px4_fmu-v6xrt:Use multi-PHY

A board can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE
   If the board is wired board with TX to the input (Swapped) and
   the SoC does not support U[S]ART level RX-TX swapping to allow
   useing onewire to do the swap if and only if:

     RC_SERIAL_SWAP_USING_SINGLEWIRE   is defined
     RC_SERIAL_SWAP_RXTX               is defined
     TIOCSSWAP                         is defined and retuns !OK
     TIOCSSINGLEWIRE                   is defined

boards/px4/fmu-v6xrt/nuttx-config/include/board.h

@@ -265,6 +265,32 @@
 
 /* ETH Disambiguation *******************************************************/
 
+#define BOARD_ETH0_PHY_LIST \
+	{                                  \
+		"LAN8742A",                      \
+		MII_PHYID1_LAN8742A,             \
+		MII_PHYID2_LAN8742A,             \
+		MII_LAN8740_SCSR,                \
+		0,                               \
+		0xffff,                          \
+		MII_LAN8720_SPSCR_10MBPS,        \
+		MII_LAN8720_SPSCR_100MBPS,       \
+		MII_LAN8720_SPSCR_DUPLEX,        \
+		22                               \
+	},                                 \
+	{                                  \
+		"TJA1103",                       \
+		MII_PHYID1_TJA1103,              \
+		MII_PHYID2_TJA1103,              \
+		0xffff,                          \
+		18,                              \
+		0xffff,                          \
+		0                       ,        \
+		MII_LAN8720_SPSCR_100MBPS,       \
+		MII_LAN8720_SPSCR_DUPLEX,        \
+		45,                              \
+	},                                 \
+
 // This is the ENET_1G interface.
 
 #if defined(CONFIG_ETH0_PHY_TJA1103)
@@ -292,16 +318,20 @@
 #include <imxrt_gpio.h>
 #include <imxrt_iomuxc.h>
 // add     -I<full path> build/px4_fmu-v6xrt_default/NuttX/nuttx/arch/arm/src/chip \ to NuttX Makedefs.in
-#define PROBE_IOMUX (IOMUX_SPEED_MAX | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE)
+#define PROBE_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST)
 # define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1 /* GPIO_B0_06    */  (GPIO_PORT2 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_1  /* GPIO_EMC_B1_23 */  (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_2 /* GPIO_EMC_08   */  (GPIO_PORT4 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_2  /* GPIO_EMC_B1_25 */  (GPIO_PORT1 | GPIO_PIN25 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_3 /* GPIO_EMC_10   */  (GPIO_PORT4 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_3  /* GPIO_EMC_B1_27 */  (GPIO_PORT1 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_4 /* GPIO_AD_B0_09 */  (GPIO_PORT1 | GPIO_PIN9  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_4  /* GPIO_EMC_B1_06 */  (GPIO_PORT1 | GPIO_PIN6  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_5 /* GPIO_EMC_33   */  (GPIO_PORT3 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_5  /* GPIO_EMC_B1_08 */  (GPIO_PORT1 | GPIO_PIN8  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_6 /* GPIO_EMC_30   */  (GPIO_PORT4 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_6  /* GPIO_EMC_B1_10 */  (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_7 /* GPIO_EMC_04   */  (GPIO_PORT4 | GPIO_PIN4  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_7  /* GPIO_EMC_B1_19 */  (GPIO_PORT1 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
-# define PROBE_8 /* GPIO_EMC_01   */  (GPIO_PORT4 | GPIO_PIN1  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_8  /* GPIO_EMC_B1_29 */  (GPIO_PORT1 | GPIO_PIN29 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_9  /* GPIO_EMC_B1_31 */  (GPIO_PORT1 | GPIO_PIN31 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_10 /* GPIO_EMC_B1_21 */  (GPIO_PORT1 | GPIO_PIN21 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_11 /* GPIO_EMC_B1_00 */  (GPIO_PORT1 | GPIO_PIN0  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
+# define PROBE_12 /* GPIO_EMC_B1_02 */  (GPIO_PORT1 | GPIO_PIN2  | GPIO_OUTPUT | GPIO_OUTPUT_ONE | PROBE_IOMUX)
 
 # define PROBE_INIT(mask) \
 	do { \
@@ -313,6 +343,10 @@
 		if ((mask)& PROBE_N(6)) { imxrt_config_gpio(PROBE_6); } \
 		if ((mask)& PROBE_N(7)) { imxrt_config_gpio(PROBE_7); } \
 		if ((mask)& PROBE_N(8)) { imxrt_config_gpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { imxrt_config_gpio(PROBE_9); } \
+		if ((mask)& PROBE_N(10)) { imxrt_config_gpio(PROBE_10); } \
+		if ((mask)& PROBE_N(11)) { imxrt_config_gpio(PROBE_11); } \
+		if ((mask)& PROBE_N(12)) { imxrt_config_gpio(PROBE_12); } \
 	} while(0)
 
 # define PROBE(n,s)  do {imxrt_gpio_write(PROBE_##n,(s));}while(0)

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -51,7 +51,7 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_LAN8742A=y
+CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y

boards/px4/fmu-v6xrt/src/board_config.h

@@ -296,7 +296,11 @@
 #define GPIO_HW_REV_SENSE     /* GPIO_AD_22 GPIO9 Pin 21 */  ADC_GPIO(4, 21)
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"
-#define V6XRT_00             HW_VER_REV(0x0,0x0) // First Release
+
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 on HB Base and T1 Pase
+//                                  Base/FMUM
+#define V6XRT00             HW_VER_REV(0x0,0x0) // First Release
+#define V6XRT30             HW_VER_REV(0x3,0x0) // T1 Base w/o PX4IO
 
 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
 
@@ -385,7 +389,7 @@
 
 #define GPIO_NFC_GPIO                  /* GPIO_EMC_B1_04 GPIO1_IO04 */ (GPIO_PORT1 | GPIO_PIN4  | GPIO_INPUT |  GENERAL_INPUT_IOMUX)
 
-#define GPIO_GPIO_EMC_B2_12           /* GPIO_EMC_B2_12 AKA PD15, PH11 */  (GPIO_PORT2 | GPIO_PIN22 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
+#define GPIO_GPIO_EMC_B2_12           /* GPIO_EMC_B2_12 AKA PD15, PH11 */  (GPIO_PORT2 | GPIO_PIN22 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | OUT_IOMUX)
 
 
 /* 10/100 Mbps Ethernet & Gigabit Ethernet */
@@ -448,8 +452,10 @@
 #define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)
 
-#define RC_SERIAL_PORT          "/dev/ttyS4"
+#define RC_SERIAL_PORT                  "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
+#define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
+#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
 
 /* FLEXSPI4 */
 

boards/px4/fmu-v6xrt/src/manifest.c

@@ -98,8 +98,36 @@ static const px4_hw_mft_item_t hw_mft_list_V00[] = {
 	},
 };
 
+static const px4_hw_mft_item_t hw_mft_list_V30[] = {
+	{
+		//  PX4_MFT_PX4IO
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		// PX4_MFT_USB
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN2
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		// PX4_MFT_CAN3
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
+	{V6XRT00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
+	{V6XRT30, hw_mft_list_V30, arraySize(hw_mft_list_V30)},
 };
 
 /************************************************************************************
@@ -122,7 +150,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
 
 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();
 
 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -133,7 +161,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}
 
 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}
 

boards/px4/fmu-v6xrt/src/spi.cpp

@@ -41,47 +41,46 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
-#include <px4_platform_common/px4_config.h>
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-#include <px4_log.h>
+	initSPIHWVersion(V6XRT00, {
+		initSPIBus(SPI::Bus::LPSPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
 
-#include <stdint.h>
+		initSPIBus(SPI::Bus::LPSPI2, {
-#include <stdbool.h>
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
-#include <debug.h>
+		}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
 
-#include <nuttx/spi/spi.h>
+		initSPIBus(SPI::Bus::LPSPI3, {
-#include <arch/board/board.h>
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
-#include <systemlib/px4_macros.h>
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
-#include <px4_platform/gpio.h>
+		}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
 
-#include <arm_internal.h>
+		initSPIBusExternal(SPI::Bus::LPSPI6, {
-#include <chip.h>
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
-#include "imxrt_lpspi.h"
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
-#include "imxrt_gpio.h"
+		}),
-#include "board_config.h"
+	}),
-#include <systemlib/err.h>
 
-#ifdef CONFIG_IMXRT_LPSPI
+	initSPIHWVersion(V6XRT30, {
+		initSPIBus(SPI::Bus::LPSPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
 
+		initSPIBus(SPI::Bus::LPSPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
+		}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
 
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+		initSPIBus(SPI::Bus::LPSPI3, {
-	initSPIBus(SPI::Bus::LPSPI1, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
-	}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
+		}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
 
-	initSPIBus(SPI::Bus::LPSPI2, {
+		initSPIBusExternal(SPI::Bus::LPSPI6, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
-	}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
-
+		}),
-	initSPIBus(SPI::Bus::LPSPI3, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
-	}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
-
-	initSPIBusExternal(SPI::Bus::LPSPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
-		initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
 	}),
 };
 
-#endif
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

platforms/common/include/px4_platform_common/board_common.h

@@ -458,6 +458,15 @@ static inline bool board_rc_singlewire(const char *device) { return false; }
  *   A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
  *   as UART with RX/TX swapped.
  *
+ *   It can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE If the board is wired
+ *   with TX to the input (Swapped) and the SoC does not support U[S]ART level
+ *   HW swapping, then use onewire to do the swap if and only if:
+ *
+ *    RC_SERIAL_SWAP_USING_SINGLEWIRE   is defined
+ *    RC_SERIAL_SWAP_RXTX               is defined
+ *    TIOCSSWAP                         is defined and retuns !OK
+ *    TIOCSSINGLEWIRE                   is defined
+ *
  * Input Parameters:
  *   device: serial device, e.g. "/dev/ttyS0"
  *

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit 1e3aaefc60a18838dc696e8f0f335d8c989f35cc
+Subproject commit 09ed3d1ba226e886ca8545baea748083ba629f40

platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/spi_hw_description.h

@@ -40,6 +40,57 @@
 
 #include <imxrt_gpio.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_IMXRT_LPSPI1
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_IMXRT_LPSPI2
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_IMXRT_LPSPI3
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_IMXRT_LPSPI4
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_IMXRT_LPSPI5
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_IMXRT_LPSPI6
+		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_STM32H7_SPIx)");
+	}
+
+	return false;
+}
+
 static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
 {
 	px4_spi_bus_device_t ret{};
@@ -132,8 +183,41 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
 	return ret;
 }
 
-constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
+struct px4_spi_bus_array_t {
+	px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
+};
+static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision,
+		const px4_spi_bus_array_t &bus_items)
 {
-	return true;
+	px4_spi_bus_all_hw_t ret{};
+
+	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+		ret.buses[i] = bus_items.item[i];
+	}
+
+	ret.board_hw_version_revision = hw_version_revision;
+	return ret;
 }
+constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);
+
+constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD_NUM_SPI_CFG_HW_VERSIONS])
+{
+	for (int ver = 0; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
+		validateSPIConfig(spi_buses_conf[ver].buses);
+	}
+
+	for (int ver = 1; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
+		for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+			const bool equal_power_enable_gpio = spi_buses_conf[ver].buses[i].power_enable_gpio == spi_buses_conf[ver -
+							     1].buses[i].power_enable_gpio;
+			// currently board_control_spi_sensors_power_configgpio() depends on that - this restriction can be removed
+			// by ensuring board_control_spi_sensors_power_configgpio() is called after the hw version is determined
+			// and SPI config is initialized.
+			constexpr_assert(equal_power_enable_gpio, "All HW versions must define the same power enable GPIO");
+		}
+	}
+
+	return false;
+}
+
 #endif // CONFIG_SPI

src/drivers/rc_input/RCInput.cpp

@@ -302,6 +302,25 @@ void RCInput::rc_io_invert(bool invert)
 	}
 }
 
+void  RCInput::swap_rx_tx()
+{
+#if defined(RC_SERIAL_SWAP_USING_SINGLEWIRE)
+	int rv = -ENOTTY;
+#  if defined(TIOCSSWAP)
+	rv = ioctl(_rcs_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+#  endif // TIOCSSWAP
+#  ifdef TIOCSSINGLEWIRE
+
+	if (rv != OK) {
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+	}
+
+#  else
+	UNUSED(rv);
+#  endif // TIOCSSINGLEWIRE
+#endif // RC_SERIAL_SWAP_USING_SINGLEWIRE
+}
+
 void RCInput::Run()
 {
 	if (should_exit()) {
@@ -494,6 +513,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -531,6 +551,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -582,6 +603,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -660,6 +682,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for CRSF
 				crsf_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -708,6 +731,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for GHST
 				ghst_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);

src/drivers/rc_input/RCInput.hpp

@@ -126,6 +126,7 @@ private:
 	void set_rc_scan_state(RC_SCAN _rc_scan_state);
 
 	void rc_io_invert(bool invert);
+	void swap_rx_tx(void);
 
 	input_rc_s _input_rc{};
 	hrt_abstime _rc_scan_begin{0};