mixer_module: send a last sample out after all outputs were disabled

This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.

.ci/Jenkinsfile-compile

@@ -40,16 +40,16 @@ 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_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
-                     "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
+                     "bitcraze_crazyflie_default",
                      "cuav_can-gps-v1_canbootloader",
                      "cuav_can-gps-v1_default",
                      "cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
                      "holybro_durandal-v1_default",
                      "holybro_kakutef7_default",
                      "holybro_kakuteh7_default",
-                     "holybro_kakuteh7v2_default",
                      "holybro_kakuteh7mini_default",
+                     "holybro_kakuteh7v2_default",
                      "holybro_pix32v5_default",
                      "matek_gnss-m9n-f4_canbootloader",
                      "matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
                      "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
+                     "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-h7-oem_default",
                      "mro_ctrl-zero-h7_default",
                      "mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
+                     "px4_fmu-v5_rover",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_rover",
                      "px4_fmu-v6c_default",
+                     "px4_fmu-v6c_rover",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_rover",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6x_rover",
                      "px4_fmu-v6xrt_bootloader",
                      "px4_fmu-v6xrt_default",
+                     "px4_fmu-v6xrt_rover",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
+                     "siyi_n7_default",
                      "sky-drones_smartap-airlink_default",
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
                      "uvify_core_default",
-                     "siyi_n7_default"
             ],
             image: docker_images.nuttx,
             archive: true

.editorconfig

@@ -0,0 +1,14 @@
+root = true
+
+[*]
+insert_final_newline = false
+
+[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
+indent_style = tab
+tab_width = 8
+# Not in the official standard, but supported by many editors
+max_line_length = 120
+
+[*.yaml]
+indent_style = space
+indent_size = 2

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
           matek_h743-slim,
           modalai_fc-v1,
           modalai_fc-v2,
+          mro_ctrl-zero-classic,
           mro_ctrl-zero-f7,
           mro_ctrl-zero-f7-oem,
           mro_ctrl-zero-h7,

.gitmodules

@@ -80,3 +80,6 @@
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
+[submodule "boards/modalai/voxl2/libfc-sensor-api"]
+	path = boards/modalai/voxl2/libfc-sensor-api
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-variants.yaml

@@ -71,6 +71,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v5x_default
+    px4_fmu-v6c_default:
+      short: px4_fmu-v6c
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_default
+    px4_fmu-v6c_bootloader:
+      short: px4_fmu-v6c_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6c_bootloader
+    px4_fmu-v6u_default:
+      short: px4_fmu-v6u
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_default
+    px4_fmu-v6u_bootloader:
+      short: px4_fmu-v6u_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6u_bootloader
     px4_fmu-v6x_default:
       short: px4_fmu-v6x
       buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_septentrio_gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

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

@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1
 
 param set-default FW_P_TC 0.6
 
-param set-default FW_PR_FF 0.1
+param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.5
 param set-default FW_THR_TRIM 0.35
 param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
 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 VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -0,0 +1,80 @@
+#!/bin/sh
+# @name Gazebo lawnmower
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+# We can arm and drive in manual mode when it slides and GPS check fails:
+param set-default COM_ARM_WO_GPS 1
+
+# Set Differential Drive Kinematics Library parameters:
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+
+# Actuator mapping - set SITL motors/servos output parameters:
+
+# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
+
+param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
+
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# controls in practical scenarios.
+
+# Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_MIN3 0
+param set-default SIM_GZ_SV_MAX3 1000
+param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_FAIL3 500
+
+# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
+#    - on minimum when disarmed or failed:
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_MIN4 0
+param set-default SIM_GZ_SV_MAX4 1000
+param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_FAIL4 500
+
+# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
+
+# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
+#param set-default SIM_GZ_SV_FUNC5 205
+#param set-default SIM_GZ_SV_MIN5 1000
+#param set-default SIM_GZ_SV_MAX5 2000
+#param set-default SIM_GZ_SV_DIS5 1000
+#param set-default SIM_GZ_SV_FAIL5 1000
+
+# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
+#param set-default SIM_GZ_SV_FUNC6 206
+
+# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
+#param set-default SIM_GZ_SV_FUNC7 207
+
+# Spare PCA9685 servo channel 8 - "Servo 8" (208):
+#param set-default SIM_GZ_SV_FUNC8 208

