drivers/device/nuttx/I2C: add transfer failure details

This should fix the CI issue where the test just hangs trying to
connect.

.ci/Jenkinsfile-compile

@@ -28,7 +28,7 @@ pipeline {
           ]
 
           def base_builds = [
-            target: ["px4_sitl_rtps"],
+            target: ["px4_sitl_default"],
             image: docker_images.base,
             archive: false
           ]
@@ -58,6 +58,7 @@ pipeline {
                      "holybro_can-gps-v1_default",
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
+                     "holybro_kakuteh7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
                      "matek_gnss-m9n-f4_canbootloader",

.ci/Jenkinsfile-hardware

@@ -705,18 +705,21 @@ void quickCalibrate() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }

.github/workflows/compile_nuttx.yml

@@ -20,6 +20,7 @@ jobs:
           ark_can-flow,
           ark_can-gps,
           ark_can-rtk-gps,
+          ark_cannode,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,

.github/workflows/sitl_tests.yml

@@ -29,9 +29,9 @@ jobs:
         token: ${{ secrets.ACCESS_TOKEN }}
 
     - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
     - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.gitmodules

@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git

.vscode/cmake-variants.yaml

@@ -121,6 +121,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_cannode_default:
+      short: ark_cannode_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_default
+    ark_cannode_canbootloader:
+      short: ark_cannode_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -10,6 +10,7 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
 
 # Start up Landing Target Estimator module
 landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -71,7 +71,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -70,7 +70,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -82,7 +82,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -38,7 +38,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -223,6 +223,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start
 
 # Try to start the micrortps_client with UDP transport if module exists
@@ -252,12 +259,6 @@ then
 	gyro_calibration start
 fi
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -49,7 +49,6 @@ param set-default MPC_Z_VEL_MAX_DN 1.5
 
 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80
 
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -16,8 +16,6 @@ param set-default MAV_TYPE 1
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
-param set-default COM_POS_FS_GAIN 0
-param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -83,16 +83,28 @@ then
 	teraranger start -X
 fi
 
-# Possible external pmw3901 optical flow sensor
+# paa3905 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PAA3905 0
+then
+	paa3905 -S start
+fi
+
+# paw3902 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PAW3902 0
+then
+	paw3902 -S start
+fi
+
+# pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
 
-# Possible external paw3902 optical flow sensor
-if param greater -s SENS_EN_PAW3902 0
+# Check for px4flow sensor
+if param compare -s SENS_EN_PX4FLOW 1
 then
-	paw3902 -S start
+	px4flow start -X
 fi
 
 # vl53l1x i2c distance sensor

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -7,7 +7,7 @@
 
 set VEHICLE_TYPE vtol
 
-# MAV_TYPE_VTOL_RESERVED2 22
+# MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
 param set-default MIS_TAKEOFF_ALT 20

ROMFS/px4fmu_common/init.d/rcS

@@ -408,6 +408,13 @@ else
 		commander start
 	fi
 
+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -458,13 +465,6 @@ else
 		fi
 	fi
 
-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -492,12 +492,6 @@ else
 		gimbal start
 	fi
 
-	# Check for flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X
-	fi
-
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then

Tools/astyle/files_to_check_code_style.sh

@@ -27,4 +27,5 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/ecl_ekf/analysis/checks.py

@@ -55,7 +55,7 @@ def perform_imu_checks(
 
     # perform the vibration check
     imu_status['imu_vibration_check'] = 'Pass'
-    for imu_vibr_metric in ['imu_coning', 'imu_hfdang', 'imu_hfdvel']:
+    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
         mean_metric = '{:s}_mean'.format(imu_vibr_metric)
         peak_metric = '{:s}_peak'.format(imu_vibr_metric)
         if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \

Tools/ecl_ekf/analysis/metrics.py

@@ -144,17 +144,27 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
         imu_metrics[result] = calculate_stat_from_signal(
             estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)
 
+
     # calculates peak and mean for IMU vibration checks
-    for signal, result in [('vibe[0]', 'imu_coning'),
-                           ('vibe[1]', 'imu_hfdang'),
-                           ('vibe[2]', 'imu_hfdvel')]:
-        peak = calculate_stat_from_signal(
-            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.amax)
-        if peak > 0.0:
-            imu_metrics['{:s}_peak'.format(result)] = peak
-            imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(
-                estimator_status_data, 'estimator_status', signal,
-                in_air_no_ground_effects, np.mean)
+    for imu_status_instance in range(4):
+        try:
+            vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
+
+            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:
+
+                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
+                                       ('gyro_vibration_metric', 'imu_hfgyro'),
+                                       ('accel_vibration_metric', 'imu_hfaccel')]:
+
+                    peak = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.amax)
+
+                    if peak > 0.0:
+                        imu_metrics['{:s}_peak'.format(result)] = peak
+                        imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.mean)
+
+        except:
+            pass
+
 
     # IMU bias checks
     estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data

Tools/ecl_ekf/batch_process_metadata_ekf.py

@@ -48,7 +48,7 @@ for filename in os.listdir(metadata_directory):
 
 #        # print out the check levels
 #        print('\n'+'The following metadata loaded from '+filename+' were used'+'\n')
-#        val = population_data.get(filename, {}).get('imu_hfdang_mean')
+#        val = population_data.get(filename, {}).get('imu_hfgyro_mean')
 #        print(val)
 
 # Open pdf file for plotting
@@ -90,10 +90,10 @@ population_results = {
 'ofy_fail_pct_avg':[float('NaN'),'The mean percentage of innovation test fails for the Y axis optical flow sensor'],
 'imu_coning_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU delta angle coning vibration level (mrad)'],
 'imu_coning_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta angle coning vibration level (mrad)'],
-'imu_hfdang_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta angle vibration level (mrad)'],
-'imu_hfdang_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta angle vibration level (mrad)'],
-'imu_hfdvel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta velocity vibration level (m/s)'],
-'imu_hfdvel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta velocity vibration level (m/s)'],
+'imu_hfgyro_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency gyro vibration level (rad/s)'],
+'imu_hfgyro_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency gyro vibration level (rad/s)'],
+'imu_hfaccel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency accel vibration level (m/s/s)'],
+'imu_hfaccel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency accel vibration level (m/s/s)'],
 'obs_ang_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer angular tracking error magnitude (mrad)'],
 'obs_vel_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer velocity tracking error magnitude (m/s)'],
 'obs_pos_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer position tracking error magnitude (m)'],
@@ -360,54 +360,54 @@ if (len(result1) > 0 and len(result2) > 0):
     plt.close(8)
 
 # IMU high frequency delta angle vibration levels
-temp = np.asarray([population_data[k].get('imu_hfdang_peak') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfgyro_peak') for k in found_keys])
 result1 = 1000.0 * temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfdang_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfgyro_mean') for k in found_keys])
 result2 = 1000.0 * temp[np.isfinite(temp)]
 
 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfdang_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfdang_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfgyro_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfgyro_mean_avg'][0] = np.mean(result2)
 
     plt.figure(9,figsize=(20,13))
 
     plt.subplot(2,1,1)
     plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Peak")
-    plt.xlabel("imu_hfdang_max (mrad)")
+    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Peak")
+    plt.xlabel("imu_hfgyro_max (rad/s)")
     plt.ylabel("Frequency")
 
     plt.subplot(2,1,2)
     plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Mean")
-    plt.xlabel("imu_hfdang_mean (mrad)")
+    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Mean")
+    plt.xlabel("imu_hfgyro_mean (rad/s)")
     plt.ylabel("Frequency")
 
     pp.savefig()
     plt.close(9)
 
-# IMU high frequency delta velocity vibration levels
-temp = np.asarray([population_data[k].get('imu_hfdvel_peak') for k in found_keys])
+# IMU high frequency accel vibration levels
+temp = np.asarray([population_data[k].get('imu_hfaccel_peak') for k in found_keys])
 result1 = temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfdvel_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfaccel_mean') for k in found_keys])
 result2 = temp[np.isfinite(temp)]
 
 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfdvel_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfdvel_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfaccel_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfaccel_mean_avg'][0] = np.mean(result2)
 
     plt.figure(10,figsize=(20,13))
 
     plt.subplot(2,1,1)
     plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Peak")
-    plt.xlabel("imu_hfdvel_max (m/s)")
+    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Peak")
+    plt.xlabel("imu_hfaccel_max (m/s/s)")
     plt.ylabel("Frequency")
 
     plt.subplot(2,1,2)
     plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Mean")
-    plt.xlabel("imu_hfdvel_mean (m/s)")
+    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Mean")
+    plt.xlabel("imu_hfaccel_mean (m/s/s)")
     plt.ylabel("Frequency")
 
     pp.savefig()
@@ -535,12 +535,12 @@ single_log_results = {
 'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro, GPS, range fidner or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'hgt_test_max':[float('NaN'),'The maximum in-flight value of the height sensor innovation consistency test ratio.'],
 'hgt_test_mean':[float('NaN'),'The mean in-flight value of the height sensor innovation consistency test ratio.'],
-'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad)'],
-'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad)'],
-'imu_hfdang_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
-'imu_hfdang_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
-'imu_hfdvel_mean':[float('NaN'),'Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
-'imu_hfdvel_peak':[float('NaN'),'Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
+'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
+'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
+'imu_hfgyro_mean':[float('NaN'),'Mean in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
+'imu_hfgyro_peak':[float('NaN'),'Peak in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
+'imu_hfaccel_mean':[float('NaN'),'Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
+'imu_hfaccel_peak':[float('NaN'),'Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
 'imu_sensor_status':['Pass','IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'in_air_transition_time':[float('NaN'),'The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.'],
 'mag_percentage_amber':[float('NaN'),'The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.'],

Tools/ecl_ekf/check_level_dict.csv

@@ -21,10 +21,10 @@ hagl_amber_warn_pct,5.0
 tas_amber_warn_pct,5.0
 imu_coning_peak_warn,1.8E-5
 imu_coning_mean_warn,3.6E-6
-imu_hfdang_peak_warn,3.0E-3
-imu_hfdang_mean_warn,6.0E-4
-imu_hfdvel_peak_warn,9.0E-2
-imu_hfdvel_mean_warn,1.8E-2
+imu_hfgyro_peak_warn,12
+imu_hfgyro_mean_warn,2.4
+imu_hfaccel_peak_warn,360
+imu_hfaccel_mean_warn,72
 obs_ang_err_median_warn,8.0E-3
 obs_vel_err_median_warn,0.05
 obs_pos_err_median_warn,0.15

Tools/ecl_ekf/check_table.csv

@@ -49,12 +49,12 @@ hagl_test_mean, The mean in-flight value of the height above ground sensor innov
 ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
 ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
 filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
-imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
-imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
-imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
-imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
-imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
-imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
+imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
+imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
+imu_hfgyro_peak, Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
+imu_hfgyro_mean, Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
+imu_hfaccel_peak, Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
+imu_hfaccel_mean, Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
 output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
 output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
 output_obs_pos_err_median, Median in-flight value of the output observer position error (m)

Tools/ecl_ekf/drag_fusion_tuning/drag_fusion_symbolic.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+    Copyright (c) 2022 PX4 Development Team
+    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: frag_fusion_symbolic.py
+Author: Mathieu Bresciani <mathieu@auterion.com>
+License: BSD 3-Clause
+Description:
+"""
+
+from sympy import *
+
+V = Symbol("V", real=True)
+rho = Symbol("rho", real=True)
+rho_n = Symbol("rho_n", real=True)
+Mcoef = Symbol("Mcoef", real=True)
+Bcoef = Symbol("Bcoef", real=True)
+a = Symbol("a", real=True)
+
+f1 = 0.5 * rho / Bcoef * V**2 + rho_n * Mcoef * V - a
+
+print("If Bcoef > 0 and Mcoef > 0")
+print("V =")
+res_V = solve(f1, V)
+res_V = res_V[0]
+pprint(res_V)
+print("a_pred =")
+pprint(solve(f1, a))

Tools/ecl_ekf/drag_fusion_tuning/drag_replay.py

@@ -0,0 +1,202 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+    Copyright (c) 2022 PX4 Development Team
+    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: drag_replay.py
+Author: Mathieu Bresciani <mathieu@auterion.com>
+License: BSD 3-Clause
+Description:
+    Find the best ballistic and momentum drag coefficients for wind estimation
+    using EKF2 replay data.
+    NOTE: this script currently assumes no wind.
+"""
+
+import matplotlib.pylab as plt
+from pyulog import ULog
+from pyulog.px4 import PX4ULog
+import numpy as np
+import quaternion
+from scipy import optimize
+
+def getAllData(logfile):
+    log = ULog(logfile)
+
+    v_local = np.matrix([getData(log, 'vehicle_local_position', 'vx'),
+              getData(log, 'vehicle_local_position', 'vy'),
+              getData(log, 'vehicle_local_position', 'vz')])
+
+    t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
+
+    accel = np.matrix([getData(log, 'sensor_combined', 'accelerometer_m_s2[0]'),
+              getData(log, 'sensor_combined', 'accelerometer_m_s2[1]'),
+              getData(log, 'sensor_combined', 'accelerometer_m_s2[2]')])
+    t_accel = ms2s(getData(log, 'sensor_combined', 'timestamp'))
+
+    q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'),
+              getData(log, 'vehicle_attitude', 'q[1]'),
+              getData(log, 'vehicle_attitude', 'q[2]'),
+              getData(log, 'vehicle_attitude', 'q[3]')])
+    t_q = ms2s(getData(log, 'vehicle_attitude', 'timestamp'))
+
+    dist_bottom = getData(log, 'vehicle_local_position', 'dist_bottom')
+    t_dist_bottom = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
+
+    (t_aligned, v_body_aligned, accel_aligned) = alignData(t_v_local, v_local, t_accel, accel, t_q, q, t_dist_bottom, dist_bottom)
+
+    t_aligned -= t_aligned[0]
+
+    return (t_aligned, v_body_aligned, accel_aligned)
+
+def alignData(t_v, v_local, t_accel, accel, t_q, q, t_dist_bottom, dist_bottom):
+    len_accel = len(t_accel)
+    len_q = len(t_q)
+    len_db = len(t_dist_bottom)
+    i_a = 0
+    i_q = 0
+    i_db = 0
+    v_body_aligned = np.empty((3,0))
+    accel_aligned = np.empty((3,0))
+    t_aligned = []
+
+    for i_v in range(len(t_v)):
+        t = t_v[i_v]
+        accel_sum = np.zeros((3,1))
+        accel_count = 0
+        while t_accel[i_a] < t and i_a < len_accel-1:
+            accel_sum += accel[:, i_a] # Integrate accel samples between 2 velocity samples
+            accel_count += 1
+            i_a += 1
+        while t_q[i_q] < t and i_q < len_q-1:
+            i_q += 1
+        while t_dist_bottom[i_db] < t and i_db < len_db-1:
+            i_db += 1
+
+        # Only use in air data
+        if dist_bottom[i_db] < 1.0 or accel_count == 0:
+            continue
+
+        qk = np.quaternion(q[0, i_q],q[1, i_q],q[2, i_q],q[3, i_q])
+        q_vl = np.quaternion(0, v_local[0, i_v], v_local[1, i_v], v_local[2, i_v])
+        q_vb = qk.conjugate() * q_vl * qk # Get velocity in body frame
+        vb = quaternion.as_float_array(q_vb)[1:4]
+
+        v_body_aligned = np.append(v_body_aligned, [[vb[0]], [vb[1]], [vb[2]]], axis=1)
+        accel_aligned = np.append(accel_aligned, accel_sum / accel_count, axis=1)
+        t_aligned.append(t)
+
+    return (t_aligned, v_body_aligned, np.asarray(accel_aligned))
+
+def getData(log, topic_name, variable_name, instance=0):
+    variable_data = np.array([])
+    for elem in log.data_list:
+        if elem.name == topic_name:
+            if instance == elem.multi_id:
+                variable_data = elem.data[variable_name]
+                break
+
+    return variable_data
+
+def ms2s(time_ms):
+    return time_ms * 1e-6
+
+def run(logfile):
+    (t, v_body, a_body) = getAllData(logfile)
+
+    rho = 1.15 # air densitiy
+    rho15 = 1.225 # air density at 15 degC
+
+    # x[0]: momentum drag, scales with v
+    # x[1]: inverse of ballistic coefficient (X body axis), scales with v^2
+    # x[2]: inverse of ballistic coefficient (Y body axis), scales with v^2
+    predict_acc_x = lambda x: -v_body[0] * x[0] - 0.5 * rho * v_body[0]**2 * np.sign(v_body[0]) * x[1]
+    predict_acc_y = lambda x: -v_body[1] * x[0] - 0.5 * rho * v_body[1]**2 * np.sign(v_body[1]) * x[2]
+
+    J = lambda x: np.sum(np.power(abs(a_body[0]-predict_acc_x(x)), 2.0) + np.power(abs(a_body[1]-predict_acc_y(x)), 2.0)) # cost function
+
+    x0 = [0.15, 1/100, 1/100] # initial conditions
+    res = optimize.minimize(J, x0, method='nelder-mead', bounds=[(0,1),(0,10),(0,10)], options={'disp': True})
+
+    # Convert results to parameters
+    innov_var = J(res.x) / (len(v_body[0]) + len(v_body[1]))
+    mcoef = res.x[0] / np.sqrt(rho / rho15)
+
+    bcoef_x = 0.0
+    bcoef_y = 0.0
+
+    if res.x[1] > 1/200:
+        bcoef_x = 1/res.x[1]
+
+    if res.x[2] > 1/200:
+        bcoef_y = 1/res.x[2]
+
+    print(f"param set EKF2_BCOEF_X {bcoef_x:.1f}")
+    print(f"param set EKF2_BCOEF_Y {bcoef_y:.1f}")
+    print(f"param set EKF2_MCOEF {mcoef:.2f}")
+    print(f"/!\EXPERIMENTAL param set EKF2_DRAG_NOISE {innov_var:.2f}")
+
+    # Plot data
+    plt.figure(1)
+    plt.suptitle(logfile.split('/')[-1])
+    ax1 = plt.subplot(2, 1, 1)
+    ax1.plot(t, v_body[0])
+    ax1.plot(t, v_body[1])
+    ax1.set_xlabel("time (s)")
+    ax1.set_ylabel("velocity (m/s)")
+    ax1.legend(["forward", "right"])
+
+    ax2 = plt.subplot(2, 1, 2, sharex=ax1)
+    ax2.set_title(f"BCoef_x = {bcoef_x:.1f}, BCoef_y = {bcoef_y:.1f}, MCoef = {mcoef:.4f}", loc="right")
+    ax2.plot(t, a_body[0])
+    ax2.plot(t, a_body[1])
+    ax2.plot(t, predict_acc_x(res.x))
+    ax2.plot(t, predict_acc_y(res.x))
+    ax2.set_xlabel("time (s)")
+    ax2.set_ylabel("acceleration (m/s^2)")
+    ax2.legend(["meas_forward", "meas_right", "predicted_forward", "predicted_right"])
+    plt.show()
+
+if __name__ == '__main__':
+    import os
+    import argparse
+
+    # Get the path of this script (without file name)
+    script_path = os.path.split(os.path.realpath(__file__))[0]
+
+    # Parse arguments
+    parser = argparse.ArgumentParser(
+        description='Estimate mag biases from ULog file')
+
+    # Provide parameter file path and name
+    parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
+    args = parser.parse_args()
+
+    logfile = os.path.abspath(args.logfile) # Convert to absolute path
+
+    run(logfile)

Tools/ecl_ekf/drag_fusion_tuning/readme.md

@@ -0,0 +1,32 @@
+# PX4 Drag fusion parameter tuning algorithm
+In PX4, drag fusion can be enabled in order to estimate the wind when flying a multirotor, assuming that the body vertical acceleration is produced by the rotors and that the lateral forces are produced by drag.
+The model assumes a combination of:
+1. momentum drag: created by the rotors changing the direction of the incoming air, linear to the relative airspeed. Parameter `EKF2_MCOEF`
+2. bluff body drag: created by the wetted area of the aircraft, quadratic to the relative airspeed. Parameters `EKF2_BCOEF_X` and `EKF2_BCOEF_Y`
+
+The python script was created to automate the tuning of the aforementioned parameters using flight test data.
+
+## How to use this script
+First, a flight log with enough information is required in order to accurately estimate the parameters.
+The best way to do this is to fly the drone in altitude mode, accelerate to a moderate-high speed and let the drone slow-down by its own drag.
+Repeat the same maneuver in all directions and several times to obtain a good dataset.
+
+/!\ NOTE: the current state of this script assumes no wind. Some modifications are required to estimate both the wind and the parameters at the same time.
+
+Then, install the required python packages:
+```
+pip install -r requirements.txt
+```
+and run the script and give it the log file as an argument:
+```
+python drag_replay.py <logfilename.ulg>
+```
+
+The estimated parameters are displayed in the console and the fit quality is shown in a plot:
+```
+param set EKF2_BCOEF_X 0.0
+param set EKF2_BCOEF_Y 62.1
+param set EKF2_MCOEF 0.16
+/!\EXPERIMENTAL param set EKF2_DRAG_NOISE 0.31
+```
+![DeepinScreenshot_matplotlib_20220329100027](https://user-images.githubusercontent.com/14822839/160563024-efddd100-d7db-46f7-8676-cf4296e9f737.png)

Tools/ecl_ekf/drag_fusion_tuning/requirements.txt

@@ -0,0 +1,6 @@
+matplotlib==3.5.1
+numpy==1.22.2
+pyulog==0.9.0
+quaternion==3.5.2.post4
+scipy==1.8.0
+sympy==1.10.1

Tools/ecl_ekf/plotting/pdf_report.py

@@ -250,18 +250,32 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
+
         # Plot the EKF IMU vibration metrics
-        scaled_estimator_status = {'vibe[0]': 1000. * estimator_status['vibe[0]'],
-                                   'vibe[1]': 1000. * estimator_status['vibe[1]'],
-                                   'vibe[2]': estimator_status['vibe[2]']
-                                   }
-        data_plot = CheckFlagsPlot(
-            status_time, scaled_estimator_status, [['vibe[0]'], ['vibe[1]'], ['vibe[2]']],
-            x_label='time (sec)', y_labels=['Del Ang Coning (mrad)', 'HF Del Ang (mrad)',
-                                            'HF Del Vel (m/s)'], plot_title='IMU Vibration Metrics',
-            pdf_handle=pdf_pages, annotate=True)
-        data_plot.save()
-        data_plot.close()
+        for imu_status_instance in range(4):
+            try:
+                vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
+
+                imu_status_time = 1e-6 * vehicle_imu_status_data['timestamp']
+
+                if vehicle_imu_status_data['accel_device_id'][0] == estimator_status['accel_device_id'][0]:
+
+                    scaled_estimator_status = {'delta_angle_coning_metric': 1000. * vehicle_imu_status_data['delta_angle_coning_metric'],
+                                               'gyro_vibration_metric': vehicle_imu_status_data['gyro_vibration_metric'],
+                                               'accel_vibration_metric': vehicle_imu_status_data['accel_vibration_metric']
+                                              }
+                    data_plot = CheckFlagsPlot(
+                        imu_status_time, scaled_estimator_status, [['delta_angle_coning_metric'], ['gyro_vibration_metric'], ['accel_vibration_metric']],
+                        x_label='time (sec)',
+                        y_labels=['Del Ang Coning (mrad^2)', 'HF Gyro (rad/s)', 'HF accel (m/s/s)'],
+                        plot_title='IMU Vibration Metrics',
+                        pdf_handle=pdf_pages, annotate=True)
+                    data_plot.save()
+                    data_plot.close()
+
+            except:
+                pass
+
 
         # Plot the EKF output observer tracking errors
         scaled_innovations = {

Tools/kconfig/cmake_kconfig_lut.txt

@@ -139,6 +139,7 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y

boards/ark/cannode/canbootloader.px4board

@@ -0,0 +1,6 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_NSH_BUILTIN_APPS=y

boards/ark/cannode/default.px4board

@@ -0,0 +1,37 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+#CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_HYGROMETERS=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+#CONFIG_MODULES_SENSORS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/cannode/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 83,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK CANnode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKCANNODE",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/cannode/init/rc.board_defaults

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+pwm_out start
+
+control_allocator start

boards/ark/cannode/init/rc.board_sensors

@@ -0,0 +1,118 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+icm42688p -R 0 -s start
+
+if param compare -s SENS_EN_BATT 1
+then
+	batt_smbus start -X
+fi
+
+# Lidar-Lite on I2C
+if param compare -s SENS_EN_LL40LS 2
+then
+	ll40ls start -X
+fi
+
+# mappydot lidar sensor
+if param compare -s SENS_EN_MPDT 1
+then
+	mappydot start -X
+fi
+
+# mb12xx sonar sensor
+if param greater -s SENS_EN_MB12XX 0
+then
+	mb12xx start -X
+fi
+
+# Lightware i2c lidar sensor
+if param greater -s SENS_EN_SF1XX 0
+then
+	lightware_laser_i2c start -X
+fi
+
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+fi
+
+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x_airspeed start -X
+	then
+		# try another common address
+		sdp3x_airspeed start -X -a 0x22
+	fi
+fi
+
+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+gps start -d /dev/ttyS0 -p ubx
+
+# probe for optional external I2C devices
+icm20948_i2c_passthrough -X -q start
+
+# compasses
+hmc5883 -T -X -q start
+ist8308 -X -q start
+ist8310 -X -q start
+lis2mdl -X -q start
+lis3mdl -X -q start
+qmc5883l -X -q start
+rm3100 -X -q start
+
+# start last (wait for possible icm20948 passthrough mode)
+ak09916 -X -q start

boards/ark/cannode/nuttx-config/canbootloader/defconfig

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096

boards/ark/cannode/nuttx-config/include/board.h

@@ -0,0 +1,149 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
+
+/* I2C */
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#endif /* __ARCH_BOARD_BOARD_H */

boards/ark/cannode/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3

boards/ark/cannode/nuttx-config/nsh/defconfig

@@ -0,0 +1,161 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=2048
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/ark/cannode/nuttx-config/scripts/canbootloader_script.ld

@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/cannode/nuttx-config/scripts/script.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412CG has 1Mb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/cannode/src/CMakeLists.txt

@@ -0,0 +1,68 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()

boards/ark/cannode/src/board_config.h

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */  (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */  (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+/* PWM Outputs */
+#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
+
+#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    8  /* use timer 8 for the HRT */
+#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+		GPIO_42688P_FSYNC,                \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/ark/cannode/src/boot.c

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}

boards/ark/cannode/src/boot_config.h

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

boards/ark/cannode/src/can.c

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif

boards/ark/cannode/src/i2c.cpp

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

boards/ark/cannode/src/init.c

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+	board_on_reset(-1);
+
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}

boards/ark/cannode/src/led.c

@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}

boards/ark/cannode/src/led.h

@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS

boards/ark/cannode/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,40 +31,18 @@
  *
  ****************************************************************************/
 
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
 
-#include "PX4Barometer.hpp"
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}),
+	}),
+};
 
-#include <lib/drivers/device/Device.hpp>
-
-PX4Barometer::PX4Barometer(uint32_t device_id)
-{
-	_sensor_baro_pub.get().device_id = device_id;
-}
-
-PX4Barometer::~PX4Barometer()
-{
-	_sensor_baro_pub.unadvertise();
-}
-
-void PX4Barometer::set_device_type(uint8_t devtype)
-{
-	// current DeviceStructure
-	union device::Device::DeviceId device_id;
-	device_id.devid = _sensor_baro_pub.get().device_id;
-
-	// update to new device type
-	device_id.devid_s.devtype = devtype;
-
-	// copy back to report
-	_sensor_baro_pub.get().device_id = device_id.devid;
-}
-
-void PX4Barometer::update(const hrt_abstime &timestamp_sample, float pressure)
-{
-	sensor_baro_s &report = _sensor_baro_pub.get();
-
-	report.timestamp_sample = timestamp_sample;
-	report.pressure = pressure;
-	report.timestamp = hrt_absolute_time();
-	_sensor_baro_pub.update();
-}
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/cannode/src/timer_config.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer3),
+	//initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/ark/cannode/uavcan_board_identity

@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 83)
+set(uavcanblid_name "\"org.ark.cannode\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)

boards/cubepilot/io-v2/src/board_config.h

@@ -70,29 +70,19 @@
 
 /* LEDS  **********************************************************************/
 
-#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
+#define GPIO_LED_AMBER  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY
+#define GPIO_LED_GREEN  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING
 
-#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+#define LED_GREEN(on_true)   stm32_gpiowrite(GPIO_LED_GREEN, (on_true))
 
-#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
 
-/*  PixHawk 1:
- *      PC14 Floating
- *      PC15 Floating
- *
- *  PixHawk 2:
- *      PC14 3.3v
- *      PC15 GND
- */
+/* HEATER */
+#define GPIO_HEATER_OUTPUT   /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define HEATER_OUTPUT_EN(on_true)       stm32_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
-#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
-# define SENSE_PH1 0b10 /* Floating pulled as set */
-# define SENSE_PH2 0b01 /* Driven as tied */
 
 #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 
@@ -150,18 +140,6 @@
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
 #define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
 
-/* LED definitions ******************************************************************/
-/* PX4 has two LEDs that we will encode as: */
-
-#define LED_STARTED       0  /* LED? */
-#define LED_HEAPALLOCATE  1  /* LED? */
-#define LED_IRQSENABLED   2  /* LED? + LED? */
-#define LED_STACKCREATED  3  /* LED? */
-#define LED_INIRQ         4  /* LED? + LED? */
-#define LED_SIGNAL        5  /* LED? + LED? */
-#define LED_ASSERTION     6  /* LED? + LED? + LED? */
-#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
-
 #define BOARD_NUM_IO_TIMERS 3
 
 #include <px4_platform_common/board_common.h>

boards/cubepilot/io-v2/src/init.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,38 +84,14 @@
 
 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */
 
-	/* Set up for sensing HW */
-
-	stm32_configgpio(GPIO_SENSE_PC14_DN);
-	stm32_configgpio(GPIO_SENSE_PC15_UP);
+	stm32_configgpio(GPIO_HEATER_OUTPUT);
 
 	/* LEDS - default to off */
-	stm32_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_LED4);
-
-	/*  PixHawk 1:
-	 *      PC14 Floating
-	 *      PC15 Floating
-	 *
-	 *  PixHawk 2:
-	 *      PC14 3.3v
-	 *      PC15 GND
-	 */
-
-	uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1  | stm32_gpioread(GPIO_SENSE_PC14_DN);
-
-	if (sense == SENSE_PH2) {
-		stm32_configgpio(GPIO_HEATER_OFF);
-	}
-
-	stm32_configgpio(GPIO_PC14);
-	stm32_configgpio(GPIO_PC15);
-
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_LED_GREEN);
 
 	stm32_configgpio(GPIO_BTN_SAFETY);
 
@@ -163,4 +139,7 @@ __EXPORT void stm32_boardinitialize(void)
 
 	stm32_gpiowrite(GPIO_PWM8, true);
 	stm32_configgpio(GPIO_PWM8);
+
+	/* disable heater */
+	HEATER_OUTPUT_EN(false);
 }

boards/holybro/kakuteh7/src/hw_config.h

@@ -71,7 +71,8 @@
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1048
 #define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               ((16-2) * 128 * 1024)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

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

@@ -3,10 +3,10 @@
 # Matek M9NF4 CAN specific board sensors init
 #------------------------------------------------------------------------------
 
-icm20602 -s start
+icm20602 -s -R 10 start
 
-rm3100 -b 2 -s start
+rm3100 -b 2 -s -R 12 start
 
 dps310 -a 118 -X start
 
-sensors start
+sensors start

boards/nxp/fmuk66-v3/default.px4board

@@ -41,11 +41,13 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -69,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -23,6 +23,7 @@ CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_COMMON_UWB=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y

boards/omnibus/f4sd/default.px4board

@@ -21,7 +21,6 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,7 +32,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/omnibus/f4sd/ekf2.px4board

@@ -0,0 +1,3 @@
+CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y

boards/px4/fmu-v2/fixedwing.px4board

@@ -4,7 +4,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y

boards/px4/fmu-v2/multicopter.px4board

@@ -1,7 +1,4 @@
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

boards/px4/fmu-v2/rover.px4board

@@ -3,8 +3,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y

boards/px4/fmu-v2/test.px4board

@@ -1,15 +0,0 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_DRIVERS_GPS=n
-CONFIG_DRIVERS_IMU_L3GD20=n
-CONFIG_DRIVERS_IMU_LSM303D=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_EKF2=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_BOARD_ROMFSROOT="px4fmu_test"
-CONFIG_BOARD_TESTING=y
-CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_VER=y

boards/px4/fmu-v5/default.px4board

@@ -12,15 +12,16 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
@@ -57,6 +58,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -80,7 +82,6 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y

boards/px4/fmu-v5/init/rc.board_defaults

@@ -9,9 +9,9 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V550 V560
+if ver hwtypecmp V550 V552 V560 V562
 then
-	# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
+	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)
 	param set-default EKF2_MULTI_IMU 3
 	param set-default SENS_IMU_MODE 0

boards/px4/fmu-v5/init/rc.board_sensors

@@ -5,8 +5,14 @@
 
 board_adc start
 
-# Internal SPI bus ICM-20602
-icm20602 -s -R 2 -q start
+if ver hwtypecmp V552 V562
+then
+	# Internal SPI bus ICM-42688-P
+	icm42688p -s -R 2 -q start
+else
+	# Internal SPI bus ICM-20602
+	icm20602 -s -R 2 -q start
+fi
 
 # Internal SPI bus ICM-20689
 icm20689 -s -R 2 start

boards/px4/fmu-v5/rtps.px4board

@@ -1,3 +1,4 @@
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_MICRORTPS_BRIDGE=y

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

@@ -191,6 +191,15 @@
 #define HW_INFO_INIT         {'V','5','x', 'x',0}
 #define HW_INFO_INIT_VER     2
 #define HW_INFO_INIT_REV     3
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
+#define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5
+#define V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3,  Rev 0
+#define V550   HW_VER_REV(0x5,0x0) // CUAV V5+,                 Rev 0
+#define V552   HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P,       Rev 2
+#define V560   HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2,   Rev 0
+#define V562   HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P,    Rev 2
+
 /* CAN Silence
  *
  * Silent mode control \ ESC Mux select

boards/px4/fmu-v5/src/manifest.c

@@ -157,11 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0105, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
-	{0x0500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
-	{0x0600, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{V515, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
+	{V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{V550, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
+	{V552, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:2 V:5 ICM42688P
+	{V560, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V562, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5nano R:2 V:6 ICM42688P
 };
 
 /************************************************************************************

boards/px4/fmu-v5/src/spi.cpp

@@ -35,29 +35,81 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
-	}, {GPIO::PortE, GPIO::Pin3}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
+	initSPIHWVersion(V500, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+
+	initSPIHWVersion(V552, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
-	initSPIBusExternal(SPI::Bus::SPI5, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
-	}),
-	initSPIBusExternal(SPI::Bus::SPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+
+	initSPIHWVersion(V562, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
 };
 
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/px4/fmu-v5/stackcheck.px4board

@@ -1,5 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_HYGROMETERS=n
+CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
@@ -33,6 +34,8 @@ CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y

boards/px4/fmu-v5/uavcanv0periph.px4board

@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
@@ -10,6 +11,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
@@ -22,6 +24,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
 CONFIG_SYSTEMCMDS_SD_STRESS=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n

boards/px4/fmu-v5x/default.px4board

@@ -60,6 +60,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -81,7 +82,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y

boards/px4/fmu-v5x/rtps.px4board

@@ -1 +1,12 @@
+CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_OSD=n
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/px4/fmu-v6x/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -39,6 +40,7 @@ CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -47,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -61,17 +64,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -86,7 +87,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -32,8 +32,14 @@ bmi088 -G -R 4 -s start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start
 
-# Internal SPI bus ICM-20649 (hard-mounted)
-icm20649 -R 14 -s start
+if ver hwtypecmp V6X03 V6X13
+then
+	# Internal SPI bus ICM-42670-P (hard-mounted)
+	icm42670p -R 14 -s start
+else
+	# Internal SPI bus ICM-20649 (hard-mounted)
+	icm20649 -R 14 -s start
+fi
 
 # Internal magnetometer on I2c
 bmm150 -I start
@@ -44,7 +50,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 bmp388 -I -a 0x77 start
 
-if ver hwtypecmp V6X00
+if ver hwtypecmp V6X00 V6X10
 then
 	bmp388 -I start
 else

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

@@ -215,6 +215,15 @@
 #define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
 #define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
 
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
+//                 Base/FMUM
+#define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
+#define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
+#define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
+#define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
+
+
 /* HEATER
  * PWM in future
  */

boards/px4/fmu-v6x/src/init.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -173,12 +173,6 @@ stm32_boardinitialize(void)
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
 
-	/* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version -
-	 * otherwise we need to move this after board_determine_hw_info()) */
-	_Static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support");
-
-	stm32_spiinitialize();
-
 	/* configure USB interfaces */
 
 	stm32_usbinitialize();
@@ -212,14 +206,12 @@ stm32_boardinitialize(void)
  *
  ****************************************************************************/
 
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	board_spi_reset(10, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
@@ -236,6 +228,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}
 
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
 	/* configure the DMA allocator */
 
 	if (board_dma_alloc_init() < 0) {

boards/px4/fmu-v6x/src/manifest.c

@@ -81,10 +81,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 	},
 };
 
+static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
+	{
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
+
 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{0x0001, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
+	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
+	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
+	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
+	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
 };
 
 /************************************************************************************

boards/px4/fmu-v6x/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,28 +35,54 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-	}, {GPIO::PortI, GPIO::Pin11}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-	}, {GPIO::PortF, GPIO::Pin4}),
-	initSPIBus(SPI::Bus::SPI3, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-	}, {GPIO::PortE, GPIO::Pin7}),
-//  initSPIBus(SPI::Bus::SPI4, {
-//    // no devices
-// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-//  }, {GPIO::PortG, GPIO::Pin8}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
+	initSPIHWVersion(HW_VER_REV(0, 0), {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
 	}),
-	initSPIBusExternal(SPI::Bus::SPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+
+	initSPIHWVersion(HW_VER_REV(0, 3), {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
 	}),
 };
 
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

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

@@ -70,12 +70,10 @@
 
 /* LEDS  **********************************************************************/
 
-#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
-
-#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED_BLUE   (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) // IO-LED_BLUE or IMU_TEMPERATURE_CONTROL on Pixhawk 2.1
+#define GPIO_LED_AMBER  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) // IO-LED_AMBER
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) // IO-LED_SAFETY
+#define GPIO_LED_GREEN  (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) // IO-LED_POWER_BREATHING
 
 #define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
@@ -88,12 +86,24 @@
  *      PC14 3.3v
  *      PC15 GND
  */
-
 #define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
 # define SENSE_PH1 0b10 /* Floating pulled as set */
 # define SENSE_PH2 0b01 /* Driven as tied */
 
+#define SENSE_PIXHAWK2() (((stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN)) == SENSE_PH2) ? 1 : 0)
+
+#define LED_BLUE(on_true)   (SENSE_PIXHAWK2() ? (void)0 : stm32_gpiowrite(GPIO_LED_BLUE, !(on_true)))
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+#define LED_GREEN(on_true)   stm32_gpiowrite(GPIO_LED_GREEN, (on_true))
+
+
+/* HEATER */
+#define GPIO_HEATER_OUTPUT   /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define HEATER_OUTPUT_EN(on_true)       (SENSE_PIXHAWK2() ? stm32_gpiowrite(GPIO_HEATER_OUTPUT, !(on_true)) : (void)0)
+
+
 #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 
 /* Safety switch button *******************************************************/
@@ -150,18 +160,6 @@
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
 #define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
 
-/* LED definitions ******************************************************************/
-/* PX4 has two LEDs that we will encode as: */
-
-#define LED_STARTED       0  /* LED? */
-#define LED_HEAPALLOCATE  1  /* LED? */
-#define LED_IRQSENABLED   2  /* LED? + LED? */
-#define LED_STACKCREATED  3  /* LED? */
-#define LED_INIRQ         4  /* LED? + LED? */
-#define LED_SIGNAL        5  /* LED? + LED? */
-#define LED_ASSERTION     6  /* LED? + LED? + LED? */
-#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
-
 #define BOARD_NUM_IO_TIMERS 3
 
 #include <px4_platform_common/board_common.h>

boards/px4/io-v2/src/init.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * stm32_boardinitialize() function that is called during cpu startup.
@@ -84,39 +84,33 @@
 
 __EXPORT void stm32_boardinitialize(void)
 {
-
 	/* configure GPIOs */
 
 	/* Set up for sensing HW */
-
 	stm32_configgpio(GPIO_SENSE_PC14_DN);
 	stm32_configgpio(GPIO_SENSE_PC15_UP);
 
-	/* LEDS - default to off */
-	stm32_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_LED4);
+	/* some boards such as Pixhawk 2.1 made
+	the unfortunate choice to combine the blue led channel with
+	the IMU heater. We need a software hack to fix the hardware hack
+	by allowing to disable the LED / heater.
+	*/
+	if (SENSE_PIXHAWK2()) {
+		stm32_configgpio(GPIO_HEATER_OUTPUT);
 
-	/*  PixHawk 1:
-	 *      PC14 Floating
-	 *      PC15 Floating
-	 *
-	 *  PixHawk 2:
-	 *      PC14 3.3v
-	 *      PC15 GND
-	 */
-
-	uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1  | stm32_gpioread(GPIO_SENSE_PC14_DN);
-
-	if (sense == SENSE_PH2) {
-		stm32_configgpio(GPIO_HEATER_OFF);
+	} else {
+		stm32_configgpio(GPIO_LED_BLUE);
 	}
 
 	stm32_configgpio(GPIO_PC14);
 	stm32_configgpio(GPIO_PC15);
 
 
+	/* LEDS - default to off */
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_LED_GREEN);
+
 	stm32_configgpio(GPIO_BTN_SAFETY);
 
 	/* spektrum power enable is active high - enable it by default */
@@ -163,4 +157,7 @@ __EXPORT void stm32_boardinitialize(void)
 
 	stm32_gpiowrite(GPIO_PWM8, true);
 	stm32_configgpio(GPIO_PWM8);
+
+	/* disable heater */
+	HEATER_OUTPUT_EN(false);
 }

boards/px4/sitl/rtps.px4board

@@ -1 +1,2 @@
 CONFIG_MODULES_MICRORTPS_BRIDGE=y
+CONFIG_MODULES_MICRODDS_CLIENT=y

cmake/metadata.cmake

@@ -65,6 +65,7 @@ add_custom_target(metadata_parameters
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
+		--ethernet
 		--config-files ${yaml_config_files} #--verbose
 
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py

msg/CMakeLists.txt

@@ -52,6 +52,7 @@ set(msg_files
 	airspeed_wind.msg
 	autotune_attitude_control_status.msg
 	battery_status.msg
+	button_event.msg
 	camera_capture.msg
 	camera_status.msg
 	camera_trigger.msg
@@ -144,6 +145,7 @@ set(msg_files
 	sensor_combined.msg
 	sensor_correction.msg
 	sensor_gps.msg
+	sensor_gnss_relative.msg
 	sensor_gyro.msg
 	sensor_gyro_fft.msg
 	sensor_gyro_fifo.msg
@@ -152,6 +154,7 @@ set(msg_files
 	sensor_preflight_mag.msg
 	sensor_selection.msg
 	sensors_status_imu.msg
+	sensors_status.msg
 	system_power.msg
 	takeoff_status.msg
 	task_stack_info.msg
@@ -168,6 +171,8 @@ set(msg_files
 	uavcan_parameter_value.msg
 	ulog_stream.msg
 	ulog_stream_ack.msg
+	uwb_grid.msg
+	uwb_distance.msg
 	vehicle_acceleration.msg
 	vehicle_air_data.msg
 	vehicle_angular_acceleration.msg
@@ -260,14 +265,17 @@ endif()
 
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
+set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
 set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
 
 set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
 set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
+	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()
 
 if (px4_constrained_flash_build)
@@ -300,6 +308,27 @@ add_custom_command(OUTPUT ${uorb_headers}
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 
+add_custom_command(OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--headers
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${ucdr_out_path}
+		-e templates/ucdr
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
+		-q
+		${added_arguments}
+	DEPENDS
+		${msg_files}
+		templates/ucdr/msg.h.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
+	COMMENT "Generating uORB topic ucdr headers"
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	VERBATIM
+	)
+add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
+
 # Generate uORB sources
 add_custom_command(OUTPUT ${uorb_sources}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py

msg/button_event.msg

@@ -0,0 +1,6 @@
+uint64 timestamp			# time since system start (microseconds)
+bool triggered				# Set to true if the event is triggered
+
+# TOPICS button_event safety_button
+
+uint8 ORB_QUEUE_LENGTH = 2

msg/estimator_innovations.msg

@@ -31,6 +31,7 @@ float32[2] drag		# drag specific force innovation (m/sec**2) and innovation vari
 float32 airspeed	# airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
 float32 beta		# synthetic sideslip innovation (rad) and innovation variance (rad**2)
 float32 hagl		# height of ground innovation (m) and innovation variance (m**2)
+float32 hagl_rate	# height of ground rate innovation (m/s) and innovation variance ((m/s)**2)
 
 # The innovation test ratios are scalar values. In case the field is a vector,
 # the test ratio will be put in the first component of the vector.