WIP: mRO CANnode m10025

.ci/Jenkinsfile-compile

@@ -60,6 +60,8 @@ pipeline {
                      "holybro_pix32v5_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
+                     "mro_cannode_canbootloader",
+                     "mro_cannode_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",

.github/workflows/compile_nuttx.yml

@@ -43,6 +43,8 @@ jobs:
           holybro_pix32v5_default,
           modalai_fc-v1_default,
           modalai_fc-v1_rtps,
+          mro_cannode_canbootloader,
+          mro_cannode_default,
           mro_ctrl-zero-f7-oem_default,
           mro_ctrl-zero-f7_default,
           mro_ctrl-zero-h7-oem_default,

.vscode/cmake-variants.yaml

@@ -126,6 +126,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: modalai_fc-v1_default
+    mro_cannode_default:
+      short: mro_cannode_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_cannode_default
     mro_ctrl-zero-f7_default:
       short: mro_ctrl-zero-f7
       buildType: MinSizeRel

boards/mro/cannode/canbootloader.cmake

@@ -0,0 +1,13 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)

boards/mro/cannode/default.cmake

@@ -0,0 +1,25 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL cannode
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	UAVCAN_TIMER_OVERRIDE 3
+	DRIVERS
+		barometer/dps310
+		bootloaders
+		#gps
+		lights/rgbled_ncp5623c
+		magnetometer/rm3100
+		uavcannode
+	MODULES
+	SYSTEMCMDS
+		param
+)

boards/mro/cannode/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1004,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the mRO CANnode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "mROCANNode",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/mro/cannode/init/rc.board_defaults

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+if [ $AUTOCNF = yes ]
+then
+
+fi

boards/mro/cannode/init/rc.board_sensors

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+rm3100 -s start
+
+dps310 -I start

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

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F303CC=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096

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

@@ -0,0 +1,144 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* Clocking *****************************************************************/
+
+/* HSI - Internal 8 MHz RC Oscillator
+ * LSI - 32 KHz RC
+ * HSE - 8 MHz from MCO output of ST-LINK
+ * LSE - 32.768 kHz
+ */
+
+#define STM32_BOARD_XTAL        8000000ul        /* X1 on board */
+
+#define STM32_HSEBYP_ENABLE
+#define STM32_HSI_FREQUENCY     8000000ul
+#define STM32_LSI_FREQUENCY     40000            /* Between 30kHz and 60kHz */
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
+
+/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
+#define STM32_CFGR_PLLSRC       RCC_CFGR_PLLSRC
+#define STM32_CFGR_PLLXTPRE     0
+#define STM32_CFGR_PLLMUL       RCC_CFGR_PLLMUL_CLKx9
+#define STM32_PLL_FREQUENCY     (9*STM32_BOARD_XTAL)
+
+/* Use the PLL and set the SYSCLK source to be the PLL */
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_PLL
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_PLL
+#define STM32_SYSCLK_FREQUENCY  STM32_PLL_FREQUENCY
+
+/* AHB clock (HCLK) is SYSCLK (72MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (72MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 1 and 8, 15-17 */
+
+/* APB2 timers 1 and 8, 15-17 will receive PCLK2. */
+
+/* Timers driven from APB2 will be PCLK2 */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* APB1 timers 2-7 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_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+
+/* USB divider -- Divide PLL clock by 1.5 */
+#define STM32_CFGR_USBPRE       0
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+#define BOARD_TIM1_FREQUENCY   STM32_HCLK_FREQUENCY
+#define BOARD_TIM2_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM3_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM4_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM5_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM6_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM7_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM8_FREQUENCY   STM32_HCLK_FREQUENCY
+
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_TX	GPIO_USART1_TX_1 /* PA9  */
+#define GPIO_USART1_RX	GPIO_USART1_RX_1 /* PA10 */
+
+#define GPIO_USART2_TX	GPIO_USART2_TX_2 /* PA2  */
+#define GPIO_USART2_RX	GPIO_USART2_RX_2 /* PA3  */
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN_RX_2    /* PA11 */
+#define GPIO_CAN1_TX	GPIO_CAN_TX_2    /* PA12 */
+
+/* I2C */
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_2  /* PB6 */
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2  /* PB7 */
+
+/* SPI */
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1  /* PA5 */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1 /* PA6 */
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1 /* PA7 */
+
+
+#endif /* __ARCH_BOARD_BOARD_H */