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

@@ -82,6 +82,7 @@ px4_add_romfs_files(
 	4008_gz_advanced_plane
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
+	4011_gz_lawnmower
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 
 	echo "INFO  [init] Gazebo simulator"
 
-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
-	fi
-
 	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
 	if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
@@ -64,6 +51,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			# "gz sim" from Garden on
 			gz_command="gz"
 			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
 		else
 			echo "ERROR [init] Gazebo gz please install gz-garden"
 			exit 1
@@ -173,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
 
 else
 	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
 	simulator_tcp_port=$((4560+px4_instance))
 
 	# Check if PX4_SIM_HOSTNAME environment variable is empty

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
 # Speedup SITL startup
 param set-default EKF2_REQ_GPS_H 0.5
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 param set-default IMU_GYRO_FFT_EN 1
 param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
@@ -248,7 +244,12 @@ then
 fi
 
 load_mon start
-battery_simulator start
+
+if param compare SIM_BAT_ENABLE 1
+then
+	battery_simulator start
+fi
+
 tone_alarm start
 rc_update start
 manual_control start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -34,28 +34,79 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
-	rc.airship_apps
-	rc.airship_defaults
+
 	rc.autostart_ext
-	rc.balloon_apps
-	rc.balloon_defaults
-	rc.boat_defaults
-	rc.fw_apps
-	rc.fw_defaults
-	rc.heli_defaults
-	rc.logging
-	rc.mc_apps
-	rc.mc_defaults
+
 	rcS
 	rc.sensors
-	rc.thermal_cal
-	rc.rover_apps
-	rc.rover_defaults
-	rc.rover_differential_apps
-	rc.rover_differential_defaults
-	rc.uuv_apps
-	rc.uuv_defaults
 	rc.vehicle_setup
-	rc.vtol_apps
-	rc.vtol_defaults
+
+	# TODO
+	rc.balloon_apps
+	rc.balloon_defaults
 )
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.airship_apps
+		rc.airship_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.fw_apps
+		rc.fw_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		rc.heli_defaults
+		rc.mc_apps
+		rc.mc_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		rc.rover_apps
+		rc.rover_defaults
+
+		rc.boat_defaults # hack
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		rc.rover_differential_apps
+		rc.rover_differential_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.uuv_apps
+		rc.uuv_defaults
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		rc.vtol_apps
+		rc.vtol_defaults
+	)
+endif()
+
+
+if(CONFIG_MODULES_LOGGER)
+	px4_add_romfs_files(
+		rc.logging
+	)
+endif()
+
+if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
+	px4_add_romfs_files(
+		rc.thermal_cal
+	)
+endif()

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

@@ -32,94 +32,127 @@
 ############################################################################
 
