Merge branch 'rwanda_sih' into rwanda_base

small changes to be able to configure two ailerons
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2026-05-24 05:37:36 +08:00 · 2024-10-04 11:08:14 +03:00 · 2024-10-04 10:03:26 +03:00 · 2024-10-03 15:09:27 +03:00 · 2024-10-02 17:18:30 +03:00 · 2024-10-02 08:39:28 +03:00
960 changed files with 2695 additions and 66274 deletions
@@ -47,15 +47,12 @@ pipeline {
                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
-                     "ark_fpv_bootloader",
-                     "ark_fpv_default",
                     "ark_pi6x_bootloader",
                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
                     "bitcraze_crazyflie_default",
-                     "cuav_7-nano_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -133,9 +130,6 @@ pipeline {
                     "thepeach_k1_default",
                     "thepeach_r1_default",
                     "uvify_core_default",
-                     "x-mav_ap-h743v2_default",
-                     "zeroone_x6_bootloader",
-                     "zeroone_x6_default",
            ],
            image: docker_images.nuttx,
            archive: true
@@ -6,22 +6,15 @@
 name: Build all targets

 on:
-  workflow_dispatch:
-    inputs:
-      tag:
-        required: true
-        description: release version
  push:
-    tags:
-      - 'v*'
    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
  pull_request:
    branches:
-      - '*'
+    - '*'

 jobs:
  group_targets:
@@ -31,8 +24,6 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
-      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4

@@ -42,34 +33,13 @@ jobs:
          path: "./Tools/setup/requirements.txt"

      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"

      - id: set-timestamp
        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

-      # This job is also triggered with versioned tags
-      #   Creating a and pushing a tag starting with "v" just as "v1.0.0"
-      #   will trigger this workflow and when all builds are done create a Github Release
-      #   then it will upload all binaries built as assets
-      # Additionally, we can also trigger this step manually
-      #   From the Github Actions tab for this repository:
-      #   https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
-      #   You can now click a "Run Workflow" button that will prompt you for a tag name
-      #   This tag name has to match an existing tag otherwise the new release will be detached
-      #   Note: Only developers with "write" permission to the repository can use this feature
-      - id: set-tag
-        if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-        run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
-
-      - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
-
-      - name: Debug Matrix Output
-        if: runner.debug == '1'
-        run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
-
  setup:
-    name: Build Group [${{ matrix.group }}]
+    name: ${{ matrix.group }}
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
    needs: group_targets
@@ -82,17 +52,17 @@ jobs:
        with:
          fetch-depth: 0

-      - name: Git ownership workaround
+      - name: ownership workaround
        run: git config --system --add safe.directory '*'

-      - name: Setup ccache
+      - name: ccache setup keys
        uses: actions/cache@v4
        with:
          path: ~/.ccache
          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}

-      - name: Configure ccache
+      - name: setup ccache
        run: |
            mkdir -p ~/.ccache
            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -103,71 +73,18 @@ jobs:
            ccache -s
            ccache -z

-      - name: Building [${{ matrix.group }}]
+      - name: build target group
        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}

-      - name: Arrange Build Artifacts
-        run: |
-          ./Tools/ci/package_build_artifacts.sh
-
-      - name: Upload Build Artifacts
+      - name: Upload px4 package
        uses: actions/upload-artifact@v4
        with:
          name: px4_${{matrix.group}}_build_artifacts
-          path: artifacts/
+          path: |
+            build/**/*.px4
+            build/**/*.bin
+          compression-level: 0

-      - name: Cache Save
+      - name: ccache post-run
        run: ccache -s
-
-  artifacts:
-    name: Upload Artifacts to S3
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Branch Name
-        run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
-
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
-        uses: jakejarvis/s3-sync-action@master
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
-
-  release:
-    name: Create Release and Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-
-      - name: Arrange Binaries
-        run: |
-          mkdir artifacts
-          cp **/**/*.px4 artifacts/
-
-      - name: Upload Binaries to Release
-        uses: softprops/action-gh-release@v2
-        with:
-          name: ${{ needs.group_targets.outputs.tagname }}
-          tag_name: ${{ needs.group_targets.outputs.tagname }}
-          draft: true
-          files: artifacts/*.px4
@@ -0,0 +1,56 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: ${{ matrix.container }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
@@ -88,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -0,0 +1,133 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default/docs
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  ROS2_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        rm px4_msgs/msg/*.msg
+        rm px4_msgs/srv/*.srv
+        cp msg/*.msg px4_msgs/msg/
+        cp srv/*.srv px4_msgs/srv/
@@ -10,7 +10,7 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v1
      with:
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -2,6 +2,10 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -79,13 +83,3 @@
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
-[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
-	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/PX4/iq-module-communication-cpp.git
-	branch = master
-[submodule "src/drivers/uavcan/libdronecan/dsdl"]
-	path = src/drivers/uavcan/libdronecan/dsdl
-	url = https://github.com/PX4/DSDL.git
-[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
-	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
-	url = https://github.com/dronecan/pydronecan
@@ -186,16 +186,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
-    ark_fpv_bootloader:
-      short: ark_fpv_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_bootloader
-    ark_fpv_default:
-      short: ark_fpv_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -241,11 +231,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cuav_7-nano_default:
-      short: cuav_7-nano
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_7-nano_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -361,23 +346,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: raspberrypi_pico_default
-    zeroone_x6_default:
-      short: zeroone_x6
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_default
-    zeroone_x6_bootloader:
-      short: zeroone_x6_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_bootloader
-    x-mav_ap-h743v2_bootloader:
-      short: x-mav_ap-h743v2-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_bootloader
-    x-mav_ap-h743v2_default:
-      short: x-mav_ap-h743v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_default
@@ -828,7 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -326,11 +326,9 @@ px4io_update:
 bootloaders_update: \
 	3dr_ctrl-zero-h7-oem-revg_bootloader \
 	ark_fmu-v6x_bootloader \
-	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
-	cuav_7-nano_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -63,9 +63,8 @@ Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 | Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
 | Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
 | Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
 | Boat | x |
-
+| Rover | x |

