Change FMU-v6x REV 6 IMU Order

Change IMU Order, make adis16470 in 1st priority.

.ci/Jenkinsfile-compile

@@ -40,6 +40,8 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
                      "ark_fmu-v6x_bootloader",
@@ -53,8 +55,10 @@ pipeline {
                      "cuav_nora_default",
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeorangeplus_default",
                      "cubepilot_cubeyellow_default",
                      "diatone_mamba-f405-mk2_default",
+                     "flywoo_gn-f405_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
@@ -72,7 +76,7 @@ pipeline {
                      "matek_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
-                     "modalai_voxl2-io_default",
+                     "mro_ctrl-zero-classic_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
@@ -85,6 +89,7 @@ pipeline {
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
+                     "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",

.github/PULL_REQUEST_TEMPLATE.md

@@ -23,7 +23,7 @@ For release notes:
 ```
 Feature/Bugfix XYZ
 New parameter: XYZ_Z
-Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
+Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives

.gitmodules

@@ -21,7 +21,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.3.0+-v1.14
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,6 +7,7 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -48,35 +48,32 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
 param set-default EKF2_MULTI_IMU 0
 param set-default SENS_IMU_MODE 1
 
-param set-default NPFG_PERIOD 12
+param set-default FW_P_TC 0.6
-param set-default FW_PR_I 0.2
+
-param set-default FW_PR_P 0.2
+param set-default FW_PR_FF 0.1
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.2
+param set-default FW_RR_I 0.2
-param set-default FW_THR_TRIM 0.33
+param set-default FW_RR_P 0.3
-param set-default FW_THR_MAX 0.6
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_SINK_MIN 1.6
-param set-default FW_T_TAS_TC 2
 
 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
 
-param set-default MPC_XY_P 0.8
+param set-default VT_ARSP_TRANS 10
-param set-default MPC_XY_VEL_P_ACC 3
+param set-default VT_B_TRANS_DUR 5
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_S_Y 1
 param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -0,0 +1,74 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+
+parm set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -60,6 +60,7 @@ px4_add_romfs_files(
 	1042_gazebo-classic_tiltrotor
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
+	1045_gazebo-classic_quadtailsitter
 	1060_gazebo-classic_rover
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -20,6 +20,7 @@
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6
 param set-default MAV_TYPE 19
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -34,9 +34,7 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default PWM_AUX_FUNC1 101
+param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
+param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
+param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
+param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_AUX_TIM0 -4
-

ROMFS/px4fmu_common/init.d/rcS

@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -254,6 +254,8 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
+	rgbled_lp5562 start -X -q
+	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.
@@ -264,12 +266,9 @@ else
 		. $FCONFIG
 	fi
 
-	#
+	if px4io supported
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
 	then
-		# Check if PX4IO present and update firmware if needed.
+	# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -291,12 +290,12 @@ else
 					tune_control stop
 				fi
 			fi
-		fi
 
-		if ! px4io start
+			if ! px4io start
-		then
+			then
-			echo "PX4IO start failed"
+				echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			fi
 		fi
 	fi
 

Tools/auterion/remote_update_fmu.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+# Flash PX4 to a device running AuterionOS in the local network
+if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
+	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
+	exit 1
+fi
+
+ssh_port=22
+ssh_user=root
+
+while getopts ":f:c:d:p:u:r" opt; do
+	case ${opt} in
+		f )
+			if [ -n "$OPTARG" ]; then
+				firmware_file="$OPTARG"
+			else
+				echo "ERROR: -f requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		c )
+			if [ -f "$OPTARG/rc.autostart" ]; then
+				config_dir="$OPTARG"
+			else
+				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
+				exit 1
+			fi
+			;;
+		d )
+			if [ "$OPTARG" ]; then
+				device="$OPTARG"
+			else
+				echo "ERROR: -d requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		p )
+			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
+				ssh_port="$OPTARG"
+			else
+				echo "ERROR: -p ssh_port must be a number."
+				exit 1
+			fi
+			;;
+		u )
+			if [ "$OPTARG" ]; then
+				ssh_user="$OPTARG"
+			else
+				echo "ERROR: -u requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		r )
+			revert=true
+			;;
+	esac
+done
+
+if [ -z "$device" ]; then
+	echo "Error: missing device"
+	exit 1
+fi
+
+target_dir=/shared_container_dir/fmu
+target_file_name="update-dev.tar"
+
+if [ "$revert" == true ]; then
+	# revert to the release version which was originally deployed
+	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+else
+	# create custom update-dev.tar
+	tmp_dir="$(mktemp -d)"
+	config_path=""
+	firmware_path=""
+
+	if [ -d "$config_dir" ]; then
+		cp -r "$config_dir" "$tmp_dir/config"
+		config_path=config
+	fi
+
+	if [ -f "$firmware_file" ]; then
+		extension="${firmware_file##*.}"
+		cp "$firmware_file" "$tmp_dir/firmware.$extension"
+		if [ "$extension" == "elf" ]; then
+			# ensure the file is stripped to reduce file size
+			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
+		fi
+		firmware_path="firmware.$extension"
+	fi
+
+	pushd "$tmp_dir" &>/dev/null
+
+	if [ -z $firmware_path ] && [ -z $config_path ]; then
+		exit 1
+	fi
+
+	tar_name="tar"
+
+	if [ -x "$(command -v gtar)" ]; then
+		# check if gnu-tar is installed on macOS and use that instead
+		tar_name="gtar"
+	fi
+
+	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
+
+	# send it to the target to start flashing
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	popd &>/dev/null
+	rm -rf "$tmp_dir"
+fi
+
+# grab status output for flashing progress
+cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/auterion/upload_skynode.sh

@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+
+DIR="$(dirname $(readlink -f $0))"
+DEFAULT_AUTOPILOT_HOST=10.41.1.1
+DEFAULT_AUTOPILOT_PORT=33333
+DEFAULT_AUTOPILOT_USER=auterion
+
+for i in "$@"
+do
+    case $i in
+        --file=*)
+        PX4_BINARY_FILE="${i#*=}"
+        ;;
+        --default-ip=*)
+        DEFAULT_AUTOPILOT_HOST="${i#*=}"
+        ;;
+        --default-port=*)
+        DEFAULT_AUTOPILOT_PORT="${i#*=}"
+        ;;
+        --default-user=*)
+        DEFAULT_AUTOPILOT_USER="${i#*=}"
+        ;;
+        --revert)
+        REVERT_AUTOPILOT_ARGUMENT=-r
+        ;;
+        --wifi)
+        DEFAULT_AUTOPILOT_HOST=10.41.0.1
+        ;;
+        *)
+            # unknown option
+        ;;
+    esac
+done
+
+# allow these to be overridden
+[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
+[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
+[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
+
+ARGUMENTS=()
+ARGUMENTS+=(-d "$AUTOPILOT_HOST")
+ARGUMENTS+=(-p "$AUTOPILOT_PORT")
+ARGUMENTS+=(-u "$AUTOPILOT_USER")
+ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
+ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
+
+echo "Flashing $AUTOPILOT_HOST ..."