 px4_add_romfs_files(
-	# [0-999] Reserved (historical)"
-
-	# [1000, 1999] Simulation setups"
-	1001_rc_quad_x.hil
-	1002_standard_vtol.hil
-	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
-
-	# [2000, 2999] Standard planes"
-	2100_standard_plane
-	2106_albatross
-
-	2507_cloudship
-
-	# [3000, 3999] Flying wing"
-	3000_generic_wing
-
-	# [4000, 4999] Quadrotor x"
-	4001_quad_x
-	4014_s500
-	4015_holybro_s500
-	4016_holybro_px4vision
-	4017_nxp_hovergames
-	4019_x500_v2
-	4020_holybro_px4vision_v1_5
-	4041_beta75x
-	4050_generic_250
-	4052_holybro_qav250
-	4053_holybro_kopis2
-	4061_atl_mantis_edu
-	4071_ifo
-	4073_ifo-s
-	4500_clover4
-	4901_crazyflie21
-
-	# [5000, 5999] Quadrotor +"
-	5001_quad_+
-
-	# [6000, 6999] Hexarotor x"
-	6001_hexa_x
-	6002_draco_r
-
-	# [7000, 7999] Hexarotor +"
-	7001_hexa_+
-
-	# [8000, 8999] Octorotor +"
-	8001_octo_x
-
-	# [9000, 9999] Octorotor +"
-	9001_octo_+
-
-	# [11000, 11999] Hexa Cox
-	11001_hexa_cox
-
-	# [12000, 12999] Octo Cox
-	12001_octo_cox
-
-	# [13000, 13999] VTOL
-	13000_generic_vtol_standard
-	13100_generic_vtol_tiltrotor
-	13013_deltaquad
-	13014_vtol_babyshark
-	13030_generic_vtol_quad_tiltrotor
-	13200_generic_vtol_tailsitter
-
-	# [14000, 14999] MC with tilt
-	14001_generic_mc_with_tilt
-
-	16001_helicopter
-
-	# [17000, 17999] Autogyro
-	17002_TF-AutoG2
-	17003_TF-G2
+	# [0-999] Reserved (historical)
 
 	# [18000, 18999] High-altitude balloons
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
-	24001_dodeca_cox
-
-	50000_generic_ground_vehicle
-	50004_nxpcup_car_dfrobot_gpx
-	50003_aion_robotics_r1_rover
-
-	# [60000, 61000] (Unmanned) Underwater Robots
-	60000_uuv_generic
-	60001_uuv_hippocampus
-	60002_uuv_bluerov2_heavy
 )
+
+if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
+	px4_add_romfs_files(
+		# [1000, 1999] Simulation setups
+		1001_rc_quad_x.hil
+		1002_standard_vtol.hil
+		1100_rc_quad_x_sih.hil
+		1101_rc_plane_sih.hil
+		1102_tailsitter_duo_sih.hil
+	)
+endif()
+
+if(CONFIG_MODULES_MC_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [4000, 4999] Quadrotor x
+		4001_quad_x
+		4014_s500
+		4015_holybro_s500
+		4016_holybro_px4vision
+		4017_nxp_hovergames
+		4019_x500_v2
+		4020_holybro_px4vision_v1_5
+		4041_beta75x
+		4050_generic_250
+		4052_holybro_qav250
+		4053_holybro_kopis2
+		4061_atl_mantis_edu
+		4071_ifo
+		4073_ifo-s
+		4500_clover4
+		4901_crazyflie21
+
+		# [5000, 5999] Quadrotor +
+		5001_quad_+
+
+		# [6000, 6999] Hexarotor x
+		6001_hexa_x
+		6002_draco_r
+
+		# [7000, 7999] Hexarotor +
+		7001_hexa_+
+
+		# [8000, 8999] Octorotor +
+		8001_octo_x
+
+		# [9000, 9999] Octorotor +
+		9001_octo_+
+
+		# [11000, 11999] Hexa Cox
+		11001_hexa_cox
+
+		# [12000, 12999] Octo Cox
+		12001_octo_cox
+
+		# [14000, 14999] MC with tilt
+		14001_generic_mc_with_tilt
+
+		16001_helicopter
+
+		24001_dodeca_cox
+	)
+endif()
+
+if(CONFIG_MODULES_FW_RATE_CONTROL)
+	px4_add_romfs_files(
+		# [2000, 2999] Standard planes
+		2100_standard_plane
+		2106_albatross
+
+		# [3000, 3999] Flying wing
+		3000_generic_wing
+
+		# [17000, 17999] Autogyro
+		17002_TF-AutoG2
+		17003_TF-G2
+	)
+endif()
+
+if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
+	px4_add_romfs_files(
+		2507_cloudship
+	)
+endif()
+
+if(CONFIG_MODULES_VTOL_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [13000, 13999] VTOL
+		13000_generic_vtol_standard
+		13100_generic_vtol_tiltrotor
+		13013_deltaquad
+		13014_vtol_babyshark
+		13030_generic_vtol_quad_tiltrotor
+		13200_generic_vtol_tailsitter
+	)
+endif()
+
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
+	px4_add_romfs_files(
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
+	)
+endif()
+
+if(CONFIG_MODULES_UUV_ATT_CONTROL)
+	px4_add_romfs_files(
+		# [60000, 61000] (Unmanned) Underwater Robots
+		60000_uuv_generic
+		60001_uuv_hippocampus
+		60002_uuv_bluerov2_heavy
+	)
+endif()

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -28,7 +28,6 @@ param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
 param set-default EKF2_GPS_CHECK 21
 param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -5,7 +5,7 @@
 ekf2 start &
 
 # Start rover differential drive controller.
-differential_drive_control start
+differential_drive start
 
 # Start Land Detector.
 land_detector start rover

ROMFS/px4fmu_common/init.d/rc.thermal_cal

@@ -22,6 +22,11 @@ then
 	set TEMP_COMP_START "true"
 fi
 
+if param compare -s TC_M_ENABLE 1
+then
+	set TEMP_COMP_START "true"
+fi
+
 if [ "x$TEMP_COMP_START" != "x" ]
 then
 	temperature_compensation start

ROMFS/px4fmu_common/init.d/rcS

@@ -170,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
+	if mft query -q -k MFT -s MFT_ETHERNET -v 1
 	then
 		netman update -i eth0
 	fi
@@ -439,7 +439,12 @@ else
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
+	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
+	if [ -f ${RC_THERMAL_CAL} ]
+	then
+		. ${RC_THERMAL_CAL}
+	fi
+	unset RC_THERMAL_CAL
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -500,7 +505,12 @@ else
 	#
 	# Start the logger.
 	#
-	. ${R}etc/init.d/rc.logging
+	set RC_LOGGING ${R}etc/init.d/rc.logging
+	if [ -f ${RC_LOGGING} ]
+	then
+		. ${RC_LOGGING}
+	fi
+	unset RC_LOGGING
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.

Tools/astyle/files_to_check_code_style.sh

@@ -30,4 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
+    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/msg/templates/uorb/msg.cpp.em

@@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
+@{
+queue_length = 1
+for constant in spec.constants:
+	if constant.name == 'ORB_QUEUE_LENGTH':
+		queue_length = constant.val
+}@
+
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 33ac87a37676fb597de110e926bbf0a080169ffe
+Subproject commit da7206e057703cc645770f02437013358b71e1c0

Tools/simulation/gz

@@ -1 +1 @@
-Subproject commit c78f7f01417168e8faab7a83ade2129c0d26b39d
+Subproject commit 6b4ed09d1b495fbff663f098979cc046df013abd

boards/ark/can-flow/firmware.prototype

@@ -4,7 +4,7 @@
     "description": "Firmware for the ARK flow board",
     "image": "",
     "build_time": 0,
-    "summary": "ARFFLOW",
+    "summary": "ARKFLOW",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2080768,

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

@@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	param set-default SENS_TEMP_ID 2818058
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+if ver hwtypecmp ARKV6X001
 then
 	param set-default SENS_TEMP_ID 3014666
 fi

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

@@ -5,7 +5,7 @@
 set HAVE_PM2 yes
 set HAVE_PM3 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
 	set HAVE_PM3 no
@@ -66,7 +66,7 @@ then
 	fi
 fi
 
-if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+if ver hwtypecmp ARKV6X000
 then
 	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
 	iim42652 -R 3 -s -b 1 -C 32051 start
@@ -78,7 +78,7 @@ then
 	icm42688p -R 6 -s -b 3 -C 32051 start
 fi
 
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+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

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

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 
@@ -380,7 +380,7 @@
 #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  */
+#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/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -295,14 +295,14 @@ CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
-# CONFIG_UART5_TXDMA=y
+CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
 CONFIG_UART7_OFLOWCONTROL=y
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
-# CONFIG_UART7_TXDMA=y
+CONFIG_UART7_TXDMA=y
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
@@ -319,7 +319,7 @@ CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
-# CONFIG_USART3_TXDMA=y
+CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500

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
@@ -204,25 +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 8 // Rev 0 and Rev 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // 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,   Sensor Set  Rev 0
-#define ARKV6X11   HW_VER_REV(0x1,0x1) // NO PX4IO,   Sensor Set  Rev 1
-#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
+#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 

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

@@ -1,216 +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)}, // ARKV6X,     Sensor Set  Rev 0
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 1
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 0
-	{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 1
-	{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
-	{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
-	{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
-};
-
-/************************************************************************************
- * 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
@@ -86,10 +89,16 @@ 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}),
@@ -59,145 +59,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(ARKV6X01, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			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_IIM42653, 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(ARKV6X10, {
-		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}),
-		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_ICM42688P, 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(ARKV6X11, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			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_IIM42653, 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(ARKV6X40, {
-		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}),
-		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_ICM42688P, 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(ARKV6X41, {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			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_IIM42653, 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(ARKV6X50, {
-		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}),
-		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_ICM42688P, 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(ARKV6X51, {
+	initSPIFmumID(ARKV6X_1, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),

boards/ark/septentrio-gps/canbootloader.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y

boards/ark/septentrio-gps/default.px4board

@@ -0,0 +1,38 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/septentrio-gps/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 84,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK Septentrio GPS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKSEPTENTRIOGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+param set-default CANNODE_SUB_MBD 1
+param set-default CANNODE_SUB_RTCM 1
+param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
+
+safety_button start
+tone_alarm start
+
+ekf2 start

boards/ark/septentrio-gps/init/rc.board_sensors

@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+gps start -d /dev/ttyS0 -p sbf
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 1 start
+
+bmm150 -I -b 1 start

boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig

@@ -0,0 +1,57 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/septentrio-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000

boards/ark/septentrio-gps/nuttx-config/include/board.h

@@ -0,0 +1,152 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#endif /* __ARCH_BOARD_BOARD_H */

boards/ark/septentrio-gps/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3
+#define DMACHAN_USART1_RX  DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1
+//#define DMACHAN_USART1_TX  DMAMAP_USART1_TX   // DMA2, Stream 7, Channel 4

boards/ark/septentrio-gps/nuttx-config/nsh/defconfig

@@ -0,0 +1,153 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/septentrio-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_VARS=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=2000
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=2000
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000

boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld

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

boards/ark/septentrio-gps/nuttx-config/scripts/script.ld

@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/ark/septentrio-gps/src/CMakeLists.txt

@@ -0,0 +1,67 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()

boards/ark/septentrio-gps/src/board_config.h

@@ -0,0 +1,125 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* BUTTON */
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
+
+/* Safety LED */
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+
+/* Tone alarm output. */
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_USART1_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/ark/septentrio-gps/src/boot.c

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

boards/ark/septentrio-gps/src/boot_config.h

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    3000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

boards/ark/septentrio-gps/src/can.c

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

boards/ark/septentrio-gps/src/i2c.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusInternal(2),
+};

boards/ark/septentrio-gps/src/init.c

@@ -0,0 +1,168 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+
+	// Check if button is held. If so go into gps passthrough mode
+	if (stm32_gpioread(GPIO_BTN_SAFETY)) {
+		rgb_led(128, 128, 128, 10);
+		stm32_configgpio(GPIO_USART1_TX_GPIO);
+		stm32_configgpio(GPIO_USART1_RX_GPIO);
+		stm32_configgpio(GPIO_USART2_TX_GPIO);
+		stm32_configgpio(GPIO_USART2_RX_GPIO);
+
+		while (1) {
+			watchdog_pet();
+			stm32_gpiowrite(GPIO_USART2_TX_GPIO, stm32_gpioread(GPIO_USART1_RX_GPIO));
+			stm32_gpiowrite(GPIO_USART1_TX_GPIO, stm32_gpioread(GPIO_USART2_RX_GPIO));
+		}
+	}
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+	//px4_platform_configure();
+
+	return OK;
+}

boards/ark/septentrio-gps/src/led.c

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

boards/ark/septentrio-gps/src/led.h

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

boards/ark/septentrio-gps/src/spi.cpp

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/ark/septentrio-gps/uavcan_board_identity

@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
+set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 84)
+set(uavcanblid_name "\"org.ark.septentrio-gps\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)

boards/atl/mantis-edu/src/board_config.h

@@ -64,9 +64,6 @@
 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS
 
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
 /*
  * ADC channels
  *

boards/cuav/nora/nuttx-config/include/board.h

@@ -192,7 +192,7 @@
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

boards/cuav/x7pro/nuttx-config/include/board.h

@@ -192,7 +192,7 @@
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

boards/cubepilot/cubeorange/nuttx-config/include/board.h

@@ -192,7 +192,7 @@
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h

@@ -193,7 +193,7 @@
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

boards/holybro/durandal-v1/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 

boards/holybro/kakuteh7/nuttx-config/include/board.h

@@ -245,7 +245,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 

boards/holybro/kakuteh7mini/nuttx-config/include/board.h

@@ -245,7 +245,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 

boards/holybro/kakuteh7v2/nuttx-config/include/board.h

@@ -245,7 +245,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 

boards/matek/h743-mini/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 clock source */
 

boards/matek/h743-slim/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 clock source */
 

boards/matek/h743/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 clock source */
 

boards/modalai/fc-v1/default.px4board

@@ -5,7 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y

boards/modalai/fc-v1/init/rc.board_sensors

@@ -3,9 +3,9 @@
 # ModalAI FC-v1 specific board sensors init
 #------------------------------------------------------------------------------
 
-if param greater MODAL_IO_CONFIG 0
+if param greater VOXL_ESC_CONFIG 0
 then
-	modal_io start
+	voxl_esc start
 fi
 
 board_adc start

boards/modalai/fc-v1/src/board_config.h

@@ -264,7 +264,7 @@
 #define BOARD_NUM_IO_TIMERS 5
 
 // J4 / TELEM3 / UART2
-#define MODAL_IO_DEFAULT_PORT                      "/dev/ttyS1"
+#define VOXL_ESC_DEFAULT_PORT                      "/dev/ttyS1"
 
 __BEGIN_DECLS
 

boards/modalai/fc-v2/default.px4board

@@ -3,7 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -26,10 +26,8 @@ CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -48,6 +46,7 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -61,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/fc-v2/init/rc.board_sensors

@@ -3,9 +3,9 @@
 # ModalAI FC-v2 specific board sensors init
 #------------------------------------------------------------------------------
 
-if param greater MODAL_IO_CONFIG 0
+if param greater VOXL_ESC_CONFIG 0
 then
-	modal_io start
+	voxl_esc start
 fi
 
 board_adc start

boards/modalai/fc-v2/nuttx-config/include/board.h

@@ -248,7 +248,7 @@
 
 /* ADC 1 2 3 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
 
 /* FDCAN 1 2 clock source */
 

boards/modalai/fc-v2/src/board_config.h

@@ -351,7 +351,7 @@
 #define BOARD_NUM_IO_TIMERS 5
 
 // J5 USART5 TELEM2 Port next to PWM connector
-#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS4"
+#define VOXL_ESC_DEFAULT_PORT                     "/dev/ttyS4"
 
 __BEGIN_DECLS
 

boards/modalai/voxl2-io/default.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m3"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_MODULES_PX4IOFIRMWARE=y

boards/modalai/voxl2-io/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 41777,
+    "magic": "PX4FWv2",
+    "description": "Firmware for the voxl2-io board",
+    "image": "",
+    "build_time": 0,
+    "summary": "voxl2io",
+    "version": "2.0",
+    "image_size": 0,
+    "image_maxsize": 61440,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/modalai/voxl2-io/nuttx-config/include/board.h

@@ -0,0 +1,141 @@
+/************************************************************************************
+ * nuttx-configs/px4io/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+/* Use the HSE output as the system clock */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_HSE
+#define STM32_SYSCLK_FREQUENCY  STM32_BOARD_XTAL
+
+/* AHB clock (HCLK) is SYSCLK (24MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLK
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* All timers run off PCLK */
+
+
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (STM32_PCLK1_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1, 15-17 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+#define BOARD_TIM15_FREQUENCY   STM32_APB2_TIM15_CLKIN
+#define BOARD_TIM16_FREQUENCY   STM32_APB2_TIM16_CLKIN
+#define BOARD_TIM17_FREQUENCY   STM32_APB2_TIM17_CLKIN
+
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+
+#endif  /* __ARCH_BOARD_BOARD_H */

boards/modalai/voxl2-io/nuttx-config/nsh/defconfig

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_NULL is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/modalai/voxl2-io/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F100C8=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_INIT_ENTRYPOINT="user_start"
+CONFIG_INIT_STACKSIZE=1100
+CONFIG_MM_FILL_ALLOCATIONS=y
+CONFIG_MM_SMALL=y
+CONFIG_NAME_MAX=12
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_RAM_SIZE=8192
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=64
+CONFIG_USEC_PER_TICK=1000

boards/modalai/voxl2-io/nuttx-config/scripts/script.ld

@@ -0,0 +1,131 @@
+/****************************************************************************
+ * configs/px4io-v2/scripts/ld.script
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
+ * 8Kb of SRAM beginning at address 0x2000:0000.  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ */
+
+MEMORY
+{
+    flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
+    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+		. = ALIGN(4);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/modalai/voxl2-io/src/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	init.c
+	timer_config.cpp
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_arch
+)

boards/modalai/voxl2-io/src/board_config.h

@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4IOV2 internal definitions
+ */
+
+#pragma once
+
+/******************************************************************************
+ * Included Files
+ ******************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/******************************************************************************
+ * Definitions
+ ******************************************************************************/
+/* Configuration **************************************************************/
+
+/******************************************************************************
+ * Serial
+ ******************************************************************************/
+#define PX4FMU_SERIAL_BASE	STM32_USART2_BASE
+#define PX4FMU_SERIAL_VECTOR	STM32_IRQ_USART2
+#define PX4FMU_SERIAL_TX_GPIO	GPIO_USART2_TX
+#define PX4FMU_SERIAL_RX_GPIO	GPIO_USART2_RX
+#define PX4FMU_SERIAL_TX_DMA	DMACHAN_USART2_TX
+#define PX4FMU_SERIAL_RX_DMA	DMACHAN_USART2_RX
+#define PX4FMU_SERIAL_CLOCK	STM32_PCLK1_FREQUENCY
+#define PX4FMU_SERIAL_BITRATE	921600
+
+/******************************************************************************
+ * GPIOS
+ ******************************************************************************/
+
+/* LEDS  **********************************************************************/
+
+#define GPIO_LED_BLUE (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_LED_AMBER (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
+
+#define LED_BLUE(on_true)   stm32_gpiowrite(GPIO_LED_BLUE, !(on_true))
+#define LED_AMBER(on_true)  stm32_gpiowrite(GPIO_LED_AMBER, !(on_true))
+#define LED_SAFETY(on_true) stm32_gpiowrite(GPIO_LED_SAFETY, !(on_true))
+
+//#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
+
+//#define GPIO_HEATER_OFF 0 // (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+
+#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+
+#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+# define SENSE_PH1 0b10 /* Floating pulled as set */
+# define SENSE_PH2 0b01 /* Driven as tied */
+
+#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+
+/* Safety switch button *******************************************************/
+
+/* CONNECTED TO TP8 - pulled down via SW */
+
+#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
+
+/* