unwanted effects from
+	 *  "out-of-focus" pixels in application that require a smaller focus.
+	 *
+	 *  If the Golden Pixel priority mode is enabled (see
+	 *  #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid
+	 *  signal with amplitude higher than the exclusion threshold
+	 *  (#GoldenPixelPriorityAmplitudeInclusion), its priority state is enabled
+	 *  and the binning exits early by dismissing all other pixels regardless
+	 *  of their respective amplitude or state. The Golden Pixel priority state
+	 *  is disabled if the Golden Pixel amplitude falls below this exclusion
+	 *  threshold or its state becomes invalid (e.g. #PIXEL_SAT).
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/16.
+	 *
+	 *  Use 0 to disable the Golden Pixel priority mode hysteresis. */
+	uq12_4_t GoldenPixelPriorityAmplitudeExclusion;
+
+	/*! The relative minimum distance scope inclusion threshold (in %).
+	 *
+	 *  Pixels, whose range is smaller than the minimum distance inclusion
+	 *  threshold (x_min + dx_incl) are added to the pixel binning. The
+	 *  range must raise above the exclusion
+	 *  (#RelativeDistanceScopeExclusion) threshold to be removed
+	 *  from the pixel binning again. The relative value is determined
+	 *  by multiplying the percentage with the minimum distance.
+	 *
+	 *  The distance scope determines an interval within that pixels
+	 *  are considered valid, originating at the minimum distance (x_min).
+	 *  The width of the interval is specified by the relative and absolute
+	 *  minimum distance scope thresholds. The actual values it the
+	 *  maximum of both, the relative and absolute inclusion values
+	 *  (#AbsoluteDistanceScopeInclusion).
+	 *
+	 *  All available values from the 8-bit representation are valid.
+	 *  The actual percentage value is determined by 100%/256*x.
+	 *
+	 *  Must be smaller than or equal to the #RelativeDistanceScopeExclusion.
+	 *
+	 *  Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only. */
+	uq0_8_t RelativeDistanceScopeInclusion;
+
+	/*! The relative distance scope exclusion threshold (in %).
+	 *
+	 *  Pixels, whose range is larger than the minimum distance exclusion
+	 *  threshold (x_min + dx_excl) are removed from the pixel binning. The
+	 *  range must fall below the inclusion
+	 *  (#RelativeDistanceScopeInclusion) threshold to be added
+	 *  to the pixel binning again. The relative value is determined
+	 *  by multiplying the percentage with the minimum distance.
+	 *
+	 *  The distance scope determines an interval within that pixels
+	 *  are considered valid, originating at the minimum distance (x_min).
+	 *  The width of the interval is specified by the relative and absolute
+	 *  minimum distance scope thresholds. The actual values it the
+	 *  maximum of both, the relative and absolute exclusion values
+	 *  (#AbsoluteDistanceScopeExclusion).
+	 *
+	 *  All available values from the 8-bit representation are valid.
+	 *  The actual percentage value is determined by 100%/256*x.
+	 *
+	 *  Must be larger than or equal to the #RelativeDistanceScopeInclusion.
+	 *
+	 *  Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only. */
+	uq0_8_t RelativeDistanceScopeExclusion;
+
+	/*! The absolute minimum distance scope inclusion threshold (in m).
+	 *
+	 *  Pixels, whose range is smaller than the minimum distance inclusion
+	 *  threshold (x_min + dx_incl) are added to the pixel binning. The
+	 *  range must raise above the exclusion
+	 *  (#AbsoluteDistanceScopeExclusion) threshold to be added
+	 *  to the pixel binning again.
+	 *
+	 *  The distance scope determines an interval within that pixels
+	 *  are considered valid, originating at the minimum distance (x_min).
+	 *  The width of the interval is specified by the relative and absolute
+	 *  minimum distance scope thresholds. The actual values it the
+	 *  maximum of both, the relative and absolute exclusion values
+	 *  (#RelativeDistanceScopeInclusion).
 	 *
 	 *  All available values from the 16-bit representation are valid.
 	 *  The actual LSB value is determined by x/2^15.
 	 *
-	 *  Special values:
-	 *  - 0: Use 0 for relative value only or to choose the pixel with the
-	 *       minimum distance only (of also the relative value is 0)! */
-	uq1_15_t AbsMinDistanceScope;
+	 *  Must be smaller than or equal to the #AbsoluteDistanceScopeExclusion.
+	 *
+	 *  Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only. */
+	uq1_15_t AbsoluteDistanceScopeInclusion;
+
+	/*! The absolute minimum distance scope exclusion threshold (in m).
+	 *
+	 *  Pixels, whose range is larger than the minimum distance exclusion
+	 *  threshold (x_min + dx_excl) are removed from the pixel binning. The
+	 *  range must fall below the inclusion
+	 *  (#AbsoluteDistanceScopeInclusion) threshold to be added
+	 *  to the pixel binning again.
+	 *
+	 *  The distance scope determines an interval within that pixels
+	 *  are considered valid, originating at the minimum distance (x_min).
+	 *  The width of the interval is specified by the relative and absolute
+	 *  minimum distance scope thresholds. The actual values it the
+	 *  maximum of both, the relative and absolute exclusion values
+	 *  (#RelativeDistanceScopeExclusion).
+	 *
+	 *  All available values from the 16-bit representation are valid.
+	 *  The actual LSB value is determined by x/2^15.
+	 *
+	 *  Must be larger than or equal to the #AbsoluteDistanceScopeInclusion.
+	 *
+	 *  Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to
+	 *  disable the hysteresis behavior and use it as a threshold only. */
+	uq1_15_t AbsoluteDistanceScopeExclusion;
+
+	/*! The Golden Pixel Saturation Filter Pixel Threshold.
+	 *
+	 *  The Golden Pixel Saturation Filter will evaluate the status of the
+	 *  Golden Pixel to #PIXEL_INVALID if a certain number of active pixels,
+	 *  i.e. pixels that are not removed by the static pre-filter mask
+	 *  (#PrefilterMask), are saturated (#PIXEL_SAT).
+	 *
+	 *  The purpose of this filter is to avoid erroneous situations with highly
+	 *  reflective targets (e.g. retro-reflectors) that can invalidate the
+	 *  Golden Pixel such that it would not show the correct saturation state.
+	 *  In order to avoid using the Golden Pixel in that scenario, this filter
+	 *  mechanism can be used to remove the Golden Pixel if a specified number
+	 *  of other pixels show saturation state.
+	 *
+	 *  Use 0 to disable the Golden Pixel Saturation Filter. */
+	uint8_t GoldenPixelSaturationFilterPixelThreshold;
+
+	/*! The Golden Pixel out-of-sync age limit for the GPPM.
+	 *
+	 *  The Golden Pixel out-of-sync age is the number of consecutive frames
+	 *  where the Golden Pixel is out-of-sync. This parameters is the threshold
+	 *  to distinguish between temporary and permanent out-of-sync states.
+	 *
+	 *  Temporary out-of-sync states happen when the target rapidly changes. In
+	 *  this case, the Golden Pixel Priority Mode (GPPM) is not exited. Only if
+	 *  the out-of-sync age exceeds the specified threshold, the Golden Pixel is
+	 *  considered erroneous and the GPPM is exited.
+	 *
+	 *  Use 0 to disable the Golden Pixel out-of-sync aging (= infinity). */
+	uint8_t GoldenPixelOutOfSyncAgeThreshold;
 
 	/*! The absolute minimum distance threshold value in m.
 	 *
 	 *  Pixels with distance below this threshold value are dismissed. */
-	q9_22_t AbsMinDistanceThreshold;
+	q9_22_t AbsoluteMinimumDistanceThreshold;
 
 	/*! The pre-filter pixel mask determines the pixel channels that are
 	 *  statically excluded from the pixel binning (i.e. 1D distance) result.

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h

@@ -55,6 +55,9 @@ extern "C" {
  * Also used as a special value to determine no object detected or infinity range. */
 #define ARGUS_RANGE_MAX (Q9_22_MAX)
 
+/*! Minimum range value in Q9.22 format. */
+#define ARGUS_RANGE_MIN (Q9_22_MIN)
+
 /*!***************************************************************************
  * @brief   Status flags for the evaluated pixel structure.
  *

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h

@@ -227,12 +227,19 @@ enum Status {
 
 	/*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected
 	 *  power-on-reset cycle or invalid write cycle of SPI. System tries to
-	 *  reset the values. */
+	 *  reset the values.
+	 *
+	 *  @note If this error occurs after intentionally cycling the power supply
+	 *  of the device, use the #Argus_RestoreDeviceState API function to properly
+	 *  recover the current API state into the device to avoid that issue. */
 	ERROR_ARGUS_DATA_INTEGRITY_LOST = -114,
 
 	/*! -115: AFBR-S50 Error: The range offsets calibration failed! */
 	ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115,
 
+	/*! -116: AFBR-S50 Error: The VSUB calibration failed! */
+	ERROR_ARGUS_VSUB_CALIBRATION_FAILED = -116,
+
 	/*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the
 	 *  requested command. */
 	ERROR_ARGUS_BUSY = -191,

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h

@@ -56,13 +56,13 @@ extern "C" {
 #define ARGUS_API_VERSION_MAJOR    1
 
 /*! Minor version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_MINOR    4
+#define ARGUS_API_VERSION_MINOR    5
 
 /*! Bugfix version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_BUGFIX   4
+#define ARGUS_API_VERSION_BUGFIX   6
 
 /*! Build version number of the AFBR-S50 API. */
-#define ARGUS_API_VERSION_BUILD    "20230327150535"
+#define ARGUS_API_VERSION_BUILD    "20240208081753"
 
 /*****************************************************************************/
 

src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h

@@ -72,30 +72,28 @@ typedef struct xtalk_t {
  * @details Contains crosstalk vector values for all 32 active pixels,
  *          separated for A/B-Frames.
  *****************************************************************************/
-typedef struct argus_cal_xtalk_table_t {
-	union {
-		struct {
-			/*! The crosstalk vector table for A-Frames. */
-			xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+typedef union argus_cal_xtalk_table_t {
+	struct {
+		/*! The crosstalk vector table for A-Frames. */
+		xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 
-			/*! The crosstalk vector table for B-Frames. */
-			xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
-		};
-
-		/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
-		xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+		/*! The crosstalk vector table for B-Frames. */
+		xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
 	};
 
+	/*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/
+	xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y];
+
 } argus_cal_xtalk_table_t;
 
 
 /*!***************************************************************************
- * @brief   Pixel-To-Pixel Crosstalk Compensation Parameters.
- * @details Contains calibration data that belongs to the pixel-to-pixel
- *          crosstalk compensation feature.
+ * @brief   Electrical Pixel-To-Pixel Crosstalk Compensation Parameters.
+ * @details Contains calibration data that belongs to the electrical
+ *          pixel-to-pixel crosstalk compensation feature.
  *****************************************************************************/
-typedef struct argus_cal_p2pxtalk_t {
-	/*! Pixel-To-Pixel Compensation on/off. */
+typedef struct argus_cal_electrical_p2pxtalk_t {
+	/*! Electrical Pixel-To-Pixel Compensation on/off. */
 	bool Enabled;
 
 	/*! The relative threshold determines when the compensation is active for
@@ -134,8 +132,39 @@ typedef struct argus_cal_p2pxtalk_t {
 	 *  Higher values determine more influence on the reference pixel signal. */
 	q3_12_t KcFactorCRefPx;
 
-} argus_cal_p2pxtalk_t;
+} argus_cal_electrical_p2pxtalk_t;
 
+/*!***************************************************************************
+ * @brief   Optical Pixel-To-Pixel Crosstalk Compensation Parameters.
+ * @details Contains calibration data that belongs to the optical
+ *          pixel-to-pixel crosstalk compensation feature.
+ *****************************************************************************/
+typedef struct argus_cal_optical_p2pxtalk_t {
+	/*! Optical Pixel-To-Pixel Compensation on/off. */
+	bool Enabled;
+
+	/*! The sine component of the coupling coefficient that determines the amount
+	 *  of a neighbour pixel signal that influences the raw signal of certain pixel.
+	 *  Higher values determine more influence on the individual pixel signal. */
+	q3_12_t CouplingCoeffS;
+
+	/*! The cosine component of the coupling coefficient that determines the amount
+	 *  of a neighbour pixel signal that influences the raw signal of a certain pixel.
+	 *  Higher values determine more influence on the individual pixel signal. */
+	q3_12_t CouplingCoeffC;
+
+} argus_cal_optical_p2pxtalk_t;
+
+/*!***************************************************************************
+ * @brief   Pixel-To-Pixel Crosstalk Compensation Parameters.
+ * @details Contains combined calibration data for electrical and
+ *          optical pixel-to-pixel crosstalk compensation feature.
+ *****************************************************************************/
+typedef struct argus_cal_p2pxtalk_t {
+	argus_cal_electrical_p2pxtalk_t Electrical;
+
+	argus_cal_optical_p2pxtalk_t Optical;
+} argus_cal_p2pxtalk_t;
 
 /*! @} */
 #ifdef __cplusplus

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h

@@ -61,7 +61,7 @@ extern "C" {
  * @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit
  *          architecture with maximum precision.
  *          The result is correctly rounded and given as the input format.
- *          Division by 0 yields max. values determined by signa of numerator.
+ *          Division by 0 yields max. values determined by signs of numerator.
  *          Too high/low results are truncated to max/min values.
  *
  *          Depending on the architecture, the division is implemented with a 64-bit
@@ -89,14 +89,14 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
 
 		if (c > 0x80000000U) { return INT32_MIN; }
 
-		return -c;
+		return (int32_t) - c;
 
 	} else {
 		c = ((c / b) + (1 << 13U)) >> 14U;
 
 		if (c > (int64_t)INT32_MAX) { return INT32_MAX; }
 
-		return c;
+		return (int32_t)c;
 	}
 
 #else
@@ -159,10 +159,16 @@ inline int32_t fp_div16(int32_t a, q15_16_t b)
 
 	/* Figure out the sign of result */
 	if ((uint32_t)(a ^ b) & 0x80000000U) {
-		result = -result;
+		return (int32_t) - result;
+
+	} else {
+		// fix 05.10.2023; the corner case, when result == INT32_MAX + 1:
+		// Catch the wraparound (to INT32_MIN) and truncate instead.
+		if (quotient > INT32_MAX) { return INT32_MAX; }
+
+		return (int32_t)result;
 	}
 
-	return (int32_t)result;
 #endif
 }
 

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h

@@ -118,7 +118,7 @@ inline uint32_t fp_mulu(uint32_t u, uint32_t v, uint_fast8_t shift)
 	assert(shift <= 32);
 #if USE_64BIT_MUL
 	const uint64_t w = (uint64_t)u * (uint64_t)v;
-	return (w >> shift) + ((w >> (shift - 1)) & 1U);
+	return (uint32_t)((w >> shift) + ((w >> (shift - 1)) & 1U));
 #else
 	uint32_t tmp[2] = { 0 };
 	muldwu(tmp, u, v);
@@ -158,15 +158,15 @@ inline int32_t fp_muls(int32_t u, int32_t v, uint_fast8_t shift)
 
 	uint32_t u2, v2;
 
-	if (u < 0) { u2 = -u; sign = -sign; } else { u2 = u; }
+	if (u < 0) { u2 = (uint32_t) - u; sign = -sign; } else { u2 = (uint32_t)u; }
 
-	if (v < 0) { v2 = -v; sign = -sign; } else { v2 = v; }
+	if (v < 0) { v2 = (uint32_t) - v; sign = -sign; } else { v2 = (uint32_t)v; }
 
 	const uint32_t res = fp_mulu(u2, v2, shift);
 
 	assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U);
 
-	return sign > 0 ? res : -res;
+	return sign > 0 ? (int32_t)res : -(int32_t)res;
 }
 
 
@@ -225,7 +225,9 @@ inline uint32_t fp_mul_u32_u16(uint32_t u, uint16_t v, uint_fast8_t shift)
  *****************************************************************************/
 inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift)
 {
-	return u >= 0 ? fp_mul_u32_u16(u, v, shift) : - fp_mul_u32_u16(-u, v, shift);
+	return u >= 0 ?
+	       (int32_t)fp_mul_u32_u16((uint32_t)u, v, shift) :
+	       -(int32_t)fp_mul_u32_u16((uint32_t) - u, v, shift);
 }
 
 /*! @} */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h

@@ -80,7 +80,7 @@ inline uint32_t fp_rndu(uint32_t Q, uint_fast8_t n)
  *****************************************************************************/
 inline int32_t fp_rnds(int32_t Q, uint_fast8_t n)
 {
-	return (Q < 0) ? -fp_rndu(-Q, n) : fp_rndu(Q, n);
+	return (Q < 0) ? -(int32_t)fp_rndu((uint32_t)(-Q), n) : (int32_t)fp_rndu((uint32_t)Q, n);
 }
 
 /*!***************************************************************************
@@ -108,7 +108,7 @@ inline uint32_t fp_truncu(uint32_t Q, uint_fast8_t n)
  *****************************************************************************/
 inline int32_t fp_truncs(int32_t Q, uint_fast8_t n)
 {
-	return (Q < 0) ? -fp_truncu(-Q, n) : fp_truncu(Q, n);
+	return (Q < 0) ? -(int32_t)fp_truncu((uint32_t)(-Q), n) : (int32_t)fp_truncu((uint32_t)Q, n);
 }
 
 /*! @} */

src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h

@@ -66,7 +66,7 @@ inline uint32_t log2i(uint32_t x)
 {
 	assert(x != 0);
 #if 1
-	return 31 - __builtin_clz(x);
+	return (uint32_t)(31 - __builtin_clz(x));
 #else
 #define S(k) if (x >= (1 << k)) { i += k; x >>= k; }
 	int i = 0; S(16); S(8); S(4); S(2); S(1); return i;

src/drivers/drv_orb_dev.h

@@ -64,13 +64,10 @@
 /** Get the priority for the topic */
 #define ORBIOCGPRIORITY		_ORBIOC(14)
 
-/** Set the queue size of the topic */
-#define ORBIOCSETQUEUESIZE	_ORBIOC(15)
-
 /** Get the minimum interval at which the topic can be seen to be updated for this subscription */
-#define ORBIOCGETINTERVAL	_ORBIOC(16)
+#define ORBIOCGETINTERVAL	_ORBIOC(15)
 
 /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
-#define ORBIOCISADVERTISED	_ORBIOC(17)
+#define ORBIOCISADVERTISED	_ORBIOC(16)
 
 #endif /* _DRV_UORB_H */

src/drivers/gps/gps.cpp

@@ -45,6 +45,7 @@
 #include <poll.h>
 #endif
 
+#include <termios.h>
 #include <cstring>
 
 #include <drivers/drv_sensor.h>
@@ -56,8 +57,6 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -82,7 +81,6 @@
 #include <linux/spi/spidev.h>
 #endif /* __PX4_LINUX */
 
-using namespace device;
 using namespace time_literals;
 
 #define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@@ -171,10 +169,7 @@ public:
 	void reset_if_scheduled();
 
 private:
-#ifdef __PX4_LINUX
-	int				_spi_fd {-1};					///< SPI interface to GPS
-#endif
-	Serial 			*_uart = nullptr;				///< UART interface to GPS
+	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
 	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
@@ -334,11 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
 		char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
 		set_device_bus(c - 48); // sub 48 to convert char to integer
 
-#ifdef __PX4_LINUX
-
 	} else if (_interface == GPSHelper::Interface::SPI) {
 		set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
-#endif
 	}
 
 	if (_mode == gps_driver_mode_t::None) {
@@ -411,23 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			return num_read;
 		}
 
-	case GPSCallbackType::writeDeviceData: {
-			gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
+	case GPSCallbackType::writeDeviceData:
+		gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
 
-			int ret = 0;
-
-			if (gps->_uart) {
-				ret = gps->_uart->write((void *) data1, (size_t) data2);
-
-#ifdef __PX4_LINUX
-
-			} else if (gps->_spi_fd >= 0) {
-				ret = ::write(gps->_spi_fd, data1, (size_t)data2);
-#endif
-			}
-
-			return ret;
-		}
+		return ::write(gps->_serial_fd, data1, (size_t)data2);
 
 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -470,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 
 int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 {
-	int ret = 0;
-	const unsigned character_count = 32; // minimum bytes that we want to read
-	const int max_timeout = 50;
-	int timeout_adjusted = math::min(max_timeout, timeout);
-
 	handleInjectDataTopic();
 
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
+#if !defined(__PX4_QURT)
 
-// SPI is only supported on LInux
-#if defined(__PX4_LINUX)
+	/* For non QURT, use the usual polling. */
 
-	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
+	//Poll only for the serial data. In the same thread we also need to handle orb messages,
+	//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
+	//two pollings use different underlying mechanisms (at least under posix), which makes this
+	//impossible. Instead we limit the maximum polling interval and regularly check for new orb
+	//messages.
+	//FIXME: add a unified poll() API
+	const int max_timeout = 50;
 
-		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
-		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
-		//two pollings use different underlying mechanisms (at least under posix), which makes this
-		//impossible. Instead we limit the maximum polling interval and regularly check for new orb
-		//messages.
-		//FIXME: add a unified poll() API
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;
 
-		pollfd fds[1];
-		fds[0].fd = _spi_fd;
-		fds[0].events = POLLIN;
+	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
 
-		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
+	if (ret > 0) {
+		/* if we have new data from GPS, go handle it */
+		if (fds[0].revents & POLLIN) {
+			/*
+			 * We are here because poll says there is some data, so this
+			 * won't block even on a blocking device. But don't read immediately
+			 * by 1-2 bytes, wait for some more data to save expensive read() calls.
+			 * If we have all requested data available, read it without waiting.
+			 * If more bytes are available, we'll go back to poll() again.
+			 */
+			const unsigned character_count = 32; // minimum bytes that we want to read
+			unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
+			const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
 
-		if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device. But don't read immediately
-				 * by 1-2 bytes, wait for some more data to save expensive read() calls.
-				 * If we have all requested data available, read it without waiting.
-				 * If more bytes are available, we'll go back to poll() again.
-				 */
-				unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
-				const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
+#ifdef __PX4_NUTTX
+			int err = 0;
+			int bytes_available = 0;
+			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
 
+			if (err != 0 || bytes_available < (int)character_count) {
 				px4_usleep(sleeptime);
-
-				ret = ::read(_spi_fd, buf, buf_length);
-
-				if (ret > 0) {
-					_num_bytes_read += ret;
-				}
-
-			} else {
-				ret = -1;
 			}
-		}
 
+#else
+			px4_usleep(sleeptime);
 #endif
+
+			ret = ::read(_serial_fd, buf, buf_length);
+
+			if (ret > 0) {
+				_num_bytes_read += ret;
+			}
+
+		} else {
+			ret = -1;
+		}
 	}
 
 	return ret;
+
+#else
+	/* For QURT, just use read for now, since this doesn't block, we need to slow it down
+	 * just a bit. */
+	px4_usleep(10000);
+	return ::read(_serial_fd, buf, buf_length);
+#endif
 }
 
 void GPS::handleInjectDataTopic()
@@ -596,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
 
-	size_t written = 0;
-
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		written = _uart->write((const void *) data, len);
-
-#ifdef __PX4_LINUX
-
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		written = ::write(_spi_fd, data, len);
-		::fsync(_spi_fd);
-#endif
-	}
-
+	size_t written = ::write(_serial_fd, data, len);
+	::fsync(_serial_fd);
 	return written == len;
 }
 
 int GPS::setBaudrate(unsigned baud)
 {
-	if (_interface == GPSHelper::Interface::UART) {
-		if ((_uart) && (_uart->setBaudrate(baud))) {
-			return 0;
-		}
+	/* process baud rate */
+	int speed;
 
-#ifdef __PX4_LINUX
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
 
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		// Can't set the baudrate on a SPI port but just return a success
-		return 0;
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
 #endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", baud);
+		return -EINVAL;
 	}
 
-	return -1;
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		GPS_ERR("ERR: %d (tcsetattr)", termios_state);
+		return -1;
+	}
+
+	return 0;
 }
 
 void GPS::initializeCommunicationDump()
@@ -786,58 +840,31 @@ GPS::run()
 			_helper = nullptr;
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
+		if (_serial_fd < 0) {
+			/* open the serial port */
+			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
 
-			// Create the UART port instance
-			_uart = new Serial(_port);
-
-			if (_uart == nullptr) {
-				PX4_ERR("Error creating serial device %s", _port);
-				px4_sleep(1);
-				continue;
-			}
-		}
-
-		if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
-			// Configure the desired baudrate if one was specified by the user.
-			// Otherwise the default baudrate will be used.
-			if (_configured_baudrate) {
-				if (! _uart->setBaudrate(_configured_baudrate)) {
-					PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
-					px4_sleep(1);
-					continue;
-				}
-			}
-
-			// Open the UART. If this is successful then the UART is ready to use.
-			if (! _uart->open()) {
-				PX4_ERR("Error opening serial device  %s", _port);
+			if (_serial_fd < 0) {
+				PX4_ERR("failed to open %s err: %d", _port, errno);
 				px4_sleep(1);
 				continue;
 			}
 
 #ifdef __PX4_LINUX
 
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
-			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
+			if (_interface == GPSHelper::Interface::SPI) {
+				int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
+				int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
 
-			if (_spi_fd < 0) {
-				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
-				px4_sleep(1);
-				continue;
-			}
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 
-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
 
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 			}
 
 #endif /* __PX4_LINUX */
@@ -1029,17 +1056,9 @@ GPS::run()
 			}
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-
-#ifdef __PX4_LINUX
-
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
-			::close(_spi_fd);
-			_spi_fd = -1;
-#endif
+		if (_serial_fd >= 0) {
+			::close(_serial_fd);
+			_serial_fd = -1;
 		}
 
 		if (_mode_auto) {
@@ -1458,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'i':
-			if (!strcmp(myoptarg, "uart")) {
-				interface = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1471,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'j':
-			if (!strcmp(myoptarg, "uart")) {
-				interface_secondary = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface_secondary = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface_secondary = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -88,7 +88,7 @@ private:
 		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
 	};
 	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size");
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;

src/drivers/rc/crsf_rc/CMakeLists.txt

@@ -46,4 +46,6 @@ px4_add_module(
 
 	MODULE_CONFIG
 		module.yaml
+	DEPENDS
+		rc
 	)

src/drivers/rc/crsf_rc/CrsfParser.cpp

@@ -43,7 +43,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <string.h>
-#include <px4_log.h>
 #include "QueueBuffer.hpp"
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
@@ -162,8 +161,6 @@ static float MapF(const float x, const float in_min, const float in_max, const f
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-#define CONSTRAIN_CHAN(x) ConstrainF(x, CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX)
-
 static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet)
 {
 	uint32_t raw_channels[CRSF_CHANNEL_COUNT];
@@ -172,24 +169,25 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac
 	new_packet->message_type = CRSF_MESSAGE_TYPE_RC_CHANNELS;
 
 	// Decode channel data
-	raw_channels[0] = CONSTRAIN_CHAN((data[0] | data[1] << 8) & 0x07FF);
-	raw_channels[1] = CONSTRAIN_CHAN((data[1]  >> 3 | data[2] << 5) & 0x07FF);
-	raw_channels[2] = CONSTRAIN_CHAN((data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF);
-	raw_channels[3] = CONSTRAIN_CHAN((data[4] >> 1 | data[5] << 7) & 0x07FF);
-	raw_channels[4] = CONSTRAIN_CHAN((data[5] >> 4 | data[6] << 4) & 0x07FF);
-	raw_channels[5] = CONSTRAIN_CHAN((data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF);
-	raw_channels[6] = CONSTRAIN_CHAN((data[8] >> 2 | data[9] << 6) & 0x07FF);
-	raw_channels[7] = CONSTRAIN_CHAN((data[9] >> 5 | data[10] << 3) & 0x07FF);
-	raw_channels[8] = CONSTRAIN_CHAN((data[11] | data[12] << 8) & 0x07FF);
-	raw_channels[9] = CONSTRAIN_CHAN((data[12] >> 3 | data[13] << 5) & 0x07FF);
-	raw_channels[10] = CONSTRAIN_CHAN((data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF);
-	raw_channels[11] = CONSTRAIN_CHAN((data[15] >> 1 | data[16] << 7) & 0x07FF);
-	raw_channels[12] = CONSTRAIN_CHAN((data[16] >> 4 | data[17] << 4) & 0x07FF);
-	raw_channels[13] = CONSTRAIN_CHAN((data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF);
-	raw_channels[14] = CONSTRAIN_CHAN((data[19] >> 2 | data[20] << 6) & 0x07FF);
-	raw_channels[15] = CONSTRAIN_CHAN((data[20] >> 5 | data[21] << 3) & 0x07FF);
+	raw_channels[0] = (data[0] | data[1] << 8) & 0x07FF;
+	raw_channels[1] = (data[1]  >> 3 | data[2] << 5) & 0x07FF;
+	raw_channels[2] = (data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF;
+	raw_channels[3] = (data[4] >> 1 | data[5] << 7) & 0x07FF;
+	raw_channels[4] = (data[5] >> 4 | data[6] << 4) & 0x07FF;
+	raw_channels[5] = (data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF;
+	raw_channels[6] = (data[8] >> 2 | data[9] << 6) & 0x07FF;
+	raw_channels[7] = (data[9] >> 5 | data[10] << 3) & 0x07FF;
+	raw_channels[8] = (data[11] | data[12] << 8) & 0x07FF;
+	raw_channels[9] = (data[12] >> 3 | data[13] << 5) & 0x07FF;
+	raw_channels[10] = (data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF;
+	raw_channels[11] = (data[15] >> 1 | data[16] << 7) & 0x07FF;
+	raw_channels[12] = (data[16] >> 4 | data[17] << 4) & 0x07FF;
+	raw_channels[13] = (data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF;
+	raw_channels[14] = (data[19] >> 2 | data[20] << 6) & 0x07FF;
+	raw_channels[15] = (data[20] >> 5 | data[21] << 3) & 0x07FF;
 
 	for (i = 0; i < CRSF_CHANNEL_COUNT; i++) {
+		raw_channels[i] = ConstrainF(raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX);
 		new_packet->channel_data.channels[i] = MapF((float)raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX,
 						       1000.0f, 2000.0f);
 	}

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -35,6 +35,8 @@
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
 
+#include <poll.h>
+#include <termios.h>
 #include <fcntl.h>
 
 #include <uORB/topics/battery_status.h>
@@ -116,78 +118,76 @@ void CrsfRc::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-
-		if (_uart) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-		}
-
+		::close(_rc_fd);
+		_rc_fd = -1;
 		exit_and_cleanup();
 		return;
 	}
 
-	if (_uart == nullptr) {
-		// Create the UART port instance
-		_uart = new Serial(_device);
+	if (_rc_fd < 0) {
+		_rc_fd = ::open(_device, O_RDWR | O_NONBLOCK);
 
-		if (_uart == nullptr) {
-			PX4_ERR("Error creating serial device %s", _device);
-			px4_sleep(1);
-			return;
-		}
-	}
+		if (_rc_fd >= 0) {
+			struct termios t;
 
-	if (! _uart->isOpen()) {
-		// Configure the desired baudrate if one was specified by the user.
-		// Otherwise the default baudrate will be used.
-		if (! _uart->setBaudrate(CRSF_BAUDRATE)) {
-			PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device);
-			px4_sleep(1);
-			return;
-		}
+			tcgetattr(_rc_fd, &t);
+			cfsetspeed(&t, CRSF_BAUDRATE);
+			t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+			t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+			t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
+			t.c_oflag = 0;
+			tcsetattr(_rc_fd, TCSANOW, &t);
 
-		// Open the UART. If this is successful then the UART is ready to use.
-		if (! _uart->open()) {
-			PX4_ERR("Error opening serial device  %s", _device);
-			px4_sleep(1);
-			return;
-		}
-
-		if (board_rc_swap_rxtx(_device)) {
+			if (board_rc_swap_rxtx(_device)) {
 #if defined(TIOCSSWAP)
-			ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+				ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
 #endif // TIOCSSWAP
-		}
+			}
 
-		if (board_rc_singlewire(_device)) {
-			_is_singlewire = true;
+			if (board_rc_singlewire(_device)) {
+				_is_singlewire = true;
 #if defined(TIOCSSINGLEWIRE)
-			ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+				ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
 #endif // TIOCSSINGLEWIRE
+			}
+
+			PX4_INFO("Crsf serial opened sucessfully");
+
+			if (_is_singlewire) {
+				PX4_INFO("Crsf serial is single wire. Telemetry disabled");
+			}
+
+			tcflush(_rc_fd, TCIOFLUSH);
+
+			Crc8Init(0xd5);
 		}
 
-		PX4_INFO("Crsf serial opened sucessfully");
-
-		if (_is_singlewire) {
-			PX4_INFO("Crsf serial is single wire. Telemetry disabled");
-		}
-
-		_uart->flush();
-
-		Crc8Init(0xd5);
-
 		_input_rc.rssi_dbm = NAN;
 		_input_rc.link_quality = -1;
 
 		CrsfParser_Init();
+
+
+	}
+
+	// poll with 100mS timeout
+	pollfd fds[1];
+	fds[0].fd = _rc_fd;
+	fds[0].events = POLLIN;
+	int ret = ::poll(fds, 1, 100);
+
+	if (ret < 0) {
+		PX4_ERR("poll error");
+		// try again with delay
+		ScheduleDelayed(100_ms);
+		return;
 	}
 
 	const hrt_abstime time_now_us = hrt_absolute_time();
 	perf_count_interval(_cycle_interval_perf, time_now_us);
 
 	// Read all available data from the serial RC input UART
-	int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
+	int new_bytes = ::read(_rc_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE);
 
 	if (new_bytes > 0) {
 		_bytes_rx += new_bytes;
@@ -433,8 +433,7 @@ bool CrsfRc::SendTelemetryBattery(const uint16_t voltage, const uint16_t current
 	write_uint24_t(buf, offset, fuel);
 	write_uint8_t(buf, offset, remaining);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
-
+	return write(_rc_fd, buf, offset) == offset;
 }
 
 bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed,
@@ -450,7 +449,7 @@ bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, c
 	write_uint16_t(buf, offset, altitude);
 	write_uint8_t(buf, offset, num_satellites);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }
 
 bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw)
@@ -462,7 +461,7 @@ bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, cons
 	write_uint16_t(buf, offset, roll);
 	write_uint16_t(buf, offset, yaw);
 	WriteFrameCrc(buf, offset, sizeof(buf));
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }
 
 bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
@@ -481,7 +480,7 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
 	offset += length;
 	buf[offset - 1] = 0; // ensure null-terminated string
 	WriteFrameCrc(buf, offset, length + 4);
-	return _uart->write((void *) buf, (size_t) offset);
+	return write(_rc_fd, buf, offset) == offset;
 }
 
 int CrsfRc::print_status()

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
-#include <px4_platform_common/Serial.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
@@ -54,8 +53,6 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_status.h>
 
-using namespace device;
-
 class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -90,8 +87,7 @@ private:
 
 	bool SendTelemetryFlightMode(const char *flight_mode);
 
-	Serial *_uart = nullptr; ///< UART interface to RC
-
+	int _rc_fd{-1};
 	char _device[20] {}; ///< device / serial port path
 	bool _is_singlewire{false};
 

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -45,8 +45,6 @@ using namespace time_literals;
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	// ensure ORB_ID(tune_control) is advertised with correct queue depth
-	orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH);
 }
 
 ToneAlarm::~ToneAlarm()

src/lib/adsb/AdsbConflict.h

@@ -151,7 +151,7 @@ private:
 
 	transponder_report_s tr{};
 
-	orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20);
+	orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
 
 	TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};
 

src/lib/events/events.cpp

@@ -61,7 +61,7 @@ void send(EventType &event)
 		orb_publish(ORB_ID(event), orb_event_pub, &event);
 
 	} else {
-		orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
+		orb_event_pub = orb_advertise(ORB_ID(event), &event);
 	}
 
 	pthread_mutex_unlock(&publish_event_mutex);

src/lib/matrix/matrix/Matrix.hpp

@@ -162,6 +162,24 @@ public:
 		return res;
 	}
 
+	// Using this function reduces the number of temporary variables needed to compute A * B.T
+	template<size_t P>
+	Matrix<Type, M, M> multiplyByTranspose(const Matrix<Type, P, N> &other) const
+	{
+		Matrix<Type, M, P> res;
+		const Matrix<Type, M, N> &self = *this;
+
+		for (size_t i = 0; i < M; i++) {
+			for (size_t k = 0; k < P; k++) {
+				for (size_t j = 0; j < N; j++) {
+					res(i, k) += self(i, j) * other(k, j);
+				}
+			}
+		}
+
+		return res;
+	}
+
 	// Element-wise multiplication
 	Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
 	{

src/lib/systemlib/mavlink_log.cpp

@@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
 
 	} else {
-		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
+		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
 	}
 }

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -55,7 +55,7 @@ public:
 	void SetUp() override
 	{
 		// ensure topic exists, otherwise we might lose first queued events
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 };

src/modules/commander/commander_helper.cpp

@@ -153,7 +153,7 @@ int buzzer_init()
 	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
 	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;
 
-	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
+	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
 
 	return PX4_OK;
 }
@@ -330,7 +330,7 @@ int led_init()
 	led_control.mode = led_control_s::MODE_OFF;
 	led_control.priority = 0;
 	led_control.timestamp = hrt_absolute_time();
-	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);
+	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);
 
 	/* first open normal LEDs */
 	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);

src/modules/differential_drive/module.yaml

@@ -52,7 +52,7 @@ parameters:
         max: 100
         increment: 0.01
         decimal: 2
-        default: 0.3
+        default: 50.0
       RDD_P_HEADING:
         description:
           short: Proportional gain for heading controller

src/modules/ekf2/EKF/EKFGSF_yaw.h

@@ -67,11 +67,11 @@ public:
 
 	void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; }
 
-	void setGyroBias(const Vector3f &imu_gyro_bias)
+	void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false)
 	{
 		// Initialise to gyro bias estimate from main filter because there could be a large
 		// uncorrected rate gyro bias error about the gravity vector
-		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) {
+		if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) {
 			// init gyro bias for each model
 			for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) {
 				_ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias;

src/modules/ekf2/EKF/covariance.cpp

@@ -166,11 +166,21 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.mag) {
 		// mag_I: add process noise
 		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);
+		float mag_I_process_noise = sq(mag_I_sig);
+
+		for (unsigned index = 0; index < State::mag_I.dof; index++) {
+			const unsigned i = State::mag_I.idx + index;
+			P(i, i) += mag_I_process_noise;
+		}
 
 		// mag_B: add process noise
 		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
+		float mag_B_process_noise = sq(mag_B_sig);
+
+		for (unsigned index = 0; index < State::mag_B.dof; index++) {
+			const unsigned i = State::mag_B.idx + index;
+			P(i, i) += mag_B_process_noise;
+		}
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
@@ -179,7 +189,12 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.wind) {
 		// wind vel: add process noise
 		float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
-		P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
+		float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
+
+		for (unsigned index = 0; index < State::wind_vel.dof; index++) {
+			const unsigned i = State::wind_vel.idx + index;
+			P(i, i) += wind_vel_process_noise;
+		}
 	}
 #endif // CONFIG_EKF2_WIND
 

src/modules/ekf2/EKF/ekf.h

@@ -472,6 +472,17 @@ public:
 	{
 		clearInhibitedStateKalmanGains(K);
 
+#if false
+		// Matrix implementation of the Joseph stabilized covariance update
+		// This is extremely expensive to compute. Use for debugging purposes only.
+		auto A = matrix::eye<float, State::size>();
+		A -= K.multiplyByTranspose(H);
+		P = A * P;
+		P = P.multiplyByTranspose(A);
+
+		const VectorState KR = K * R;
+		P += KR.multiplyByTranspose(K);
+#else
 		// Efficient implementation of the Joseph stabilized covariance update
 		// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
 
@@ -479,9 +490,8 @@ public:
 		VectorState PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
-			for (unsigned j = 0; j <= i; j++) {
-				P(i, j) = P(i, j) - K(i) * PH(j);
-				P(j, i) = P(i, j);
+			for (unsigned j = 0; j < State::size; j++) {
+				P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
 			}
 		}
 
@@ -490,11 +500,11 @@ public:
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j <= i; j++) {
-				float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
-				P(i, j) = s + K(i) * R * K(j);
+				P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
 				P(j, i) = P(i, j);
 			}
 		}
+#endif
 
 		constrainStateVariances();
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -850,6 +850,19 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 
 	clearInhibitedStateKalmanGains(K);
 
+#if false
+	// Matrix implementation of the Joseph stabilized covariance update
+	// This is extremely expensive to compute. Use for debugging purposes only.
+	auto A = matrix::eye<float, State::size>();
+	VectorState H;
+	H(state_index) = 1.f;
+	A -= K.multiplyByTranspose(H);
+	P = A * P;
+	P = P.multiplyByTranspose(A);
+
+	const VectorState KR = K * R;
+	P += KR.multiplyByTranspose(K);
+#else
 	// Efficient implementation of the Joseph stabilized covariance update
 	// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
 
@@ -857,9 +870,8 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 	VectorState PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
-		for (unsigned j = 0; j <= i; j++) {
-			P(i, j) = P(i, j) - K(i) * PH(j);
-			P(j, i) = P(i, j);
+		for (unsigned j = 0; j < State::size; j++) {
+			P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
 		}
 	}
 
@@ -868,11 +880,11 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j <= i; j++) {
-			float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
-			P(i, j) = s + K(i) * R * K(j);
+			P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
 			P(j, i) = P(i, j);
 		}
 	}
+#endif
 
 	constrainStateVariances();
 

src/modules/ekf2/EKF/gps_control.cpp

@@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	}
 
 	if (!gyro_bias_inhibited()) {
-		_yawEstimator.setGyroBias(getGyroBias());
+		_yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest);
 	}
 
 	// run EKF-GSF yaw estimator once per imu_delayed update

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -512,25 +512,27 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint()
 	float new_roll_setpoint(_npfg.getRollSetpoint());
 	const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f));
 
-	// If the npfg was not running before, reset the user warning variables.
 	hrt_abstime now{hrt_absolute_time()};
 
-	if ((now - _time_since_last_npfg_call) > 2_s) {
+	// Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition)
+
+	// If the npfg was not running before, reset the user warning variables.
+	if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) {
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 	}
 
-	// Warn the user when the scale is less than 90% for at least 2 seconds.
-	if ((1.f - can_run_factor) < 0.1f) {
+	if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) {
+		// NPFG reports a good condition or we are in transition, reset the user warning variables.
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 
 	} else if (_need_report_npfg_uncertain_condition) {
 		if (_time_since_first_reduced_roll == 0U) {
-			_time_since_first_reduced_roll = hrt_absolute_time();
+			_time_since_first_reduced_roll = now;
 		}
 
-		if ((now - _time_since_first_reduced_roll) > 2_s) {
+		if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) {
 			_need_report_npfg_uncertain_condition = false;
 			events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning,
 				     "Roll command reduced due to uncertain velocity/wind estimates!");
@@ -2199,7 +2201,6 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
 }
 
 void FixedwingPositionControl::control_backtransition(const float control_interval, const Vector2f &ground_speed,
-		const position_setpoint_s &pos_sp_prev,
 		const position_setpoint_s &pos_sp_curr)
 {
 	float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
@@ -2211,22 +2212,14 @@ void FixedwingPositionControl::control_backtransition(const float control_interv
 	_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 	_npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas);
 
-
-	if (_position_setpoint_previous_valid) {
-		Vector2f prev_wp_local = _global_local_proj_ref.project(pos_sp_prev.lat, pos_sp_prev.lon);
-		navigateLine(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
-
-	} else {
-
-		// if we don't have a previous waypoint for line following, then create one using the current position at the
-		// start of the transition
-		if (!_lpos_where_backtrans_started.isAllFinite()) {
-			_lpos_where_backtrans_started = curr_pos_local;
-		}
-
-		navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+	// Set the position where the backtransition started the first ime we pass through here.
+	// Will get reset if not in transition anymore.
+	if (!_lpos_where_backtrans_started.isAllFinite()) {
+		_lpos_where_backtrans_started = curr_pos_local;
 	}
 
+	navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+
 	_att_sp.roll_body = getCorrectedNpfgRollSetpoint();
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
@@ -2450,6 +2443,7 @@ FixedwingPositionControl::Run()
 
 		if (_vehicle_status_sub.update(&_vehicle_status)) {
 			if (!_vehicle_status.in_transition_mode) {
+				// reset position of backtransition start if not in transition
 				_lpos_where_backtrans_started = Vector2f(NAN, NAN);
 			}
 		}
@@ -2549,8 +2543,7 @@ FixedwingPositionControl::Run()
 			}
 
 		case FW_POSCTRL_MODE_TRANSITON: {
-				control_backtransition(control_interval, ground_speed, _pos_sp_triplet.previous,
-						       _pos_sp_triplet.current);
+				control_backtransition(control_interval, ground_speed, _pos_sp_triplet.current);
 				break;
 			}
 		}

src/modules/fw_pos_control/FixedwingPositionControl.hpp

@@ -169,6 +169,13 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 // [m/s] maximum reference altitude rate threshhold
 static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
 
+// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered
+static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s;
+
+// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning
+static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f;
+
+
 class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -703,11 +710,9 @@ private:
 	 *
 	 * @param control_interval Time since last position control call [s]
 	 * @param ground_speed Local 2D ground speed of vehicle [m/s]
-	 * @param pos_sp_prev previous position setpoint
 	 * @param pos_sp_curr current position setpoint
 	 */
 	void control_backtransition(const float control_interval, const Vector2f &ground_speed,
-				    const position_setpoint_s &pos_sp_prev,
 				    const position_setpoint_s &pos_sp_curr);
 
 	float get_tecs_pitch();

src/modules/mag_bias_estimator/MagBiasEstimator.cpp

@@ -157,10 +157,11 @@ void MagBiasEstimator::Run()
 		bool updated = false;
 
 		for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) {
+			int sensor_mag_updates = 0;
 			sensor_mag_s sensor_mag;
 
-			while (_sensor_mag_subs[mag_index].update(&sensor_mag)) {
-
+			while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_mag_subs[mag_index].update(&sensor_mag)) {
+				sensor_mag_updates++;
 				updated = true;
 
 				// apply existing mag calibration

src/modules/mavlink/mavlink_main.cpp

@@ -124,13 +124,13 @@ Mavlink::Mavlink() :
 
 	// ensure topic exists, otherwise we might lose first queued commands
 	if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(vehicle_command), nullptr);
 	}
 
 	_vehicle_command_sub.subscribe();
 
 	if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 	_event_sub.subscribe();