+
+"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
+
+exit 0

boards/ark/fmu-v6x/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,17 +17,19 @@ param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_TEMP_ID 2818058
 param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_FF 0.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+if ver hwtypecmp ARKV6X000
 then
-	param set-default SYS_USE_IO 0
+	param set-default SENS_TEMP_ID 2818058
-else
+fi
-	param set-default SYS_USE_IO 1
+
+if ver hwtypecmp ARKV6X001
+then
+	param set-default SENS_TEMP_ID 3014666
 fi
 
 safety_button start

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

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 
-if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -47,14 +47,29 @@ then
 	fi
 fi
 
-# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+if ver hwtypecmp ARKV6X000
-iim42652 -R 3 -s -b 1 -C 32051 start
+then
+	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+	iim42652 -R 3 -s -b 1 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 9 -s -b 2 -C 32051 start
+	icm42688p -R 9 -s -b 2 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 6 -s -b 3 -C 32051 start
+	icm42688p -R 6 -s -b 3 -C 32051 start
+fi
+
+if ver hwtypecmp ARKV6X001
+then
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 9 -s -b 2 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 6 -s -b 3 -C 32051 start
+fi
 
 # Internal magnetometer on I2C
 bmm150 -I start

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -204,30 +204,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,                 Rev 0
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     BMI388 I2C2 Rev 1
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
-#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-#define ARKV6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define ARKV6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-//#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,                    HB CM4 base Rev 0 // never shipped
-//#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
-#define ARKV6X43   HW_VER_REV(0x4,0x3) // ARKV6X,     Sensor Set     HB CM4 base Rev 3
-#define ARKV6X44   HW_VER_REV(0x4,0x4) // ARKV6X,     Sensor Set     HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
-//#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
-#define ARKV6X53   HW_VER_REV(0x5,0x3) // ARKV6X,     Sensor Set     HB Mini Rev 3
-#define ARKV6X54   HW_VER_REV(0x5,0x4) // ARKV6X,     Sensor Set     HB Mini Rev 4
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
@@ -252,7 +239,6 @@
 /* PWM
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
-#define BOARD_PWM_FREQ	             1024000
 
 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)

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

@@ -1,223 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  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,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
-	//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
-	{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
-	//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
-	{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__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() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/ark/fmu-v6x/src/mtd.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -92,10 +95,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(ARKV6X00, {
+	initSPIFmumID(ARKV6X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -59,15 +59,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(ARKV6X01, { // Placeholder
+	initSPIFmumID(ARKV6X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices

boards/ark/fmu-v6x/src/spix_sync.c

@@ -82,9 +82,7 @@
 #define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
 #define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
 
-#if !defined(BOARD_PWM_FREQ)
+#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
-#define BOARD_PWM_FREQ 1000000
-#endif
 
 unsigned
 spix_sync_timer_get_period(unsigned timer)
@@ -129,11 +127,11 @@ static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
 		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
 		 */
 
-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1;
+		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
 
 		/* configure the timer to update at the desired rate */
 
-		rARR(timer) = (BOARD_PWM_FREQ / rate) - 1;
+		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
 
 		/* generate an update event; reloads the counter and all registers */
 		rEGR(timer) = GTIM_EGR_UG;

boards/bitcraze/crazyflie/src/board_config.h

@@ -140,15 +140,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/bitcraze/crazyflie21/src/board_config.h

@@ -141,15 +141,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_defaults

@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -8,16 +8,22 @@ board_adc start
 # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
 # 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
 # 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
+# 4. Isolated {ICM45686, ICM45686}, body-fixed  {ICM45686, AK09918}
 
 # SPI4 is isolated, SPI1 is body-fixed
 
 # SPI4, isolated
 ms5611 -s -b 4 start
 
-icm42688p -s -b 4 -R 10 start -c 15
+if icm42688p -s -b 4 -R 10 -q start -c 15
-if ! icm20948 -s -b 4 -R 10 -M -q start
 then
-	icm42688p -s -b 4 -R 6 start -c 13
+	if ! icm20948 -s -b 4 -R 10 -M -q start
+	then
+		icm42688p -s -b 4 -R 6 start -c 13
+	fi
+else
+	icm45686 -s -b 4 -R 10 start -c 15
+	icm45686 -s -b 4 -R 6 start -c 13
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/src/spi.cpp

@@ -49,7 +49,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };

boards/cubepilot/cubeyellow/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1

boards/holybro/kakuteh7/default.px4board

@@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -22,13 +22,10 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
+# use EKF2 without mag
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
 param set-default SYS_HAS_MAG 0
+# and enable gravity fusion
+param set-default EKF2_IMU_CONTROL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7mini/default.px4board

@@ -32,6 +32,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7v2/default.px4board

@@ -33,6 +33,12 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/pix32v5/init/rc.board_defaults

@@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-param set-default SYS_USE_IO 1
-
 rgbled_pwm start
 safety_button start

boards/mro/x21-777/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/mro/x21/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/nxp/fmuk66-e/default.px4board

@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -22,7 +22,7 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_COMMON_UWB=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -1,20 +1,25 @@
 # CONFIG_BOARD_ROMFSROOT is not set
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_ESC_BATTERY=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -17,6 +17,17 @@ param set-default MAV_1_UDP_PRT 14550
 param set-default SENS_EXT_I2C_PRB 0
 param set-default CYPHAL_ENABLE 0
 
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	param set-default GPS_1_CONFIG 202
+	param set-default RC_PORT_CONFIG 104
+	param set-default SENS_INT_BARO_EN 0
+	param set-default SYS_HAS_BARO 0
+	# MR-CANHUBK3-ADAP voltage divider
+	param set-default BAT1_V_DIV 13.158
+	safety_button start
+fi
+
 if param greater -s UAVCAN_ENABLE 0
 then
 	ifup can0

boards/nxp/mr-canhubk3/init/rc.board_sensors

@@ -2,22 +2,31 @@
 #
 # NXP MR-CANHUBK3 specific board sensors init
 #------------------------------------------------------------------------------
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	icm42688p -c 2 -b 3 -R 0 -S -f 15000 start
+	# Internal magnetometer on I2c on ADAP
+	bmm150 -X -a 18 start
+	ist8310 -X -b 1 -R 10 start
+	# ADC for voltage input sensing
+	board_adc start
 
-#board_adc start FIXME no ADC drivers
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 10 start
 
-#FMUv5Xbase board orientation
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 10 -S -f 15000 start
+else
+	bmm150 -X start
+	# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+	ist8310 -X -b 2 -R 10 start
 
-# Internal SPI bus ICM20649
+	# External SPI bus ICM20649
-icm20649 -s -R 6 start
+	icm20649 -b 4 -S -R 6 start
 
-# Internal SPI bus ICM42688p
+	# External SPI bus ICM42688p
-icm42688p -R 6 -s start
+	icm42688p -c 1 -b 3 -R 6 -S -f 15000 start
-
+fi
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 2 -R 10 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
 lis3mdl -X -b 2 -R 2 start
@@ -25,5 +34,5 @@ lis3mdl -X -b 2 -R 2 start
 # Disable startup of internal baros if param is set to false
 if param compare SENS_INT_BARO_EN 1
 then
-	bmp388 -I -a 0x77 start
+	bmp388 -X -a 0x77 start
 fi

boards/nxp/mr-canhubk3/nuttx-config/include/board.h

@@ -152,6 +152,18 @@
 #define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
 #define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */
 
+
+/* LPUART4 /dev/ttyS3  P8B 3X7 Pin 3 Single wire RC UART */
+
+#define PIN_LPUART4_RX    PIN_LPUART4_TX_3   /* Dummy since it's Single Wire TX-only */
+#define PIN_LPUART4_TX    PIN_LPUART4_TX_3   /* PTE11 */
+
+
+/* LPUART7 /dev/ttyS4  P8B 3X7 Pin 3 and Pin 8 */
+
+#define PIN_LPUART7_RX    (PIN_LPUART7_RX_3 | PIN_INPUT_PULLUP)   /* PTE0 */
+#define PIN_LPUART7_TX    PIN_LPUART7_TX_3   /* PTE1 */
+
 /* LPUART9   P24 UART connector */
 
 #define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
@@ -209,7 +221,8 @@
 #define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
 #define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */
 
-#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P26 (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P8B (PIN_PTB8 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)   /* PTB8 */
 
 /* LPSPI5  P26 external IMU connector */
 

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -245,6 +245,8 @@ CONFIG_S32K3XX_LPUART13=y
 CONFIG_S32K3XX_LPUART14=y
 CONFIG_S32K3XX_LPUART1=y
 CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART4=y
+CONFIG_S32K3XX_LPUART7=y
 CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y

boards/nxp/mr-canhubk3/src/CMakeLists.txt

@@ -38,6 +38,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 		clockconfig.c
 		periphclocks.c
 		timer_config.cpp
+		hw_rev_ver_canhubk3.c
 	)
 
 	target_link_libraries(drivers_board
@@ -65,6 +66,8 @@ else()
 		spi.cpp
 		timer_config.cpp
 		s32k3xx_userleds.c
+		hw_rev_ver_canhubk3.c
+		manifest.c
 	)
 
 	target_link_libraries(drivers_board

boards/nxp/mr-canhubk3/src/board_config.h

@@ -88,7 +88,7 @@ __BEGIN_DECLS
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -110,6 +110,40 @@ __BEGIN_DECLS
 /* Reboot and ulog we store on a wear-level filesystem */
 #define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot"
 
+/* To detect MR-CANHUBK3-ADAP board */
+#define BOARD_HAS_HW_VERSIONING  1
+#define CANHUBK3_ADAP_DETECT     (PIN_PTA12 | GPIO_INPUT | GPIO_PULLUP)
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4
+ * Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap
+ * in the AD4-AD7 range on the same ADC.
+ *
+ * Only ADC1 is used
+ *         Bits 31:0 are ADC1 channels 31:0
+ */
+
+#define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(0)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
+#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(1)     /* Non-existant but needed for compilation */
+
+
+/* Mask use to initialize the ADC driver */
+
+#define ADC_CHANNELS ((1 << ADC_BATTERY_VOLTAGE_CHANNEL))
+
+/* Safety Switch
+ * TBD
+ */
+#define GPIO_LED_SAFETY         (PIN_PTE26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO)
+#define GPIO_BTN_SAFETY         (PIN_PTA11 | GPIO_INPUT | GPIO_PULLDOWN)
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/

boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hw_rev_ver_canhubk3.c
+ * CANHUBK3 Hardware Revision and Version ID API
+ */
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+#include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <stdio.h>
+#include <board_config.h>
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+
+
+#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int is_adap_connected = 0;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	if (is_adap_connected) {
+		return (const char *)"MR-CANHUBK3-ADAP";
+
+	} else {
+		return (const char *)"MR-CANHUBK344";
+	}
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  0;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  0;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses GPIO to detect MR-CANHUBK3-ADAP
+ *
+ ************************************************************************************/
+
+int board_determine_hw_info()
+{
+	s32k3xx_pinconfig(CANHUBK3_ADAP_DETECT);
+	is_adap_connected = !s32k3xx_gpioread(CANHUBK3_ADAP_DETECT);
+	return 0;
+}
+#endif

boards/nxp/mr-canhubk3/src/i2c.cpp

@@ -34,6 +34,6 @@
 #include <px4_arch/i2c_hw_description.h>
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
-	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
 };

boards/nxp/mr-canhubk3/src/init.c

@@ -44,6 +44,7 @@
 #include "board_config.h"
 
 #include <px4_platform_common/init.h>
+#include <px4_platform/board_determine_hw_info.h>
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 #include <nuttx/mmcsd.h>
@@ -96,6 +97,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	int rv;
 
+	board_determine_hw_info();
+
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 	/* LPSPI1 *****************************************************************/

boards/nxp/mr-canhubk3/src/manifest.c

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW REV and HW VER IDs
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+#include "systemlib/px4_macros.h"
+#include "px4_log.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+	return px4_hw_mft_unsupported;
+}

boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c

@@ -107,6 +107,9 @@ int s32k3xx_bringup(void)
 	s32k3xx_spidev_initialize();
 #endif
 
+	s32k3xx_pinconfig(GPIO_LED_SAFETY);
+	s32k3xx_pinconfig(GPIO_BTN_SAFETY);
+
 #ifdef CONFIG_INPUT_BUTTONS
 	/* Register the BUTTON driver */
 

boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c

@@ -168,6 +168,22 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkgate = true,
 #else
 		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART4_CLK,
+#ifdef CONFIG_S32K3XX_LPUART4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART7_CLK,
+#ifdef CONFIG_S32K3XX_LPUART7
+		.clkgate = true,
+#else
+		.clkgate = false,
 #endif
 	},
 	{
@@ -258,6 +274,10 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkname = EMIOS0_CLK,
 		.clkgate = true,
 	},
+	{
+		.clkname = ADC2_CLK,
+		.clkgate = true,
+	}
 };
 
 unsigned int const num_of_peripheral_clocks_0 =

boards/nxp/mr-canhubk3/src/spi.cpp

@@ -70,11 +70,12 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
 	}),
-	initSPIBus(SPI::Bus::SPI4, {
+	initSPIBusExternal(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20})
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin8}, SPI::DRDY{PIN_WKPU56})
 	}),
-	initSPIBus(SPI::Bus::SPI5, {
+	initSPIBusExternal(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
 	}),
 };
 
@@ -337,7 +338,14 @@ void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid,
 	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
 		selected ? "assert" : "de-assert");
 
-	s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected);
+	devid = ((devid) & 0xF);
+
+	if (devid == 0) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P26, !selected);
+
+	} else if (devid == 1) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P8B, !selected);
+	}
 }
 
 uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)

boards/nxp/ucans32k146/default.px4board

@@ -13,6 +13,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_UAVCANNODE_ARMING_STATUS=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y

boards/px4/fmu-v2/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v3/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v4pro/init/rc.board_defaults

@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default SYS_USE_IO 1
-
 set LOGGER_BUF 64

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

@@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V5004000 V5006000
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs

boards/px4/fmu-v5/test.px4board

@@ -10,3 +10,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n

boards/px4/fmu-v5x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v5x/init/rc.board_defaults

@@ -16,6 +16,4 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 safety_button start

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
-if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+if ver hwbasecmp 008 009 00a 010
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -5,7 +5,7 @@
 
 set HAVE_PM2 yes
 
-if ver hwtypecmp V5X005000 V5X005001 V5X005002
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -49,33 +49,11 @@ then
 	fi
 fi
 
-if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002 V5X005001 V5X005002
+if ver hwbasecmp 008 009 00a 010
 then
-	#FMUv5Xbase board orientation
-
-	if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001 V5X005001
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 4 -s start
-		bmi088 -G -R 4 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	fi
-
-	# Internal SPI bus ICM42688p
-	icm42688p -R 6 -s start
-
-	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 10 -s start
-
-	# Internal magnetometer on I2c
-	bmm150 -I start
-
-else
 	#SKYNODE base fmu board orientation
 
-	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	if ver hwtypecmp V5X000 V5X001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 2 -s start
@@ -105,7 +83,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
+	if ver hwtypecmp V5X000
 	then
 		bmp388 -I start
 	else

boards/px4/fmu-v5x/src/CMakeLists.txt

@@ -36,7 +36,6 @@ add_library(drivers_board
 	i2c.cpp
 	init.cpp
 	led.c
-	manifest.c
 	mtd.cpp
 	sdio.c
 	spi.cpp

boards/px4/fmu-v5x/src/board_config.h

@@ -179,31 +179,17 @@
 
 /* HW Version and Revision drive signals Default to 1 to detect */
 
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
 #define HW_INFO_INIT_PREFIX           "V5X"
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
-// Base                   FMUM
+
-#define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
+#define V5X_0     HW_FMUM_ID(0x0)   // FMUV5X, Auterion     FMUv5x RC13 (baro2 BMP388 on I2C4) Sensor Set Rev 0
-#define V5X10   HW_VER_REV(0x1,0x0) // NO PX4IO,                       Rev 0
+#define V5X_1     HW_FMUM_ID(0x1)   // FMUV5X, Auterion, HB FMUv5x RC15 (baro2 BMP388 on I2C2) Sensor Set Rev 1
-#define V5X01   HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388,             Rev 1
+#define V5X_2     HW_FMUM_ID(0x2)   // FMUV5X, HB           FMUv5x                             Sensor Set Rev 2
-#define V5X02   HW_VER_REV(0x0,0x2) // FMUV5X,                         Rev 2
-#define V5X40   HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base             Rev 0
-#define V5X41   HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
-#define V5X42   HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base             Rev 2
-#define V5X50   HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini                 Rev 0
-#define V5X51   HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini     Rev 1
-#define V5X52   HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini                 Rev 2
-#define V5X90   HW_VER_REV(0x9,0x0) // NO USB,                         Rev 0
-#define V5X91   HW_VER_REV(0x9,0x1) // NO USB I2C2 BMP388,             Rev 1
-#define V5X92   HW_VER_REV(0x9,0x2) // NO USB I2C2 BMP388,             Rev 2
-#define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),                     Rev 0
-#define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388,         Rev 1
-#define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388,         Rev 2
-#define V5X101   HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388,        Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME 1
 

boards/px4/fmu-v5x/src/manifest.c

@@ -1,222 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2021 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0550[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0510[] = {
-	{
-		//  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,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0509[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V5X00, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 0
-	{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 1
-	{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,                 Rev 2
-	{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO,               Rev 0
-	{V5X41, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,  HB CM4 base    Rev 1
-	{V5X42, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X,  HB CM4 base    Rev 2
-	{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 1
-	{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X,   HB Mini       Rev 2
-	{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB,                 Rev 0
-	{V5X91, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
-	{V5X92, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 2
-	{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q),             Rev 0
-	{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
-	{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
-	{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__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() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

boards/px4/fmu-v5x/src/mtd.cpp

@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -120,10 +123,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

boards/px4/fmu-v5x/src/spi.cpp

@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(V5X00, {
+	initSPIFmumID(V5X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -60,7 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X01, {
+	initSPIFmumID(V5X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -84,7 +84,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X02, {
+	initSPIFmumID(V5X_2, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -107,99 +107,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V5X41, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X42, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X51, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V5X52, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
-		}, {GPIO::PortD, GPIO::Pin15}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/px4/fmu-v6c/init/rc.board_defaults

@@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1

boards/px4/fmu-v6x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v6x/default.px4board

@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -19,28 +20,32 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

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

@@ -16,6 +16,5 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
 
 safety_button start

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

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
 
-if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
+if mft query -q -k MFT -s MFT_PM2 -v 0
 then
 	set HAVE_PM2 no
 fi
@@ -48,67 +48,79 @@ then
 fi
 
 
-if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
+# Keep nesting shallow
+if ver hwtypecmp V6X006 V6X008
 then
-	# Internal SPI bus ICM20649
+	if ver hwtypecmp V6X006
-	icm20649 -s -R 6 start
-else
-	# Internal SPI BMI088
-	if ver hwtypecmp V6X009010 V6X010010
 	then
-		bmi088 -A -R 6 -s start
+		# Internal SPI bus ICM45686
-		bmi088 -G -R 6 -s start
+		adis16470 -s -R 0 start
+		iim42652 -s -R 6 start
+		icm45686 -s -R 10 start
 	else
-		if ver hwtypecmp V6X000010
+		# Internal SPI bus 3x ICM45686
+		icm45686 -b 3 -s -R 0 start
+		icm45686 -b 2 -s -R 0 start
+		icm45686 -b 1 -s -R 10 start
+	fi
+else
+	if ver hwtypecmp V6X004
+	then
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	else
+		# Internal SPI BMI088
+		if ver hwbasecmp 009 010
 		then
-			bmi088 -A -R 0 -s start
+			bmi088 -A -R 6 -s start
-			bmi088 -G -R 0 -s start
+			bmi088 -G -R 6 -s start
 		else
-			bmi088 -A -R 4 -s start
+			if ver hwtypecmp V6X010
-			bmi088 -G -R 4 -s start
+			then
+				bmi088 -A -R 0 -s start
+				bmi088 -G -R 0 -s start
+			else
+				bmi088 -A -R 4 -s start
+				bmi088 -G -R 4 -s start
+			fi
+		fi
+	fi
+
+	# Internal SPI bus ICM42688p
+	if ver hwbasecmp 009 010
+	then
+		icm42688p -R 12 -s start
+	else
+		if ver hwtypecmp V6X010
+		then
+			icm42688p -R 14 -s start
+		else
+			icm42688p -R 6 -s start
+		fi
+	fi
+
+	if ver hwtypecmp V6X003 V6X004
+	then
+		# Internal SPI bus ICM-42670-P (hard-mounted)
+		icm42670p -R 10 -s start
+	else
+		if ver hwbasecmp 009 010
+		then
+			icm20602 -R 6 -s start
+		else
+			# Internal SPI bus ICM-20649 (hard-mounted)
+			icm20649 -R 14 -s start
 		fi
 	fi
 fi
 
-# Internal SPI bus ICM42688p
-if ver hwtypecmp V6X009010 V6X010010
-then
-	icm42688p -R 12 -s start
-else
-	if ver hwtypecmp V6X000010
-	then
-		icm42688p -R 14 -s start
-	else
-		icm42688p -R 6 -s start
-	fi
-fi
-
-if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
-then
-	# Internal SPI bus ICM-42670-P (hard-mounted)
-	icm42670p -R 10 -s start
-else
-	if ver hwtypecmp V6X009010 V6X010010
-	then
-		icm20602 -R 6 -s start
-	else
-		# Internal SPI bus ICM-20649 (hard-mounted)
-		icm20649 -R 14 -s start
-	fi
-fi
-
 # Internal magnetometer on I2c
-if ver hwtypecmp V6X002001
+if ver hwtypecmp V6X001
 then
 	rm3100 -I -b 4 start
 else
-	if ver hwtypecmp V6X009010 V6X010010
+	# Internal magnetometer on I2C
-	then
+	bmm150 -I -R 0 start
-		# Internal magnetometer on I2C
-		bmm150 -I -R 0 start
-	else
-		bmm150 -I -R 6 start
-	fi
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
@@ -117,7 +129,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 if param compare SENS_INT_BARO_EN 1
 then
-	if ver hwtypecmp V6X002001
+	if ver hwtypecmp V6X001 V6X006 V6X008
 	then
 		icp201xx -I -a 0x64 start
 	else
@@ -126,7 +138,7 @@ then
 fi
 
 #external baro
-if ver hwtypecmp V6X002001
+if ver hwtypecmp V6X001
 then
 	icp201xx -X start
 else

boards/px4/fmu-v6x/nuttx-config/include/board.h

@@ -380,7 +380,9 @@
 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
 // GPIO_UART5_RTS   no remap                /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
+#undef GPIO_UART5_CTS
+#define GPIO_UART5_CTS   ((GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9) | GPIO_PULLDOWN) /* PC9  */
+
 
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */

boards/px4/fmu-v6x/src/CMakeLists.txt

@@ -55,7 +55,6 @@ else()
 		init.c
 		led.c
 		mtd.cpp
-		manifest.c
 		sdio.c
 		spi.cpp
 		timer_config.cpp

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

@@ -208,36 +208,22 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_SPLIT_VERSIONING
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "V6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 11 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
 //                 Base/FMUM
-#define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
+#define V6X_0     HW_FMUM_ID(0x0)   // FMUV6X, Auterion,HB  Sensor Set Rev 0
-#define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
+#define V6X_1     HW_FMUM_ID(0x1)   // FMUV6X, CUAV Sensor Set Rev 1
-#define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
+#define V6X_3     HW_FMUM_ID(0x3)   // FMUV6X, HB              Sensor Set Rev 3
-#define V6X04   HW_VER_REV(0x0,0x4) // FMUV6X,     Sensor Set  Rev 4
+#define V6X_4     HW_FMUM_ID(0x4)   // FMUV6X, HB              Sensor Set Rev 4
-#define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define V6X_6     HW_FMUM_ID(0x6)   // FMUV6X, HB              Sensor Set Rev 6
-#define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
+#define V6X_8     HW_FMUM_ID(0x8)   // FMUV6X, HB              Sensor Set Rev 8
-#define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
+#define V6X_16    HW_FMUM_ID(0x10)  // FMUV6X, Auterion        Sensor Set Rev 16 from EEPROM
-#define V6X21   HW_VER_REV(0x2,0x1) // FMUV6X,     CUAV Sensor Set
-#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0
-#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1
-#define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
-#define V6X44   HW_VER_REV(0x4,0x4) // FMUV6X,     Sensor Set     HB CM4 base Rev 4
-#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0
-#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1
-#define V6X53   HW_VER_REV(0x5,0x3) // FMUV6X,     Sensor Set     HB Mini Rev 3
-#define V6X54   HW_VER_REV(0x5,0x4) // FMUV6X,     Sensor Set     HB Mini Rev 4
-#define V6X90   HW_VER_REV(0x9,0x0) //                         Rev 0
-#define V6X0910   HW_VER_REV(0x9,0x10)  // FMUV6X,     rev from EEPROM     Auterion Skynode ver9
-#define V6X1010   HW_VER_REV(0x10,0x10) // FMUV6X,     rev from EEPROM     Auterion Skynode ver10
-
-
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 

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

@@ -1,205 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018-2021 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  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,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	{V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, //                       HB CM4 base
-	{V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2  HB CM4 base
-	{V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini
-	{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini
-	{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
-	{V6X21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6X0910, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X,     rev from EEPROM     Auterion Skynode ver9
-	{V6X1010, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X,     rev from EEPROM     Auterion Skynode ver10
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__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() << 16;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}

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

@@ -31,6 +31,9 @@
  *
  ****************************************************************************/
 
+#include <nuttx/config.h>
+#include <board_config.h>
+
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -120,10 +123,16 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };
 
+static const px4_mft_entry_s mft_mft = {
+	.type = MFT,
+	.pmft = (void *) system_query_manifest,
+};
+
 static const px4_mft_s mft = {
-	.nmft = 1,
+	.nmft = 2,
 	.mfts = {
-		&mtd_mft
+		&mtd_mft,
+		&mft_mft,
 	}
 };
 

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

@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(V6X00, {
+	initSPIFmumID(V6X_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -60,31 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V6X03, {
+	initSPIFmumID(V6X_1, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V6X21, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -108,7 +84,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V6X43, {
+	initSPIFmumID(V6X_3, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -132,31 +108,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(V6X50, {
+	initSPIFmumID(V6X_4, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(V6X44, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -179,39 +131,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	// never shipped
+	initSPIFmumID(V6X_6, {
-	//initSPIHWVersion(V6X50, {
-	//	initSPIBus(SPI::Bus::SPI1, {
-	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-	//	}, {GPIO::PortI, GPIO::Pin11}),
-	//	initSPIBus(SPI::Bus::SPI2, {
-	//		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-	//	}, {GPIO::PortF, GPIO::Pin4}),
-	//	initSPIBus(SPI::Bus::SPI3, {
-	//		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-	//		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-	//	}, {GPIO::PortE, GPIO::Pin7}),
-	//	//  initSPIBus(SPI::Bus::SPI4, {
-	//	//    // no devices
-	//	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-	//	//  }, {GPIO::PortG, GPIO::Pin8}),
-	//	initSPIBus(SPI::Bus::SPI5, {
-	//		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-	//	}),
-	//	initSPIBusExternal(SPI::Bus::SPI6, {
-	//		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-	//		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-	//	}),
-	//}),
-	initSPIHWVersion(V6X04, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
@@ -225,16 +153,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
-	initSPIHWVersion(V6X53, {
+
+	initSPIFmumID(V6X_8, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
@@ -248,52 +176,9 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
-	initSPIHWVersion(V6X54, {
+
-		initSPIBus(SPI::Bus::SPI1, {
+
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+	initSPIFmumID(V6X_16, {
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-	initSPIHWVersion(V6X0910, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-	initSPIHWVersion(V6X1010, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -316,6 +201,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
+
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/px4/raspberrypi/cmake/upload.cmake

@@ -38,7 +38,7 @@ else()
 endif()
 
 add_custom_target(upload
-	COMMAND rsync -arh --progress
+	COMMAND rsync -arh --progress -e "ssh -o StrictHostKeyChecking=no"
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
 			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4

boards/px4/raspberrypi/default.px4board

@@ -4,15 +4,15 @@ CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_IMU=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPI_RC_IN=y

boards/sky-drones/smartap-airlink/init/rc.board_defaults

@@ -25,8 +25,6 @@ param set-default BAT_V_OFFS_CURR 0.413
 # Disable safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default SYS_USE_IO 1
-
 safety_button start
 
 set LOGGER_BUF 32

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -168,7 +168,7 @@
 
 /* HW Version and Revision drive signals Default to 1 to detect */
 
-#define BOARD_HAS_HW_VERSIONING
+#define BOARD_HAS_HW_VERSIONING // migrate to Split
 
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)

boards/thepeach/k1/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1

boards/thepeach/r1/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1

msg/CMakeLists.txt

@@ -174,6 +174,7 @@ set(msg_files
 	SensorSelection.msg
 	SensorsStatus.msg
 	SensorsStatusImu.msg
+	SensorUwb.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg
@@ -190,8 +191,6 @@ set(msg_files
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UwbDistance.msg
-	UwbGrid.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg

msg/SensorUwb.msg

@@ -0,0 +1,34 @@
+# UWB distance contains the distance information measured by an ultra-wideband positioning system,
+# such as Pozyx or NXP Rddrone.
+
+uint64 	timestamp		# time since system start (microseconds)
+
+uint32 	sessionid		# UWB SessionID
+uint32 	time_offset		# Time between Ranging Rounds in ms
+uint32 	counter			# Number of Ranges since last Start of Ranging
+uint16 	mac			# MAC adress of Initiator (controller)
+
+uint16 	mac_dest		# MAC adress of Responder (Controlee)
+uint16 	status			# status feedback #
+uint8 	nlos			# None line of site condition y/n
+float32 distance		# distance in m to the UWB receiver
+
+
+#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
+float32 aoa_azimuth_dev	# Angle of arrival of first incomming RX msg
+float32 aoa_elevation_dev	# Angle of arrival of first incomming RX msg
+float32 aoa_azimuth_resp	# Angle of arrival of first incomming RX msg at the responder
+float32 aoa_elevation_resp	# Angle of arrival of first incomming RX msg at the responder
+
+# Figure of merit for the angle measurements
+uint8 aoa_azimuth_fom		# AOA Azimuth FOM
+uint8 aoa_elevation_fom		# AOA Elevation FOM
+uint8 aoa_dest_azimuth_fom	# AOA Azimuth FOM
+uint8 aoa_dest_elevation_fom	# AOA Elevation FOM
+
+# Initiator physical configuration
+uint8 orientation		# Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
+				# Standard configuration is Antennas facing down and azimuth aligened in forward direction
+float32 offset_x		# UWB initiator offset in X axis (NED drone frame)
+float32 offset_y		# UWB initiator offset in Y axis (NED drone frame)
+float32 offset_z		# UWB initiator offset in Z axis (NED drone frame)

msg/UwbDistance.msg

@@ -1,15 +0,0 @@
-# UWB distance contains the distance information measured by an ultra-wideband positioning system,
-# such as Pozyx or NXP Rddrone.
-
-uint64 	timestamp		# time since system start (microseconds)
-uint32 	time_uwb_ms		# Time of UWB device in ms
-uint32 	counter			# Number of Ranges since last Start of Ranging
-uint32 	sessionid		# UWB SessionID
-uint32 	time_offset		# Time between Ranging Rounds in ms
-uint16 	status			# status feedback #
-
-uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
-bool[12] nlos			# Visual line of sight yes/no
-float32[12] aoafirst		# Angle of arrival of first incoming RX msg
-
-float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)

msg/UwbGrid.msg

@@ -1,25 +0,0 @@
-# UWB report message contains the grid information measured by an ultra-wideband positioning system,
-# such as Pozyx or NXP Rddrone.
-
-uint64 	timestamp	# time since system start (microseconds)
-uint16 	initator_time	# time to synchronize clocks (microseconds)
-uint8 	num_anchors	# Number of anchors
-
-float64[4] target_gps	# GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
-
-# Grid position information
-# Position in x,y,z in  (x,y,z in centimeters NED)
-# staring with POI and Anchor 0 up to Anchor 11
-int16[3] target_pos 	# Point of Interest, mostly landing Target x,y,z
-int16[3] anchor_pos_0
-int16[3] anchor_pos_1
-int16[3] anchor_pos_2
-int16[3] anchor_pos_3
-int16[3] anchor_pos_4
-int16[3] anchor_pos_5
-int16[3] anchor_pos_6
-int16[3] anchor_pos_7
-int16[3] anchor_pos_8
-int16[3] anchor_pos_9
-int16[3] anchor_pos_10
-int16[3] anchor_pos_11

platforms/common/CMakeLists.txt

@@ -52,6 +52,7 @@ add_library(px4_platform STATIC
 	px4_cli.cpp
 	shutdown.cpp
 	spi.cpp
+	pab_manifest.c
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/include/px4_platform_common/board_common.h

@@ -265,6 +265,18 @@
 #  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xffff) << 16) | ((uint32_t)(r) & 0xffff)
 #endif
 
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+typedef uint16_t hw_fmun_id_t;
+typedef uint16_t hw_base_id_t;
+// Original Signals GPIO_HW_REV_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the FMUM
+// Original Signals GPIO_HW_VER_SENSE/GPIO_HW_VER_REV_DRIVE is used to ID the BASE
+#  define BOARD_HAS_VERSIONING 1
+#  define HW_FMUM_ID(rev)       ((hw_fmun_id_t)(rev) & 0xffff)
+#  define HW_BASE_ID(ver)       ((hw_base_id_t)(ver) & 0xffff)
+#  define GET_HW_FMUM_ID()      (HW_FMUM_ID(board_get_hw_revision()))
+#  define GET_HW_BASE_ID()      (HW_BASE_ID(board_get_hw_version()))
+#endif
+
 #define HW_INFO_REV_DIGITS    3
 #define HW_INFO_VER_DIGITS    3
 
@@ -440,6 +452,8 @@ __BEGIN_DECLS
 
 #if defined(RC_SERIAL_SINGLEWIRE)
 static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
+#elif defined(RC_SERIAL_SINGLEWIRE_FORCE)
+static inline bool board_rc_singlewire(const char *device) { return true; }
 #else
 static inline bool board_rc_singlewire(const char *device) { return false; }
 #endif
@@ -652,20 +666,51 @@ bool board_booted_by_px4(void);
  ************************************************************************************/
 
 typedef enum {
-	PX4_MFT_PX4IO = 0,
+	PX4_MFT_PX4IO      = 0,
-	PX4_MFT_USB   = 1,
+	PX4_MFT_USB        = 1,
-	PX4_MFT_CAN2  = 2,
+	PX4_MFT_CAN2       = 2,
-	PX4_MFT_CAN3  = 3,
+	PX4_MFT_CAN3       = 3,
+	PX4_MFT_PM2        = 4,
+	PX4_MFT_ETHERNET   = 5,
+	PX4_MFT_T1_ETH     = 6,
+	PX4_MFT_T100_ETH   = 7,
+	PX4_MFT_T1000_ETH  = 8,
 } px4_hw_mft_item_id_t;
 
+typedef int (*system_query_func_t)(const char *sub,  const char *val, void *out);
+
+#define PX4_MFT_MFT_TYPES  { \
+		PX4_MFT_PX4IO,           \
+		PX4_MFT_USB,             \
+		PX4_MFT_CAN2,            \
+		PX4_MFT_CAN3,            \
+		PX4_MFT_PM2,             \
+		PX4_MFT_ETHERNET,        \
+		PX4_MFT_T1_ETH,          \
+		PX4_MFT_T100_ETH,        \
+		PX4_MFT_T1000_ETH }
+
+#define PX4_MFT_MFT_STR_TYPES  { \
+		"MFT_PX4IO",             \
+		"MFT_USB",               \
+		"MFT_CAN2",              \
+		"MFT_CAN3",              \
+		"MFT_PM2",               \
+		"MFT_ETHERNET",          \
+		"MFT_T1_ETH",            \
+		"MFT_T100_ETH",          \
+		"MFT_T1000_ETH",         \
+		"MFT_T1000_ETH"}
+
 typedef enum {
-	px4_hw_con_unknown  = 0,
+	px4_hw_con_unknown   = 0,
-	px4_hw_con_onboard  = 1,
+	px4_hw_con_onboard   = 1,
 	px4_hw_con_connector = 3,
 } px4_hw_connection_t;
 
 
 typedef struct {
+	unsigned int id:         16;  /* The id px4_hw_mft_item_id_t */
 	unsigned int present:    1;   /* 1 if this board have this item */
 	unsigned int mandatory:  1;   /* 1 if this item has to be present and working */
 	unsigned int connection: 2;   /* See px4_hw_connection_t */
@@ -677,7 +722,7 @@ typedef const px4_hw_mft_item_t  *px4_hw_mft_item;
 
 #if defined(BOARD_HAS_VERSIONING)
 __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id);
-
+__EXPORT int system_query_manifest(const char *sub,  const char *val, void *out);
 #  define PX4_MFT_HW_SUPPORTED(ID)           (board_query_manifest((ID))->present)
 #  define PX4_MFT_HW_REQUIRED(ID)            (board_query_manifest((ID))->mandatory)
 #  define PX4_MFT_HW_IS_ONBOARD(ID)          (board_query_manifest((ID))->connection == px4_hw_con_onboard)
@@ -750,6 +795,26 @@ __EXPORT const char *board_get_hw_type_name(void);
 #define board_get_hw_type_name() ""
 #endif
 
+/************************************************************************************
+ * Name: board_get_hw_base_type_name
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This may be a 0 length string ""
+ *
+ ************************************************************************************/
+
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+__EXPORT const char *board_get_hw_base_type_name(void);
+#else
+#define board_get_hw_base_type_name() ""
+#endif
+
 /************************************************************************************
  * Name: board_get_hw_version
  *

platforms/common/include/px4_platform_common/spi.h

@@ -73,7 +73,11 @@ struct px4_spi_bus_t {
 
 struct px4_spi_bus_all_hw_t {
 	px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
-	int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+	hw_fmun_id_t board_hw_fmun_id {USHRT_MAX};
+#else
+	int board_hw_version_revision {-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
+#endif
 };
 
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

platforms/common/pab_manifest.c

@@ -0,0 +1,404 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pab_manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW_BASE_ID
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <board_config.h>
+
+#include <inttypes.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+#include "systemlib/px4_macros.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+
+typedef struct {
+	hw_base_id_t             hw_base_id; /* The ID of the Base */
+	const px4_hw_mft_item_t *mft;        /* The first entry */
+	uint32_t                 entries;    /* the lenght of the list */
+} px4_hw_mft_list_entry_t;
+
+typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
+#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
+
+static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
+
+// List of components on a specific base board configuration
+// The ids of those components is given by the enum (px4_hw_mft_item_id_t)
+// declared in board_common.h
+
+// BASE ID 0 Auterion vXx base board
+static const px4_hw_mft_item_t base_configuration_0[] = {
+	{
+		.id          =  PX4_MFT_PX4IO,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T100_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+};
+
+// BASE ID 1 vXx base without px4io
+static const px4_hw_mft_item_t base_configuration_1[] = {
+	{
+		.id          = PX4_MFT_PX4IO,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T100_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+};
+
+// BASE ID 2 Modal AI Alaised to ID 0
+
+// BASE ID 3 NXP T1 PHY
+static const px4_hw_mft_item_t base_configuration_3[] = {
+	{
+		.id          = PX4_MFT_PX4IO,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T1_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+};
+
+// BASE ID 4 HB CM4 Alaised to ID 0
+
+// BASE ID 5  HB min
+static const px4_hw_mft_item_t base_configuration_5[] = {
+	{
+		.id          = PX4_MFT_PX4IO,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T100_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+};
+
+// BASE ID 6  Not allocated
+// BASE ID 7  Read from EEPROM
+// BASE ID 8  Skynode QS with USB - Alaised to ID 0
+
+// BASE ID 9  Auterion Skynode base RC9 & older (no usb
+static const px4_hw_mft_item_t base_configuration_9[] = {
+	{
+		.id          =  PX4_MFT_PX4IO,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          =  PX4_MFT_PM2,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T100_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
+// BASE ID 10  Skynode QS no USB Alaised to ID 9
+// BASE ID 16  Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0
+
+
+static px4_hw_mft_list_entry_t mft_lists[] = {
+//  ver_rev
+	{HW_BASE_ID(0),  base_configuration_0, arraySize(base_configuration_0)},  // std Base with PX4IO
+	{HW_BASE_ID(1),  base_configuration_1, arraySize(base_configuration_1)},  // std Base No PX4IO
+	{HW_BASE_ID(2),  base_configuration_0, arraySize(base_configuration_0)},  // CUAV Base
+	{HW_BASE_ID(3),  base_configuration_3, arraySize(base_configuration_3)},  // NXP T1 PHY
+	{HW_BASE_ID(4),  base_configuration_0, arraySize(base_configuration_0)},  // HB CM4 base
+	{HW_BASE_ID(5),  base_configuration_5, arraySize(base_configuration_5)},  // HB Mini
+	{HW_BASE_ID(8),  base_configuration_0, arraySize(base_configuration_0)},  // Auterion Skynode ver 8 Aliased to 0
+	{HW_BASE_ID(9),  base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 9
+	{HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)},  // Auterion Skynode ver 10
+	{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)},  // Auterion Skynode ver 16
+};
+
+/************************************************************************************
+ * Name: base_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__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) {
+		hw_base_id_t hw_base_id = GET_HW_BASE_ID();
+
+		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
+			if (mft_lists[i].hw_base_id == hw_base_id) {
+				boards_manifest = &mft_lists[i];
+				break;
+			}
+		}
+
+		if (boards_manifest == px4_hw_mft_list_uninitialized) {
+			syslog(LOG_ERR, "[boot] Board %04" PRIx16 " is not supported!\n", hw_base_id);
+		}
+	}
+
+	px4_hw_mft_item rv = &device_unsupported;
+
+	if (boards_manifest != px4_hw_mft_list_uninitialized)
+		for (unsigned int ndx = 0; ndx < boards_manifest->entries; ndx++) {
+			if (boards_manifest->mft[ndx].id == id) {
+				rv = &boards_manifest->mft[id];
+				break;
+			}
+		}
+
+	return rv;
+}
+
+__EXPORT int system_query_manifest(const char *sub,  const char *val, void *out)
+{
+	static const char *keys[] = PX4_MFT_MFT_STR_TYPES;
+	static const px4_hw_mft_item_id_t item_ids[] = PX4_MFT_MFT_TYPES;
+	px4_hw_mft_item rv = &device_unsupported;
+	int id = -1;
+	int intval = atoi(val);
+
+	for (unsigned int k = 0; k < arraySize(keys); k++) {
+		if (!strcmp(keys[k], sub)) {
+			id = item_ids[k];
+			break;
+		}
+	}
+
+	if (id != -1) {
+		// In case we have to filter when a FMUM is mounted to a BASE
+		// For now just use the board
+		rv = board_query_manifest(id);
+		return rv->present == intval ? OK : -ENXIO;
+	}
+
+	return -ENOENT;
+}
+#endif

platforms/common/spi.cpp

@@ -44,12 +44,26 @@
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
 void px4_set_spi_buses_from_hw_version()
 {
-#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+#  if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
-	int hw_version_revision = board_get_hw_version();
+	int hw_fmun_id = GET_HW_FMUM_ID();
-#else
-	int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
-#endif
 
+	for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
+		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_fmun_id == 0) {
+			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
+		}
+
+		if (px4_spi_buses_all_hw[i].board_hw_fmun_id == hw_fmun_id) {
+			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
+		}
+	}
+
+#  else
+
+#    if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+	int hw_version_revision = board_get_hw_version();
+#    else
+	int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
+#    endif
 
 	for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
 		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
@@ -61,6 +75,8 @@ void px4_set_spi_buses_from_hw_version()
 		}
 	}
 
+#  endif
+
 	if (!px4_spi_buses) { // fallback
 		px4_spi_buses = px4_spi_buses_all_hw[0].buses;
 	}

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit 3f77354c0dc88793a47ff3b57595195ab45f7ba9
+Subproject commit de41e7feaeffaec3ce65327e9569e8fdb553ca3d

platforms/nuttx/src/px4/common/include/px4_platform/board_determine_hw_info.h

@@ -36,6 +36,10 @@
 __BEGIN_DECLS
 
 #define HW_INFO_SUFFIX        "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+#  define HW_INFO_FMUM_SUFFIX   "%0" STRINGIFY(HW_INFO_REV_DIGITS) "x"
+#  define HW_INFO_BASE_SUFFIX   "%0" STRINGIFY(HW_INFO_VER_DIGITS) "x"
+#endif
 /************************************************************************************
   * Name: board_determine_hw_info
  *

platforms/nuttx/src/px4/common/px4_manifest.cpp

@@ -104,6 +104,13 @@ __EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
 					break;
 
 				case MFT:
+					if (mft->mfts[m]->pmft != nullptr) {
+						system_query_func_t query = (system_query_func_t) mft->mfts[m]->pmft;
+						return query(sub, val, nullptr);
+					}
+
+					break;
+
 				default:
 					rv = -ENODATA;
 					break;

platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp

@@ -38,144 +38,76 @@
 
 #include <nuttx/analog/adc.h>
 
-#include <hardware/s32k1xx_sim.h>
+#include <hardware/s32k3xx_adc.h>
-
+#include <hardware/s32k344_pinmux.h>
-//todo S32K add ADC fior now steal the kinetis one
-#include <kinetis.h>
-#include <hardware/kinetis_adc.h>
-
-
-#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
-
-/* ADC register accessors */
-
-#define REG(a, _reg)	_REG(KINETIS_ADC##a##_BASE + (_reg))
-
-#define rSC1A(adc)  REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */
-#define rSC1B(adc)  REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */
-#define rCFG1(adc)  REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */
-#define rCFG2(adc)  REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */
-#define rRA(adc)    REG(adc, KINETIS_ADC_RA_OFFSET)   /* ADC data result register */
-#define rRB(adc)    REG(adc, KINETIS_ADC_RB_OFFSET)   /* ADC data result register */
-#define rCV1(adc)   REG(adc, KINETIS_ADC_CV1_OFFSET)  /* Compare value registers */
-#define rCV2(adc)   REG(adc, KINETIS_ADC_CV2_OFFSET)  /* Compare value registers */
-#define rSC2(adc)   REG(adc, KINETIS_ADC_SC2_OFFSET)  /* Status and control register 2 */
-#define rSC3(adc)   REG(adc, KINETIS_ADC_SC3_OFFSET)  /* Status and control register 3 */
-#define rOFS(adc)   REG(adc, KINETIS_ADC_OFS_OFFSET)  /* ADC offset correction register */
-#define rPG(adc)    REG(adc, KINETIS_ADC_PG_OFFSET)   /* ADC plus-side gain register */
-#define rMG(adc)    REG(adc, KINETIS_ADC_MG_OFFSET)   /* ADC minus-side gain register */
-#define rCLPD(adc)  REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLPS(adc)  REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP4(adc)  REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP3(adc)  REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP2(adc)  REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP1(adc)  REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP0(adc)  REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLMD(adc)  REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLMS(adc)  REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM4(adc)  REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM3(adc)  REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM2(adc)  REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM1(adc)  REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM0(adc)  REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */
 
 int px4_arch_adc_init(uint32_t base_address)
 {
-	/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
+	uint32_t regval;
 
-	irqstate_t flags = px4_enter_critical_section();
+	/* Configure and perform calibration */
+	putreg32(ADC_MCR_ADCLKSEL_DIV4, S32K3XX_ADC2_MCR);
 
-	_REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1;
+	regval = getreg32(S32K3XX_ADC2_AMSIO);
-	rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1213BIT | ADC_CFG1_ADIV_DIV8;
+	regval |= ADC_AMSIO_HSEN_MASK;
-	rCFG2(1) = 0;
+	putreg32(regval, S32K3XX_ADC2_AMSIO);
-	rSC2(1) = ADC_SC2_REFSEL_DEFAULT;
 
-	px4_leave_critical_section(flags);
+	regval = getreg32(S32K3XX_ADC2_CAL2);
+	regval &= ~ADC_CAL2_ENX;
+	putreg32(regval, S32K3XX_ADC2_CAL2);
 
-	/* Clear the CALF and begin the calibration */
+	regval = getreg32(S32K3XX_ADC2_CALBISTREG);
+	regval &= ~(ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_MASK |
+		    ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_TSAMP_MASK | ADC_CALBISTREG_RESN_MASK);
+	regval |= ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_4SMPL |
+		  ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_RESN_14BIT;
+	putreg32(regval, S32K3XX_ADC2_CALBISTREG);
 
-	rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF;
+	while (getreg32(S32K3XX_ADC2_CALBISTREG) & ADC_CALBISTREG_C_T_BUSY) {};
 
-	while ((rSC1A(1) & ADC_SC1_COCO) == 0) {
+	putreg32(ADC_MCR_PWDN, S32K3XX_ADC2_MCR);
-		usleep(100);
 
-		if (rSC3(1) & ADC_SC3_CALF) {
+	putreg32(22, S32K3XX_ADC2_CTR0);
-			return -1;
-		}
-	}
 
-	/* dummy read to clear COCO of calibration */
+	putreg32(22, S32K3XX_ADC2_CTR1);
 
-	int32_t r = rRA(1);
+	putreg32(0, S32K3XX_ADC2_DMAE);
 
-	/* Check the state of CALF at the end of calibration */
+	putreg32(ADC_MCR_ADCLKSEL_DIV4 | ADC_MCR_AVGS_32CONV | ADC_MCR_AVGEN | ADC_MCR_BCTU_MODE | ADC_MCR_MODE,
+		 S32K3XX_ADC2_MCR);
 
-	if (rSC3(1) & ADC_SC3_CALF) {
+	putreg32(0x10, S32K3XX_ADC2_NCMR0);
-		return -1;
-	}
 
-	/* Calculate the calibration values for single ended positive */
+	putreg32(0x10, S32K3XX_ADC2_NCMR1);
 
-	r = rCLP0(1) + rCLP1(1)  + rCLP2(1)  + rCLP3(1)  + rCLP4(1)  + rCLPS(1) ;
+	regval = getreg32(S32K3XX_ADC2_MCR);
-	r = 0x8000U | (r >> 1U);
-	rPG(1) = r;
 
-	/* Calculate the calibration values for double ended Negitive */
+	regval |= ADC_MCR_NSTART;
 
-	r = rCLM0(1) + rCLM1(1)  + rCLM2(1)  + rCLM3(1)  + rCLM4(1)  + rCLMS(1) ;
+	putreg32(regval, S32K3XX_ADC2_MCR);
-	r = 0x8000U | (r >> 1U);
-	rMG(1) = r;
-
-	/* kick off a sample and wait for it to complete */
-	hrt_abstime now = hrt_absolute_time();
-
-	rSC1A(1) =  ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP);
-
-	while (!(rSC1A(1) & ADC_SC1_COCO)) {
-
-		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 500) {
-			return -1;
-		}
-	}
 
 	return 0;
 }
 
 void px4_arch_adc_uninit(uint32_t base_address)
 {
-	irqstate_t flags = px4_enter_critical_section();
-	_REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1;
-	px4_leave_critical_section(flags);
 }
 
 uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 {
-	irqstate_t flags = px4_enter_critical_section();
+	uint32_t result = 0;
 
-	/* clear any previous COCC */
+	if (channel == 0) {
-	rRA(1);
+		result = getreg32(S32K3XX_ADC2_PCDR4);
 
-	/* run a single conversion right now - should take about 35 cycles (5 microseconds) max */
+		if ((result & ADC_PCDR_VALID) == ADC_PCDR_VALID) {
-	rSC1A(1) = ADC_SC1_ADCH(channel);
+			result = result & 0xFFFF;
 
-	/* wait for the conversion to complete */
+		} else {
-	const hrt_abstime now = hrt_absolute_time();
+			result = 0;
-
-	while (!(rSC1A(1) & ADC_SC1_COCO)) {
-
-		/* don't wait for more than 10us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 10) {
-			px4_leave_critical_section(flags);
-			return 0xffff;
 		}
 	}
 
-	/* read the result and clear EOC */
-	uint32_t result = rRA(1);
-
-	px4_leave_critical_section(flags);
-
 	return result;
 }
 
@@ -186,10 +118,10 @@ float px4_arch_adc_reference_v()
 
 uint32_t px4_arch_adc_temp_sensor_mask()
 {
-	return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
+	return 0; // No temp sensor
 }
 
 uint32_t px4_arch_adc_dn_fullcount()
 {
-	return 1 << 12; // 12 bit ADC
+	return 1 << 15; // 15 bit conversion data
 }

platforms/nuttx/src/px4/stm/stm32_common/board_hw_info/board_hw_rev_ver.c

@@ -51,7 +51,7 @@
 #include <lib/crc/crc.h>
 #include <lib/systemlib/px4_macros.h>
 
-#if defined(BOARD_HAS_HW_VERSIONING)
+#if defined(BOARD_HAS_HW_VERSIONING) || defined(BOARD_HAS_HW_SPLIT_VERSIONING)
 
 #  if defined(GPIO_HW_VER_REV_DRIVE)
 #    define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE
@@ -67,7 +67,9 @@
 static int hw_version = 0;
 static int hw_revision = 0;
 static char hw_info[HW_INFO_SIZE] = {0};
-
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+static char hw_base_info[HW_INFO_SIZE] = {0};
+#endif
 /****************************************************************************
  * Protected Functions
  ****************************************************************************/
@@ -366,6 +368,27 @@ __EXPORT const char *board_get_hw_type_name()
 	return (const char *) hw_info;
 }
 
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+/************************************************************************************
+ * Name: board_get_hw_base_type_name
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the base type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_base_type_name()
+{
+	return (const char *) hw_base_info;
+}
+#endif
+
 /************************************************************************************
  * Name: board_get_hw_version
  *
@@ -467,7 +490,12 @@ int board_determine_hw_info()
 	}
 
 	if (rv == OK) {
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+		snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_FMUM_SUFFIX, GET_HW_FMUM_ID());
+		snprintf(hw_base_info, sizeof(hw_info), HW_INFO_BASE_SUFFIX, GET_HW_BASE_ID());
+#else
 		snprintf(hw_info, sizeof(hw_info), HW_INFO_INIT_PREFIX HW_INFO_SUFFIX, hw_version, hw_revision);
+#endif
 	}
 
 	return rv;