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.

@@ -119,7 +118,7 @@ These boards don't fully comply industry standards, and thus is solely maintaine

 ### Experimental

-These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.

 * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
 * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
@@ -19,6 +19,8 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,6 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,6 +30,8 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris

 # EKF2: Vision position and heading, no GPS
 param set-default EKF2_EV_DELAY 5
@@ -97,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
+# param set-default BAT1_A_PER_V 36.364		Not found
+# param set-default BAT1_V_DIV 18.182		Not found
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -16,36 +16,39 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
+param set-default NPFG_PERIOD 12

-param set-default FW_PR_FF 0.08
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.08
-
-param set-default FW_RR_FF 0.05
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.03
-
-param set-default FW_YR_FF 0.3
-param set-default FW_YR_I 0.4
-param set-default FW_YR_P 0.2
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5

 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
 param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6

-param set-default FW_T_CLMB_R_SP 5
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -53,6 +56,7 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3

 param set-default CA_SV_CS_COUNT 6
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -1,64 +0,0 @@
-#!/bin/sh
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_mecanum_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAN_YAW_SCALE 0.1
-param set-default RM_YAW_RATE_I 0
-param set-default RM_YAW_RATE_P 0.01
-param set-default RM_MAX_ACCEL 3
-param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 4
-param set-default RM_MAX_THR_SPD 7
-param set-default RM_MAX_THR_YAW_R 7.5
-param set-default RM_YAW_P 5
-param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
-param set-default RM_MISS_VEL_GAIN 1
-param set-default RM_SPEED_I 0.01
-param set-default RM_SPEED_P 0.1
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 0.5
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
-param set-default SIM_GZ_WH_DIS2 100
-
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 0
-param set-default SIM_GZ_WH_MAX3 200
-param set-default SIM_GZ_WH_DIS3 100
-
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 0
-param set-default SIM_GZ_WH_MAX4 200
-param set-default SIM_GZ_WH_DIS4 100
-
-param set-default SIM_GZ_WH_REV 10
@@ -86,7 +86,6 @@ px4_add_romfs_files(
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -29,7 +29,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_of
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
 if [ "$PX4_SIMULATOR" = "sihsim" ]; then
@@ -181,7 +181,7 @@ param set-default TRIG_INTERFACE 3
 param set-default SYS_FAILURE_EN 1
 # Enable low-battery actions by default for (automated) testing. Battery sim
 # does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 3
+param set-default COM_LOW_BAT_ACT 2


 # Adapt timeout parameters if simulation runs faster or slower than realtime.
@@ -92,13 +92,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_MECANUM)
-	px4_add_romfs_files(
-		rc.rover_mecanum_apps
-		rc.rover_mecanum_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -18,6 +18,8 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,5 +96,7 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,6 +20,8 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,6 +41,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -63,6 +63,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SENS_DPRES_OFF 0.001

@@ -0,0 +1,99 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set HIL_ACT_REV 32
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6
@@ -29,6 +29,7 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
+param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,6 +92,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,6 +93,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -42,16 +42,12 @@ param set-default CA_ROTOR3_PX -0.0762
 param set-default CA_ROTOR3_PY 0.09525
 param set-default CA_ROTOR3_KM -0.05

-param set-default PWM_MAIN_TIM0 -3
-param set-default DSHOT_TEL_CFG 104
-
 param set-default EKF2_MIN_RNG 0.01
 param set-default EKF2_OF_POS_X 0.043
 param set-default EKF2_OF_POS_Y 0.011
 param set-default EKF2_OF_QMIN_GND 1
 param set-default EKF2_RNG_POS_X 0.043
 param set-default EKF2_RNG_POS_Y 0.0
-param set-default EKF2_RNG_A_HMAX 25.0

 param set-default IMU_GYRO_DNF_EN 2

@@ -82,9 +78,3 @@ param set-default SENS_FLOW_MINHGT 0.0
 param set-default SER_TEL2_BAUD 3000000

 param set-default UXRCE_DDS_CFG 102
-
-param set-default EKF2_HGT_REF 2
-
-# I saw a very sketchy extreme yaw setpoint that I cant explain
-# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
-param set-default MC_YAWRATE_MAX 100
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Mecanum
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -23,6 +23,9 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# companion computer is connected via USB permanently
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,6 +73,8 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

+#
+param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3

 # Battery
@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()

@@ -152,13 +153,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_MECANUM)
-	px4_add_romfs_files(
-		# [52000, 52999] Mecanum rovers
-		52000_generic_rover_mecanum
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		# [59000, 59999] Rover position control (deprecated)
@@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for a mecanum drive rover.
-
-# Start rover mecanum drive controller.
-rover_mecanum start
-
-# Start Land Detector.
-land_detector start rover
@@ -1,11 +0,0 @@
-#!/bin/sh
-# Mecanum rover parameters.
-
-set VEHICLE_TYPE rover_mecanum
-param set-default MAV_TYPE 10     # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 13  # Rover (Mecanum)
-param set-default CA_R_REV 15     # Right and left motors reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
@@ -184,13 +184,6 @@ then
 	asp5033 start -X
 fi

-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -50,15 +50,6 @@ then
 	. ${R}etc/init.d/rc.rover_ackermann_apps
 fi

-#
-# Mecanum Rover setup.
-#
-if [ $VEHICLE_TYPE = rover_mecanum ]
-then
-	# Start mecanum drive rover apps.
-	. ${R}etc/init.d/rc.rover_mecanum_apps
-fi
-
 #
 # VTOL setup.
 #
@@ -105,6 +105,13 @@ then
 		fi
 	fi

+  if [ -e /fs/microsd/new ]
+  then
+    echo "Updating external autostart files"
+    rm -r $SDCARD_EXT_PATH
+    mv /fs/microsd/new $SDCARD_EXT_PATH
+  fi
+
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -11,7 +11,7 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
-    -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -1,46 +0,0 @@
-#!/bin/bash
-
-mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
-for build_dir_path in build/*/ ; do
-  build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
-  mkdir artifacts/$build_dir
-  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
-  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
-  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
-  # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
-  ls -la artifacts/$build_dir
-  echo "----------"
-done
-
-# general metadata
-mkdir artifacts/_general/
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Airframe
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Parameters
-cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-# Actuators
-cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-# Events
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# ROS 2 msgs
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# Module Docs
-ls -la artifacts/_general/
@@ -111,19 +111,7 @@ if(verbose):
    print("= scanning for boards =")
    print("=======================")

-# We also need to build metadata
-# includes:
-# - Airframe
-# - Parameters
-# - Events
-metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
-grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
-grouped_targets['base']['manufacturers'] = {}
-grouped_targets['base']['manufacturers']['px4'] = []
-grouped_targets['base']['manufacturers']['px4'] += metadata_targets
-
-for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
    if manufacturer.name in excluded_manufacturers:
@@ -155,6 +143,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                        grouped_targets[target['arch']]['container'] = target['container']
                        grouped_targets[target['arch']]['manufacturers'] = {}
                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
+                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {}
                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
                if target is not None:
@@ -167,11 +156,6 @@ if(verbose):
    print("============================")
    pprint.pp(grouped_targets)

-if(verbose):
-    print("===================")
-    print("= Generating JSON =")
-    print("===================")
-
 if (args.group):
    # if we are using this script for grouping builds
    # we loop trough the manufacturers list and split their targets
@@ -195,24 +179,16 @@ if (args.group):
    last_arch = ''
    SPLIT_LIMIT = 10
    LOWER_LIMIT = 5
-    if(verbose):
-        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        if(verbose):
-            print(f'=:Processing: [{arch}] Last: [{last_arch}]')
-
        if(last_arch == ''):
            last_arch = arch
        if(arch not in group_number):
                group_number[arch] = 0

        if(last_arch != arch and len(temp_group) > 0):
-
            group_name = last_arch + "-" + str(group_number[last_arch])
            group_number[last_arch] += 1
            targets = comma_targets(temp_group)
-            if(verbose):
-                print(f'=:Orphan: [{arch}][{last_arch}][{targets}]')
            final_groups.append({
                "container": grouped_targets[last_arch]['container'],
                "targets": targets,
@@ -222,22 +198,12 @@ if (args.group):
            })
            last_arch = arch
            temp_group = []
-
        for man in grouped_targets[arch]['manufacturers']:
-            if(verbose):
-                print(f'=:Processing: [{arch}][{man}]')
            for tar in grouped_targets[arch]['manufacturers'][man]:
-                man_len = len(grouped_targets[arch]['manufacturers'][man])
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}][{tar}]')
                if(last_man != man):
-                    # if(verbose):
-                    #     print(f'=:Processing: [{arch}][{man}][{tar}][{man_len}]')
+                    man_len = len(grouped_targets[arch]['manufacturers'][man])
                    if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
                        # Manufacturers can have their own group
-                        if(verbose):
-                            print(f'=:Processing: ==Manufacturers can have their own group')
-                            print(f'=:Processing: Limits[{LOWER_LIMIT}][{SPLIT_LIMIT}]')
                        group_name = arch + "-" + man
                        targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
                        last_man = man
@@ -268,6 +234,19 @@ if (args.group):
                    else:
                        temp_group.append(tar)

+            if(last_arch != arch and len(temp_group) > 0):
+                group_name = last_arch + "-" + str(group_number[last_arch])
+                group_number[last_arch] += 1
+                targets = comma_targets(temp_group)
+                final_groups.append({
+                    "container": grouped_targets[last_arch]['container'],
+                    "targets": targets,
+                    "arch": last_arch,
+                    "group": group_name,
+                    "len": len(temp_group)
+                })
+                last_arch = arch
+                temp_group = []
            if(len(temp_group) > (LOWER_LIMIT - 1)):
                group_name = arch + "-" + str(group_number[arch])
                last_arch = arch
@@ -442,7 +442,7 @@ class SourceParser(object):
                   re.findall(r"\bstrcmp\b.*\bverb\b.*\"(.+)\"", contents)

        doc_commands = module_doc.all_commands() + \
-                [x for value in module_doc.all_values() for x in value.replace(' ', '|').split('|')]
+                [x for value in module_doc.all_values() for x in value.split('|')]

        for command in commands:
            if len(command) == 2 and command[0] == '-':
@@ -428,8 +428,7 @@ class uploader:

        percent = (float(progress) / float(maxVal)) * 100.0

-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
+        sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
        sys.stdout.flush()

    # send the CHIP_ERASE command and wait for the bootloader to become ready
@@ -89,6 +89,7 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_EXPERIMENTAL=y
+CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -196,7 +197,6 @@ CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file mindpx_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file mindpx2_init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file mindpx2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file mindpx_usb.c
 *
 * Board-specific USB functions.
 */
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -84,7 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -14,7 +14,6 @@ fi
 if param compare -s ADC_ADS1115_EN 1
 then
 	ads1115 start -X
-	board_adc start -n
 else
 	board_adc start
 fi
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,73 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 59,
-    "magic": "ARKFPVFWv1",
-    "description": "Firmware for the ARKFPV board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKFPV",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# transision from params file to flash-based params (2022-08)
-if [ -f $PARAM_FILE ]
-then
-	param load $PARAM_FILE
-	param save
-	# create a backup
-	mv $PARAM_FILE ${PARAM_FILE}.bak
-	reboot
-fi
-
-# TODO: Tune the following parameters
-param set-default SENS_EN_THERMAL 1
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
-
-if ver hwtypecmp ARKFPV000
-then
-	param set-default SENS_TEMP_ID 3014666
-fi
-
-param set-default BAT1_V_DIV 21.0
-
-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_SBUS_PRT_CFG 0
-
-param set-default IMU_GYRO_DNF_EN 3
-
-# Single IMU
-param set-default EKF2_MULTI_IMU 0
-param set-default SENS_IMU_MODE 1
@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# ARKFPV specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-if ver hwtypecmp ARKFPV000
-then
-	# Internal SPI bus IIM42653
-	iim42653 -R 14 -s -b 1 start
-fi
-
-# Internal magnetometer on I2C
-iis2mdc -R 0 -I -b 4 start
-
-# Internal Baro on I2C
-bmp388 -I -b 2 start
@@ -1,17 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-config BOARD_HAS_PROBES
-	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
-	default y
-	---help---
-		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
-
-config BOARD_USE_PROBES
-	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
-	default n
-	depends on BOARD_HAS_PROBES
-
-	---help---
-		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -1,95 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fpv/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003B
-CONFIG_CDCACM_PRODUCTSTR="ARK BL FPV.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_UART7=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART7_RXBUFSIZE=512
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=512
-CONFIG_UART7_TXDMA=y
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,507 +0,0 @@
-/************************************************************************************
- * nuttx-configs/px4_fmu-v6x/include/board.h
- *
- *   Copyright (C) 2016-2024 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The px4_fmu-v6X  board provides the following clock sources:
- *
- *   X1: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        16000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (16,000,000 / 1) * 40 = 640 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 640 MHz / 2   = 320 MHz
- *   PLL1Q = PLL1_VCO/4  = 640 MHz / 4   = 160 MHz
- *   PLL1R = PLL1_VCO/8  = 640 MHz / 8   = 80 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(40)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 40)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 160
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (80 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (80 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (80 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (80 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-/* LED definitions ******************************************************************/
-/* The px4_fmu-v6x board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_3   /* PB7 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3   /* PB6 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_6    /* PH14 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_6    /* PH13 */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS  No remap                 /* PC8  */
-//#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
-
-
-/* CAN
- *
- * CAN1 is routed to transceiver.
- */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
-
-/* SPI
- * SPI1 is sensors1
- * SPI2 is sensors2
- * SPI3 is sensors3
- * SPI4 is Not Used
- * SPI5 is Not Used
- * SPI6 is EXTERNAL1
- *
- */
-
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_3               /* PG9  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2               /* PB5  */
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_2               /* PA6  */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_1               /* PG14 */
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_3) /* PB3  */
-
-/* I2C
- *
- *   The optional _GPIO configurations allow the I2C driver to manually
- *   reset the bus to clear stuck slaves.  They match the pin configuration,
- *   but are normally-high GPIOs.
- *
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
-/* SDMMC2
- *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PB14
- *      SDMMC2_D1                           PB15
- *      SDMMC2_D2                           PG11
- *      SDMMC2_D3                           PB4
- */
-
-#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6 */
-#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7 */
-//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
-//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_1  /* PG11 */
-//      GPIO_SDMMC2_D3    No Remap         /* PB4 */
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "stm32_gpio.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
-		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
-		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
-		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
-		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
-		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
-		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
-	} while(0)
-
-# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
-#endif  /*__NUTTX_CONFIG_PX4_FMU_V6X_INCLUDE_BOARD_H  */
@@ -1,108 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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
-
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
-//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
-
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
-
-// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
-
-// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -1,279 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_IFCONFIG is not set
-# CONFIG_NSH_DISABLE_IFUPDOWN is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TELNETD is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fpv/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="ark"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95751
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003B
-CONFIG_CDCACM_PRODUCTSTR="ARK FPV.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-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_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=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_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_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLASH_OVERRIDE_I=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC2=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXDMA=y
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=10000
-CONFIG_UART5_TXDMA=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_IFLOWCONTROL=y
-CONFIG_UART7_OFLOWCONTROL=y
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART7_TXDMA=y
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXDMA=y
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXDMA=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART3_TXDMA=y
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
@@ -1,215 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2024 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 ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
- * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
- * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
- *
- * The STM32H743II also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * 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 bootloader uses the first sector of the flash, which is 128K in length.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * 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) }
-}
@@ -1,229 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2024 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 ARKV6X uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
- * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
- * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
- *
- * The STM32H743II also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * 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.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * 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(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,77 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 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  "bootloader")
-	add_compile_definitions(BOOTLOADER)
-	add_library(drivers_board
-		bootloader_main.c
-		init.c
-		usb.c
-		timer_config.cpp
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			px4_layer #gpio
-			arch_io_pins # iotimer
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		init.c
-		led.c
-		mtd.cpp
-		sdio.c
-		spi.cpp
-		spix_sync.c
-		spix_sync.h
-		timer_config.cpp
-		usb.c
-	)
-	add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			arch_board_hw_info
-			drivers__led # drv_led_start
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			px4_layer
-	)
-endif()
@@ -1,391 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016-2024 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
- *
- * ARK FPV internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-#undef TRACE_PINS
-
-/* Configuration ************************************************************************************/
-
-#  define BOARD_HAS_USB_VALID           1
-#  define BOARD_HAS_NBAT_V              1
-#  define BOARD_HAS_NBAT_I              1
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
-/* Trace Clock and D0-D3 are available on the trace connector
- *
- * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
- * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
- * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
- * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
- * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
-
- */
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
-
-#if !defined(TRACE_PINS)
-#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
-
-#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#  define BOARD_OVERLOAD_LED     LED_RED
-#  define BOARD_ARMED_STATE_LED  LED_BLUE
-
-#else
-
-#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
-#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
-#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
-//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
-
-#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
-#  undef  BOARD_OVERLOAD_LED
-#  undef  BOARD_ARMED_STATE_LED
-
-#  define GPIO_nLED_RED    GPIO_TRACED0
-#  define GPIO_nLED_GREEN  GPIO_TRACED1
-#  define GPIO_nLED_BLUE   GPIO_TRACED2
-#  define GPIO_nARMED      GPIO_TRACED3
-#  define GPIO_nARMED_INIT GPIO_TRACED3
-#endif
-
-/* I2C busses */
-
-/* Devices on the onboard buses.
- *
- * Note that these are unshifted addresses.
- */
-#define PX4_I2C_OBDEV_SE050         0x48
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define ADC1_CH(n)                  (n)
-
-/* N.B. there is no offset mapping needed for ADC3 because */
-#define ADC3_CH(n)                  (n)
-
-/* We are only use ADC3 for REV/VER.
- * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
- * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
- * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
- * PA0SO of 0.
- *
- *  0 Analog switch closed (pads are connected through the analog switch)
- *
- * So ADC3_INP0 is GPIO_ADC123_INP12
- *    ADC3_INP1 is GPIO_ADC12_INP13
- */
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-
-#define PX4_ADC_GPIO  \
-	/* PA0  */  GPIO_ADC1_INP16,   \
-	/* PA4  */  GPIO_ADC12_INP18,  \
-	/* PB0  */  GPIO_ADC12_INP9,   \
-	/* PB1  */  GPIO_ADC12_INP5,   \
-	/* PC2  */  GPIO_ADC123_INP12, \
-	/* PC3  */  GPIO_ADC12_INP13,  \
-	/* PF12 */  GPIO_ADC1_INP6,    \
-	/* PH3  */  GPIO_ADC3_INP14,   \
-	/* PH4  */  GPIO_ADC3_INP15
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL        	/* PB0 */  ADC1_CH(9)
-#define ADC_BATTERY_CURRENT_CHANNEL        	/* PC2 */  ADC3_CH(0)
-#define ADC_SCALED_12V_CHANNEL	     		/* PA4 */  ADC1_CH(18)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL     /* PA0 */  ADC1_CH(16)
-#define ADC_SCALED_V5_CHANNEL                   /* PB1 */  ADC1_CH(5)
-#define ADC_HW_VER_SENSE_CHANNEL                /* PH3 */  ADC3_CH(14)
-#define ADC_HW_REV_SENSE_CHANNEL                /* PH4 */  ADC3_CH(15)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)         | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL)         | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL)  | \
-	 (1 << ADC_SCALED_V5_CHANNEL)               | \
-	 (1 << ADC_SCALED_12V_CHANNEL))
-
-
-#define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
-
-#define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
-#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_SPLIT_VERSIONING
-
-#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
-#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
-#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT_PREFIX    "ARKFPV"
-
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
-//                 Base/FMUM
-#define ARKFPV_0   HW_FMUM_ID(0x0) // ARKFPV,     Sensor Set  Rev 0
-#define ARKFPV_1   HW_FMUM_ID(0x1) // ARKFPV,     Sensor Set  Rev 1
-
-#define UAVCAN_NUM_IFACES_RUNTIME  1
-
-/* HEATER
- * PWM in future
- */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PE6 is nARMED
- *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
- *  While armed it shall be configured at a GPIO OUT set LOW
- */
-#if !defined(TRACE_PINS)
-#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
-#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-#endif
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
-
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
-#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
-#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
-#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
-#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
-
-#define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
-
-/* Power supply control and monitoring GPIOs */
-
-#define GPIO_VDD_5V_PGOOD         	/* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_12V_PGOOD	 	/* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
-#define GPIO_5V_ON_BATTERY	 	/* PG1  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTG|GPIO_PIN1)
-#define GPIO_VDD_12V_EN			/* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
-
-#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-
-#define BOARD_NUMBER_BRICKS             1
-
-/* Define True logic Power Control in arch agnostic form */
-
-#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-#define PAYLOAD_POWER_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_12V_EN, (on_true))
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-#define FLASH_BASED_PARAMS
-
-/* High-resolution timer */
-#define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
-
-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
-#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-
-/* ARKFPV never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_5V_PGOOD))
-#define BOARD_GPIO_PAYOLOAD_V_VALID (px4_arch_gpioread(GPIO_VDD_12V_PGOOD))
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#if defined(TRACE_PINS)
-#define GPIO_TRACE                          \
-	GPIO_TRACECLK1,                           \
-	GPIO_TRACED0,                             \
-	GPIO_TRACED1,                             \
-	GPIO_TRACED2,                             \
-	GPIO_TRACED3
-#else
-#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#endif
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_TRACE,                       \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_VDD_5V_PGOOD,                \
-		GPIO_VDD_12V_PGOOD,               \
-		GPIO_VDD_12V_EN,                  \
-		GPIO_5V_ON_BATTERY,               \
-		GPIO_VDD_3V3_SD_CARD_EN,          \
-		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
-		GPIO_FMU_CH9,     	          \
-		GPIO_SPIX_SYNC                    \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS  3
-#define BOARD_SPIX_SYNC_FREQ 32000
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file bootloader_main.c
- *
- * FMU-specific early startup code for bootloader
-*/
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform/gpio.h>
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure pins */
-	const uint32_t list[] = PX4_GPIO_INIT_LIST;
-
-	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
-		if (list[gpio] != 0) {
-			px4_arch_configgpio(list[gpio]);
-		}
-	}
-
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}
@@ -1,140 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-#if !defined(CONFIG_CAN)
-
-#include <stdint.h>
-
-#include "board_config.h"
-
-
-__EXPORT
-uint16_t board_get_can_interfaces(void)
-{
-	uint16_t enabled_interfaces = 0x3;
-
-	enabled_interfaces &= ~(1 << 1);
-
-	return enabled_interfaces;
-}
-
-#else
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_internal.h"
-
-#include "chip.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-/************************************************************************************
- * 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 /* CONFIG_CAN */
@@ -1,129 +0,0 @@
-/*
- * hw_config.h
- *
- *  Created on: May 17, 2015
- *      Author: david_s5
- */
-
-#ifndef HW_CONFIG_H_
-#define HW_CONFIG_H_
-
-/****************************************************************************
- * 10-8--2016:
- *  To simplify the ripple effect on the tools, we will be using
- *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
- *  moving forward all Bootloaders must contain the prefix "PX4 BL "
- *  in the USBDEVICESTRING
- *  This Change will be made in an upcoming BL release
- ****************************************************************************/
-/*
- * Define usage to configure a bootloader
- *
- *
- * Constant                example          Usage
- * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
- * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
- * BOARD_FMUV2
- * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
- * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
- * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
- * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
- * BOARD_TYPE           9                     - Must match .prototype boad_id
- * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
- * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
- * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
- * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
- *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
- *                                              programmatically
- *
- * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
- *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
- *                                               during a FW upgrade.
- *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
- *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
- *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
- *                                               in the table.
- *
- * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
- *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
- *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
- *                                                                        and hence the address space of FLASH to erase and program.
- * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
- * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
- *
- * * Other defines are somewhat self explanatory.
- */
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-//#define USE_VBUS_PULL_DOWN
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS5,921600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     59
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
-
-#define OSC_FREQ                       16
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN // GREEN
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-/*
- * Uncommenting this allows to force the bootloader through
- * a PWM output pin. As this can accidentally initialize
- * an ESC prematurely, it is not recommended. This feature
- * has not been used and hence defaults now to off.
- *
- * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
- * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
- *
- * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
- * # define BOARD_POWER_ON                 1
- * # define BOARD_POWER_OFF                0
- * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
- *
-*/
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#if !defined(APP_RESERVATION_SIZE)
-#  define APP_RESERVATION_SIZE 0
-#endif
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#endif /* HW_CONFIG_H_ */
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusInternal(2),
-	initI2CBusInternal(4),
-};
@@ -1,293 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * ARKFMU-specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-#include "spix_sync.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform_common/px4_manifest.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	/* set the peripheral rails off */
-
-	PAYLOAD_POWER_EN(false);
-	board_control_spi_sensors_power(false, 0xffff);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	board_control_spi_sensors_power(true, 0xffff);
-	PAYLOAD_POWER_EN(true);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
-{
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	PAYLOAD_POWER_EN(true);
-
-	/* Need hrt running before using the ADC */
-
-	px4_platform_init();
-
-	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
-
-	stm32_spiinitialize();
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{15, 128 * 1024, 0x081E0000},
-		{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);
-		led_on(LED_AMBER);
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	if (OK == board_determine_hw_info()) {
-		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
-		       board_get_hw_type_name());
-
-	} else {
-		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
-	}
-
-	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
-
-	stm32_spiinitialize();
-
-	board_spi_reset(10, 0xffff);
-
-	/* Configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-	// Ensure Power is off for > 10 mS
-	usleep(15 * 1000);
-	VDD_3V3_SD_CARD_EN(true);
-	usleep(500 * 1000);
-
-#ifdef CONFIG_MMCSD
-	int ret = stm32_sdio_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
-#endif /* CONFIG_MMCSD */
-
-	/* Configure the SPIX_SYNC output */
-	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
-	spix_sync_servo_set(0, 150);
-
-	return OK;
-}
@@ -1,234 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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
- *
- * ARKFMU LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2024 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 <nuttx/config.h>
-#include <board_config.h>
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-
-static const px4_mft_entry_s mft_mft = {
-	.type = MFT,
-	.pmft = (void *) system_query_manifest,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mft_mft,
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */
@@ -1,57 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIFmumID(ARKFPV_0, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI6, {
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
-		}),
-	}),
-	initSPIFmumID(ARKFPV_1, { // Placeholder
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI6, {
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
-		}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -1,309 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name Airmind 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 spix_sync.c
-*
-*
-*/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <board_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <ctype.h>
-
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
-#include <systemlib/px4_macros.h>
-
-#include <px4_arch/io_timer.h>
-
-#include "spix_sync.h"
-
-#define REG(_tmr, _reg) (*(volatile uint32_t *)(spix_sync_timers[_tmr].base + _reg))
-
-#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
-#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
-#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
-#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
-#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
-#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
-#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
-#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
-#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
-#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
-#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
-#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
-#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
-#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
-#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
-#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
-#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
-#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
-
-#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
-
-unsigned
-spix_sync_timer_get_period(unsigned timer)
-{
-	return (rARR(timer));
-}
-
-static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
-{
-	if (spix_sync_timers[timer].base) {
-
-		irqstate_t flags = px4_enter_critical_section();
-
-		/* enable the timer clock before we try to talk to it */
-
-		modifyreg32(spix_sync_timers[timer].clock_register, 0, spix_sync_timers[timer].clock_bit);
-
-		/* disable and configure the timer */
-		rCR1(timer) = 0;
-		rCR2(timer) = 0;
-		rSMCR(timer) = 0;
-		rDIER(timer) = 0;
-		rCCER(timer) = 0;
-		rCCMR1(timer) = 0;
-		rCCMR2(timer) = 0;
-		rCCR1(timer) = 0;
-		rCCR2(timer) = 0;
-		rCCR3(timer) = 0;
-		rCCR4(timer) = 0;
-		rCCER(timer) = 0;
-		rDCR(timer) = 0;
-
-		if ((spix_sync_timers[timer].base == STM32_TIM1_BASE) || (spix_sync_timers[timer].base == STM32_TIM8_BASE)) {
-
-			/* master output enable = on */
-
-			rBDTR(timer) = ATIM_BDTR_MOE;
-		}
-
-		/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
-		 * then configure the timer to free-run at 1MHz.
-		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
-		 */
-
-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
-
-		/* configure the timer to update at the desired rate */
-
-		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
-
-		/* generate an update event; reloads the counter and all registers */
-		rEGR(timer) = GTIM_EGR_UG;
-
-		px4_leave_critical_section(flags);
-	}
-
-}
-
-void spix_sync_channel_init(unsigned channel)
-{
-	/* Only initialize used channels */
-
-	if (spix_sync_channels[channel].timer_channel) {
-
-		unsigned timer = spix_sync_channels[channel].timer_index;
-
-		/* configure the GPIO first */
-		px4_arch_configgpio(spix_sync_channels[channel].gpio_out);
-
-		uint16_t polarity = spix_sync_channels[channel].masks;
-
-		/* configure the channel */
-		switch (spix_sync_channels[channel].timer_channel) {
-		case 1:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC1E;
-			break;
-
-		case 2:
-			rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC2E;
-			break;
-
-		case 3:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC3E;
-			break;
-
-		case 4:
-			rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
-			rCCER(timer) |= polarity | GTIM_CCER_CC4E;
-			break;
-		}
-	}
-}
-
-int
-spix_sync_servo_set(unsigned channel, uint8_t  cvalue)
-{
-	if (channel >= arraySize(spix_sync_channels)) {
-		return -1;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].gpio_out == 0)) {
-		return -1;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-
-	unsigned value = (unsigned)cvalue * period / 255;
-
-	/* configure the channel */
-	if (value > 0) {
-		value--;
-	}
-
-
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		rCCR1(timer) = value;
-		break;
-
-	case 2:
-		rCCR2(timer) = value;
-		break;
-
-	case 3:
-		rCCR3(timer) = value;
-		break;
-
-	case 4:
-		rCCR4(timer) = value;
-		break;
-
-	default:
-		return -1;
-	}
-
-	return 0;
-}
-
-unsigned spix_sync_servo_get(unsigned channel)
-{
-	if (channel >= 3) {
-		return 0;
-	}
-
-	unsigned timer = spix_sync_channels[channel].timer_index;
-	uint16_t value = 0;
-
-	/* test timer for validity */
-	if ((spix_sync_timers[timer].base == 0) ||
-	    (spix_sync_channels[channel].timer_channel == 0)) {
-		return 0;
-	}
-
-	/* configure the channel */
-	switch (spix_sync_channels[channel].timer_channel) {
-	case 1:
-		value = rCCR1(timer);
-		break;
-
-	case 2:
-		value = rCCR2(timer);
-		break;
-
-	case 3:
-		value = rCCR3(timer);
-		break;
-
-	case 4:
-		value = rCCR4(timer);
-		break;
-	}
-
-	unsigned period = spix_sync_timer_get_period(timer);
-	return ((value + 1) * 255 / period);
-}
-
-int spix_sync_servo_init(unsigned rate)
-{
-	/* do basic timer initialisation first */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		spix_sync_timer_init_timer(i, rate);
-	}
-
-	/* now init channels */
-	for (unsigned i = 0; i < arraySize(spix_sync_channels); i++) {
-		spix_sync_channel_init(i);
-	}
-
-	spix_sync_servo_arm(true);
-	return OK;
-}
-
-void
-spix_sync_servo_deinit(void)
-{
-	/* disable the timers */
-	spix_sync_servo_arm(false);
-}
-void
-spix_sync_servo_arm(bool armed)
-{
-	/* iterate timers and arm/disarm appropriately */
-	for (unsigned i = 0; i < arraySize(spix_sync_timers); i++) {
-		if (spix_sync_timers[i].base != 0) {
-			if (armed) {
-				/* force an update to preload all registers */
-				rEGR(i) = GTIM_EGR_UG;
-
-				/* arm requires the timer be enabled */
-				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
-
-			} else {
-				rCR1(i) = 0;
-			}
-		}
-	}
-}
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-__BEGIN_DECLS
-void spix_sync_channel_init(unsigned channel);
-int spix_sync_servo_set(unsigned channel, uint8_t  value);
-unsigned spix_sync_servo_get(unsigned channel);
-int spix_sync_servo_init(unsigned rate);
-void spix_sync_servo_deinit(void);
-void spix_sync_servo_arm(bool armed);
-unsigned spix_sync_timer_get_period(unsigned timer);
-__END_DECLS
@@ -1,86 +0,0 @@
-/****************************************************************************
- *
- *   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>
-
-/* Timer allocation
- *
- * TIM5_CH4  T FMU_CH1
- * TIM5_CH3  T FMU_CH2
- * TIM5_CH2  T FMU_CH3
- * TIM5_CH1  T FMU_CH4
- *
- * TIM8_CH1  T FMU_CH5
- * TIM8_CH2  T FMU_CH6
- * TIM8_CH3  T FMU_CH7
- * TIM8_CH4  T FMU_CH8
- *
- * TIM4_CH1  T FMU_CH9
- *
- * TIM1_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
- *
- * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
- *
- * TIM3_CH1  T HRT_TIMER
- *
- */
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortI, GPIO::Pin2}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
-
-
-constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimer(Timer::Timer1),
-};
-
-constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
-	initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-};
@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include "arm_internal.h"
-#include <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the ARKFMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file pwr.cpp
+ * @file pwr.c
 *
 * Board-specific power button functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * BBBLUE specific initialization
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(pwm_voltage)
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,49 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 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.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-add_custom_target(upload_skynode_usb
-	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "Uploading PX4"
-	USES_TERMINAL
-)
-
-add_custom_target(upload_skynode_wifi
-	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "Uploading PX4"
-	USES_TERMINAL
-)
@@ -1,87 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_BMP581=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-CONFIG_MODULES_AIRSPEED_SELECTOR=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
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NETMAN=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 7000,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the CUAVX7HNano board",
-    "image": "",
-    "build_time": 0,
-    "summary": "CUAV7Nano",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
RomanBapst	04ea8d26f2	Merge branch 'rwanda_sih' into rwanda_base	2024-10-04 11:08:14 +03:00
RomanBapst	f97ca30c3f	small changes to be able to configure two ailerons Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-04 10:03:26 +03:00
RomanBapst	d847f20515	enable sih for v6x Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-03 15:09:27 +03:00
RomanBapst	563d0dffd4	enable sih for v6x Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-02 17:18:30 +03:00
RomanBapst	27edc5c4d8	added full support for external autostart scripts Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-02 08:39:28 +03:00
RomanBapst	84150189d4	added some more changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 14:46:45 +03:00
RomanBapst	0b7cddeca0	reverse pitch Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 11:36:38 +03:00
RomanBapst	580c196600	all changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 11:29:41 +03:00
RomanBapst	d4defb7a81	commit all changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 09:40:06 +03:00