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

@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3

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

@@ -0,0 +1,148 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F303CC=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=6522
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=65536
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"

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

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

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

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 256K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/mro/cannode/src/CMakeLists.txt

@@ -0,0 +1,63 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_spi
+	)
+endif()

boards/mro/cannode/src/board_config.h

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+#define GPIO_LED_BLUE         /* PA4  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+
+#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN13)
+
+//#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/mro/cannode/src/boot.c

@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+// typedef begin_packed_struct struct led_t {
+// 	uint8_t red;
+// 	uint8_t green;
+// 	uint8_t blue;
+// 	uint8_t hz;
+// } end_packed_struct led_t;
+
+// static const  led_t i2l[] = {
+
+// 	led(0, off,                             0,     0,     0,     0),
+// 	led(1, reset,                          128,   128,   128,   30),
+// 	led(2, autobaud_start,                  0,   128,     0,     1),
+// 	led(3, autobaud_end,                    0,   128,     0,     2),
+// 	led(4, allocation_start,                0,     0,    64,     2),
+// 	led(5, allocation_end,                  0,   128,    64,     3),
+// 	led(6, fw_update_start,                32,   128,    64,     3),
+// 	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+// 	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+// 	led(9, fw_update_timeout,              64,     0,     0,     2),
+// 	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+// 	led(b, jump_to_app,                     0,   128,     0,    10),
+
+// };
+
+void board_indicate(uiindication_t indication)
+{
+	// switch(indication) {
+	// 	case off:
+	// 		led_off(GPIO_nLED_RED);
+	// 		led_off(GPIO_nLED_BLUE);
+	// 		break;
+	// 	case reset:
+	// 		led_on(GPIO_nLED_RED);
+	// 		led_on(GPIO_nLED_BLUE);
+	// 		break;
+	// 	case jump_to_app:
+	// 		led_on(GPIO_nLED_RED);
+	// 		led_off(GPIO_nLED_BLUE);
+	// 		break;
+	// 	default:
+	// 		break;
+	// }
+}

boards/mro/cannode/src/boot_config.h

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

boards/mro/cannode/src/i2c.cpp

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

boards/mro/cannode/src/init.c

@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	// Configure CAN interface
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	//px4_platform_configure();
+
+	return OK;
+}

boards/mro/cannode/src/led.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * board LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	//GPIO_LED_RED,
+	GPIO_LED_BLUE,
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+		stm32_gpiowrite(g_ledmap[l], true);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(led, !phy_get_led(led));
+}

boards/mro/cannode/src/spi.cpp

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin0}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/mro/cannode/uavcan_board_identity

@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0x3)
+set(uavcanblid_hw_version_minor 0xEC)
+set(uavcanblid_name "\"org.ardupilot.mro_m10025\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)

platforms/nuttx/src/canbootloader/arch/stm/stm32f3/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include_directories(../../../include)
+
+px4_add_library(arch_canbootloader
+	board_identity.c
+	drivers/can/driver.c
+)
+
+target_link_libraries(arch_canbootloader
+	PRIVATE
+		arch_watchdog_iwdg
+)

platforms/nuttx/src/canbootloader/arch/stm/stm32f3/board_identity.c

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_identity.c
+ * Implementation of STM32 based Board identity API
+ */
+
+#include <px4_config.h>
+#include <stdio.h>
+#include <string.h>
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
+	uint32_t  *rv = (uint32_t *) &mfgid[0];
+
+	for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
+	}
+
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}

platforms/nuttx/src/canbootloader/arch/stm/stm32f3/drivers/can/driver.c

@@ -0,0 +1,562 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include "boot_config.h"
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <limits.h>
+
+#include "chip.h"
+#include "stm32.h"
+#include <hardware/stm32_can.h>
+#include "nvic.h"
+
+#include "board.h"
+#include <systemlib/px4_macros.h>
+#include "can.h"
+#include "timer.h"
+
+#include <arch/board/board.h>
+
+#include <lib/systemlib/crc.h>
+
+#define INAK_TIMEOUT          65535
+
+#define CAN_TX_TIMEOUT_MS     (200 /(1000/(1000000/CONFIG_USEC_PER_TICK)))
+
+#define SJW_POS               24
+#define BS1_POS               16
+#define BS2_POS               20
+
+#define CAN_TSR_RQCP_SHFTS    8
+
+#define FILTER_ID             1
+#define FILTER_MASK           2
+
+#if STM32_PCLK1_FREQUENCY == 48000000
+/* Sample 85.7 % */
+# define QUANTA 16
+# define BS1_VALUE 12
+# define BS2_VALUE 1
+#elif STM32_PCLK1_FREQUENCY == 45000000 || STM32_PCLK1_FREQUENCY == 36000000
+/* Sample 88.9 % */
+# define QUANTA 9
+# define BS1_VALUE 6
+# define BS2_VALUE 0
+#elif STM32_PCLK1_FREQUENCY == 42000000
+/* Sample 85.7 % */
+# define QUANTA 14
+# define BS1_VALUE 10
+# define BS2_VALUE 1
+#else
+# warning Undefined QUANTA bsed on Clock Rate
+/* Sample 85.7 % */
+# define QUANTA 14
+# define BS1_VALUE 10
+# define BS2_VALUE 1
+#endif
+
+#define CAN_1MBAUD_SJW 0
+#define CAN_1MBAUD_BS1 BS1_VALUE
+#define CAN_1MBAUD_BS2 BS2_VALUE
+#define CAN_1MBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/1000000/QUANTA)
+
+#define CAN_500KBAUD_SJW 0
+#define CAN_500KBAUD_BS1 BS1_VALUE
+#define CAN_500KBAUD_BS2 BS2_VALUE
+#define CAN_500KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/500000/QUANTA)
+
+#define CAN_250KBAUD_SJW 0
+#define CAN_250KBAUD_BS1 BS1_VALUE
+#define CAN_250KBAUD_BS2 BS2_VALUE
+#define CAN_250KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/250000/QUANTA)
+
+#define CAN_125KBAUD_SJW 0
+#define CAN_125KBAUD_BS1 BS1_VALUE
+#define CAN_125KBAUD_BS2 BS2_VALUE
+#define CAN_125KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/125000/QUANTA)
+
+#define CAN_BTR_LBK_SHIFT 30
+
+// Number of CPU cycles for a single bit time at the supported speeds
+#define CAN_125KBAUD_BIT_CYCLES (8*(TIMER_HRT_CYCLES_PER_US))
+
+#define CAN_BAUD_TIME_IN_MS             200
+#define CAN_BAUD_SAMPLES_NEEDED         32
+#define CAN_BAUD_SAMPLES_DISCARDED      8
+
+static inline uint32_t read_msr_rx(void)
+{
+	return getreg32(STM32_CAN1_MSR) & CAN_MSR_RX;
+}
+
+static uint32_t read_msr(time_hrt_cycles_t  *now)
+{
+	__asm__ __volatile__("\tcpsid  i\n");
+	*now = timer_hrt_read();
+	uint32_t msr = read_msr_rx();
+	__asm__ __volatile__("\tcpsie  i\n");
+	return msr;
+}
+
+static int read_bits_times(time_hrt_cycles_t *times, size_t max)
+{
+	uint32_t samplecnt = 0;
+	bl_timer_id ab_timer = timer_allocate(modeTimeout | modeStarted, CAN_BAUD_TIME_IN_MS, 0);
+	time_ref_t ab_ref =  timer_ref(ab_timer);
+	uint32_t msr;
+	uint32_t last_msr = read_msr(times);
+
+	while (samplecnt < max && !timer_ref_expired(ab_ref)) {
+		do {
+			msr = read_msr(&times[samplecnt]);
+		} while (!(msr ^ last_msr) && !timer_ref_expired(ab_ref));
+
+		last_msr = msr;
+		samplecnt++;
+	}
+
+	timer_free(ab_timer);
+	return samplecnt;
+}
+
+/****************************************************************************
+ * Name: can_speed2freq
+ *
+ * Description:
+ *   This function maps a can_speed_t to a bit rate in Hz
+ *
+ * Input Parameters:
+ *   can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *
+ * Returned value:
+ *   Bit rate in Hz
+ *
+ ****************************************************************************/
+int can_speed2freq(can_speed_t speed)
+
+{
+	return 1000000 >> (CAN_1MBAUD - speed);
+}
+
+/****************************************************************************
+ * Name: can_speed2freq
+ *
+ * Description:
+ *   This function maps a frequency in Hz to a can_speed_t in the range
+ *   CAN_125KBAUD to CAN_1MBAUD.
+ *
+ * Input Parameters:
+ *   freq - Bit rate in Hz
+ *
+ * Returned value:
+ *   A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *
+ ****************************************************************************/
+can_speed_t can_freq2speed(int freq)
+{
+	return (freq == 1000000u ? CAN_1MBAUD : freq == 500000u ? CAN_500KBAUD : freq == 250000u ? CAN_250KBAUD : CAN_125KBAUD);
+}
+
+/****************************************************************************
+ * Name: can_tx
+ *
+ * Description:
+ *   This function is called to transmit a CAN frame using the supplied
+ *   mailbox. It will busy wait on the mailbox if not available.
+ *
+ * Input Parameters:
+ *   message_id - The CAN message's EXID field
+ *   length     - The number of bytes of data - the DLC field
+ *   message    - A pointer to 8 bytes of data to be sent (all 8 bytes will be
+ *                loaded into the CAN transmitter but only length bytes will
+ *                be sent.
+ *   mailbox    - A can_fifo_mailbox_t MBxxx value to choose the outgoing
+ *                mailbox.
+ *
+ * Returned value:
+ *   The CAN_OK of the data sent or CAN_ERROR if a time out occurred
+ *
+ ****************************************************************************/
+uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox)
+{
+	uint32_t data[2];
+
+	memcpy(data, message, sizeof(data));
+
+	/*
+	 * Just block while waiting for the mailbox.
+	 */
+
+	uint32_t mask = CAN_TSR_TME0 << mailbox;
+
+	/* Reset the indication of timer expired */
+
+	timer_hrt_clear_wrap();
+	uint32_t cnt = CAN_TX_TIMEOUT_MS;
+
+	while ((getreg32(STM32_CAN1_TSR) & mask) == 0) {
+		if (timer_hrt_wrap()) {
+			timer_hrt_clear_wrap();
+
+			if (--cnt == 0) {
+				return CAN_ERROR;
+			}
+		}
+	}
+
+	/*
+	 * To allow detection of completion  - Set the LEC to
+	 * 'No error' state off all 1s
+	 */
+
+	putreg32(CAN_ESR_LEC_MASK, STM32_CAN1_ESR);
+
+	putreg32(length & CAN_TDTR_DLC_MASK, STM32_CAN1_TDTR(mailbox));
+	putreg32(data[0], STM32_CAN1_TDLR(mailbox));
+	putreg32(data[1], STM32_CAN1_TDHR(mailbox));
+	putreg32((message_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE | CAN_TIR_TXRQ,
+		 STM32_CAN1_TIR(mailbox));
+	return CAN_OK;
+}
+
+/****************************************************************************
+ * Name: can_rx
+ *
+ * Description:
+ *   This function is called to receive a CAN frame from a supplied fifo.
+ *   It does not block if there is not available, but returns 0
+ *
+ * Input Parameters:
+ *   message_id - A pointer to return the CAN message's EXID field
+ *   length     - A pointer to return the number of bytes of data - the DLC field
+ *   message    - A pointer to return 8 bytes of data to be sent (all 8 bytes will
+ *                be written from the CAN receiver but only length bytes will be sent.
+ *   fifo         A can_fifo_mailbox_t fifixxx value to choose the incoming fifo.
+ *
+ * Returned value:
+ *   The length of the data read or 0 if the fifo was empty
+ *
+ ****************************************************************************/
+uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo)
+{
+	uint32_t data[2];
+	uint8_t rv = 0;
+	const uint32_t fifos[] = { STM32_CAN1_RF0R, STM32_CAN1_RF1R };
+
+	if (getreg32(fifos[fifo & 1]) & CAN_RFR_FMP_MASK) {
+
+		rv = 1;
+		/* If so, process it */
+
+		*message_id = (getreg32(STM32_CAN1_RIR(fifo)) & CAN_RIR_EXID_MASK) >>
+			      CAN_RIR_EXID_SHIFT;
+		*length = (getreg32(STM32_CAN1_RDTR(fifo)) & CAN_RDTR_DLC_MASK) >>
+			  CAN_RDTR_DLC_SHIFT;
+		data[0] = getreg32(STM32_CAN1_RDLR(fifo));
+		data[1] = getreg32(STM32_CAN1_RDHR(fifo));
+
+		putreg32(CAN_RFR_RFOM, fifos[fifo & 1]);
+
+		memcpy(message, data, sizeof(data));
+	}
+
+	return rv;
+}
+
+/****************************************************************************
+ * Name: can_autobaud
+ *
+ * Description:
+ *   This function will attempt to detect the bit rate in use on the CAN
+ *   interface until the timeout provided expires or the successful detection
+ *   occurs.
+ *
+ *   It will initialize the CAN block for a given bit rate
+ *   to test that a message can be received. The CAN interface is left
+ *   operating at the detected bit rate and in CAN_Mode_Normal mode.
+ *
+ * Input Parameters:
+ *   can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to
+ *               CAN_1MBAUD
+ *   timeout   - The timer id of a timer to use as the maximum time to wait for
+ *               successful bit rate detection. This timer may be not running
+ *               in which case the auto baud code will try indefinitely to
+ *               detect the bit rate.
+ *
+ * Returned value:
+ *   CAN_OK - on Success or a CAN_BOOT_TIMEOUT
+ *
+ ****************************************************************************/
+int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout)
+{
+	*can_speed = CAN_UNKNOWN;
+
+	volatile int attempt = 0;
+	/* Threshold are at 1.5 Bit times */
+
+	/*
+	 * We are here because there was a reset or the app invoked
+	 * the bootloader with no bit rate set.
+	 */
+
+	time_hrt_cycles_t bit_time;
+	time_hrt_cycles_t min_cycles;
+	int sample;
+	can_speed_t speed = CAN_125KBAUD;
+
+	time_hrt_cycles_t samples[128];
+
+	while (1) {
+
+
+		while (1) {
+
+			min_cycles = ULONG_MAX;
+			int samplecnt = read_bits_times(samples, arraySize(samples));
+
+			if (timer_expired(timeout)) {
+				return CAN_BOOT_TIMEOUT;
+			}
+
+			if ((getreg32(STM32_CAN1_RF0R) | getreg32(STM32_CAN1_RF1R)) &
+			    CAN_RFR_FMP_MASK) {
+				*can_speed = speed;
+				can_init(speed, CAN_Mode_Normal);
+				return CAN_OK;
+			}
+
+			if (samplecnt < CAN_BAUD_SAMPLES_NEEDED) {
+				continue;
+			}
+
+			for (sample = 0; sample < samplecnt; sample += 2) {
+				bit_time = samples[sample] = timer_hrt_elapsed(samples[sample], samples[sample + 1]);
+
+				if (sample > CAN_BAUD_SAMPLES_DISCARDED && bit_time < min_cycles) {
+					min_cycles = bit_time;
+				}
+			}
+
+			break;
+		}
+
+		uint32_t bit34 = CAN_125KBAUD_BIT_CYCLES - CAN_125KBAUD_BIT_CYCLES / 4;
+		samples[1] = min_cycles;
+		speed = CAN_125KBAUD;
+
+		while (min_cycles < bit34 && speed < CAN_1MBAUD) {
+			speed++;
+			bit34 /= 2;
+		}
+
+		attempt++;
+		can_init(speed, CAN_Mode_Silent);
+
+
+	} /* while(1) */
+
+	return CAN_OK;
+}
+
+/****************************************************************************
+ * Name: can_init
+ *
+ * Description:
+ *   This function is used to initialize the CAN block for a given bit rate and
+ *   mode.
+ *
+ * Input Parameters:
+ *   speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
+ *   mode  - One of the can_mode_t of Normal, LoopBack and Silent or
+ *           combination thereof.
+ *
+ * Returned value:
+ *   OK - on Success or a negate errno value
+ *
+ ****************************************************************************/
+int can_init(can_speed_t speed, can_mode_t mode)
+{
+	int speedndx = speed - 1;
+	/*
+	 * TODO: use full-word writes to reduce the number of loads/stores.
+	 *
+	 * Also consider filter use -- maybe set filters for all the message types we
+	 * want. */
+	const uint32_t bitrates[] = {
+		(CAN_125KBAUD_SJW << SJW_POS) |
+		(CAN_125KBAUD_BS1 << BS1_POS) |
+		(CAN_125KBAUD_BS2 << BS2_POS) | (CAN_125KBAUD_PRESCALER - 1),
+
+		(CAN_250KBAUD_SJW << SJW_POS) |
+		(CAN_250KBAUD_BS1 << BS1_POS) |
+		(CAN_250KBAUD_BS2 << BS2_POS) | (CAN_250KBAUD_PRESCALER - 1),
+
+		(CAN_500KBAUD_SJW << SJW_POS) |
+		(CAN_500KBAUD_BS1 << BS1_POS) |
+		(CAN_500KBAUD_BS2 << BS2_POS) | (CAN_500KBAUD_PRESCALER - 1),
+
+		(CAN_1MBAUD_SJW   << SJW_POS) |
+		(CAN_1MBAUD_BS1   << BS1_POS) |
+		(CAN_1MBAUD_BS2   << BS2_POS) | (CAN_1MBAUD_PRESCALER - 1)
+	};
+
+	/* Remove Unknow Offset */
+	if (speedndx < 0 || speedndx > (int)arraySize(bitrates)) {
+		return -EINVAL;
+	}
+
+	uint32_t timeout;
+	/*
+	 *  Reset state is 0x0001 0002 CAN_MCR_DBF|CAN_MCR_SLEEP
+	 *  knock down Sleep and raise CAN_MCR_INRQ
+	 */
+
+	putreg32(CAN_MCR_DBF | CAN_MCR_INRQ, STM32_CAN1_MCR);
+
+	/* Wait until initialization mode is acknowledged */
+
+	for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
+		if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) != 0) {
+			/* We are in initialization mode */
+
+			break;
+		}
+	}
+
+	if (timeout < 1) {
+		/*
+		 * Initialization failed, not much we can do now other than try a normal
+		 * startup. */
+		return -ETIME;
+	}
+
+
+	putreg32(bitrates[speedndx] | mode << CAN_BTR_LBK_SHIFT, STM32_CAN1_BTR);
+	putreg32(CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_DBF | CAN_MCR_TXFP, STM32_CAN1_MCR);
+
+	for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
+		if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) == 0) {
+			/* We are in initialization mode */
+
+			break;
+		}
+	}
+
+	if (timeout < 1) {
+		return -ETIME;
+	}
+
+	/*
+	 * CAN filter initialization -- accept everything on RX FIFO 0, and only
+	 * GetNodeInfo requests on RX FIFO 1. */
+
+	/* Set FINIT - Initialization mode for the filters- */
+	putreg32(CAN_FMR_FINIT, STM32_CAN1_FMR);
+
+	putreg32(0, STM32_CAN1_FA1R); /* Disable all filters */
+
+	putreg32(3, STM32_CAN1_FS1R); /* Single 32-bit scale configuration for filters 0 and 1 */
+
+	/* Filter 0 masks -- DTIDGetNodeInfo requests only */
+
+	uavcan_protocol_t protocol;
+
+	protocol.id.u32 = 0;
+	protocol.ser.type_id = DTIDReqGetNodeInfo;
+	protocol.ser.service_not_message = true;
+	protocol.ser.request_not_response = true;
+
+	/* Set the Filter ID */
+	putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_ID));
+
+	/* Set the Filter Mask */
+	protocol.ser.type_id = BIT_MASK(LengthUavCanServiceTypeID);
+
+	putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_MASK));
+
+	/* Filter 1 masks -- everything is don't-care */
+	putreg32(0, STM32_CAN1_FIR(1, FILTER_ID));
+	putreg32(0, STM32_CAN1_FIR(1, FILTER_MASK));
+
+	putreg32(0, STM32_CAN1_FM1R);   /* Mask mode for all filters */
+	putreg32(1, STM32_CAN1_FFA1R);  /* FIFO 1 for filter 0, FIFO 0 for the
+                                         * rest of filters */
+	putreg32(3, STM32_CAN1_FA1R);   /* Enable filters 0 and 1 */
+
+	/* Clear FINIT - Active mode for the filters- */
+
+	putreg32(0, STM32_CAN1_FMR);
+
+	return OK;
+}
+
+/****************************************************************************
+ * Name: can_cancel_on_error
+ *
+ * Description:
+ *   This function will test for transition completion or any error.
+ *   If the is a error the the transmit will be aborted.
+ *
+ * Input Parameters:
+ *   mailbox    - A can_fifo_mailbox_t MBxxx value to choose the outgoing
+ *                mailbox.
+ *
+ * Returned value:
+ *   CAN_OK - on Success or a CAN_ERROR if the cancellation was needed
+ *
+ ****************************************************************************/
+void can_cancel_on_error(uint8_t mailbox)
+{
+	uint32_t rvalue;
+
+	/* Wait for completion the all 1's wat set in the tx code*/
+	while (CAN_ESR_LEC_MASK == ((rvalue = (getreg32(STM32_CAN1_ESR) & CAN_ESR_LEC_MASK))));
+
+	/* Any errors */
+	if (rvalue) {
+
+		putreg32(0, STM32_CAN1_ESR);
+
+		/* Abort the the TX in case of collision wuth NART false  */
+
+		putreg32(CAN_TSR_ABRQ0 << (mailbox * CAN_TSR_RQCP_SHFTS), STM32_CAN1_TSR);
+	}
+}

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h

@@ -114,8 +114,9 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
 	case Timer::Timer3: return STM32_TIM3_BASE;
 
 	case Timer::Timer4: return STM32_TIM4_BASE;
-
+#ifdef STM32_TIM5_BASE
 	case Timer::Timer5: return STM32_TIM5_BASE;
+#endif
 
 	case Timer::Timer6: return STM32_TIM6_BASE;
 

platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt

@@ -36,5 +36,6 @@ add_subdirectory(board_critmon)
 add_subdirectory(../stm32_common/board_reset board_reset)
 add_subdirectory(../stm32_common/version version)
 add_subdirectory(../stm32_common/hrt hrt)
+add_subdirectory(../stm32_common/spi spi)
 
-
+add_subdirectory(watchdog)

platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/hw_description.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../stm32_common/include/px4_arch/hw_description.h"
+
+static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const DMA &dma)
+{
+	// not used on STM32F3
+	return 0;
+}

platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/i2c_hw_description.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "../../../stm32_common/include/px4_arch/i2c_hw_description.h"
+

platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/spi_hw_description.h

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
+
+constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
+{
+	const bool nuttx_enabled_spi_buses[] = {
+#ifdef CONFIG_STM32_SPI1
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_STM32_SPI2
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_STM32_SPI3
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_STM32_SPI4
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_STM32_SPI5
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_STM32_SPI6
+		true,
+#else
+		false,
+#endif
+	};
+
+	for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
+		bool found_bus = false;
+
+		for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
+			if (spi_busses_conf[j].bus == (int)i + 1) {
+				found_bus = true;
+			}
+		}
+
+		// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
+		constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32_SPIx)");
+	}
+
+	return false;
+}

platforms/nuttx/src/px4/stm/stm32f3/watchdog/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_watchdog_iwdg
+	iwdg.c
+)

platforms/nuttx/src/px4/stm/stm32f3/watchdog/iwdg.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: 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 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 "chip.h"
+#include "stm32.h"
+#include <hardware/stm32_wdg.h>
+#include "nvic.h"
+
+/****************************************************************************
+ * Name: watchdog_pet()
+ *
+ * Description:
+ *   This function resets the Independent watchdog (IWDG)
+ *
+ *
+ * Input Parameters:
+ *   none.
+ *
+ * Returned value:
+ *   none.
+ *
+ ****************************************************************************/
+
+void watchdog_pet(void)
+{
+	putreg32(IWDG_KR_KEY_RELOAD, STM32_IWDG_KR);
+}
+
+/****************************************************************************
+ * Name: watchdog_init()
+ *
+ * Description:
+ *   This function initialize the Independent watchdog (IWDG)
+ *
+ *
+ * Input Parameters:
+ *   none.
+ *
+ * Returned value:
+ *   none.
+ *
+ ****************************************************************************/
+
+void watchdog_init(void)
+{
+#if defined(CONFIG_STM32_JTAG_FULL_ENABLE) || \
+    defined(CONFIG_STM32_JTAG_NOJNTRST_ENABLE) || \
+    defined(CONFIG_STM32_JTAG_SW_ENABLE)
+	putreg32(getreg32(STM32_DBGMCU_APB1_FZ) | DBGMCU_APB1_IWDGSTOP, STM32_DBGMCU_APB1_FZ);
+#endif
+
+	/* unlock */
+
+	putreg32(IWDG_KR_KEY_ENABLE, STM32_IWDG_KR);
+
+	/* Set the prescale value */
+
+	putreg32(IWDG_PR_DIV16, STM32_IWDG_PR);
+
+	/* Set the reload value */
+
+	putreg32(IWDG_RLR_MAX, STM32_IWDG_RLR);
+
+	/* Start the watch dog */
+
+	putreg32(IWDG_KR_KEY_START, STM32_IWDG_KR);
+
+	watchdog_pet();
+}

src/drivers/uavcan/CMakeLists.txt

@@ -46,13 +46,14 @@ if(CONFIG_ARCH_CHIP)
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
 		set(UAVCAN_DRIVER "stm32h7")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
-		if (DEFINED config_uavcan_timer_override)
-			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
-		endif()
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		set(UAVCAN_DRIVER "stm32")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
 	endif()
+
+	if(DEFINED config_uavcan_timer_override)
+		set(UAVCAN_TIMER ${config_uavcan_timer_override})
+	endif()
 endif()
 
 if(NOT DEFINED UAVCAN_DRIVER)

src/drivers/uavcan/uavcan_drivers/stm32/driver/src/uc_stm32_can.cpp

@@ -31,9 +31,9 @@ extern "C"
 #endif
 
 /* STM32F3's only CAN inteface does not have a number. */
-#if defined(STM32F3XX)
-#define RCC_APB1ENR_CAN1EN     RCC_APB1ENR_CANEN
-#define RCC_APB1RSTR_CAN1RST   RCC_APB1RSTR_CANRST
+#if defined(CONFIG_STM32_STM32F30XX)
+//#define RCC_APB1ENR_CAN1EN     RCC_APB1ENR_CANEN
+//#define RCC_APB1RSTR_CAN1RST   RCC_APB1RSTR_CANRST
 #define CAN1_TX_IRQn           CAN_TX_IRQn
 #define CAN1_RX0_IRQn          CAN_RX0_IRQn
 #define CAN1_RX1_IRQn          CAN_RX1_IRQn

src/drivers/uavcannode/CMakeLists.txt

@@ -46,13 +46,14 @@ if(CONFIG_ARCH_CHIP)
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
 		set(UAVCAN_DRIVER "stm32h7")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
-		if (DEFINED config_uavcan_timer_override)
-			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
-		endif()
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		set(UAVCAN_DRIVER "stm32")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
 	endif()
+
+	if(DEFINED config_uavcan_timer_override)
+		set(UAVCAN_TIMER ${config_uavcan_timer_override})
+	endif()
 endif()
 
 if(NOT DEFINED UAVCAN_DRIVER)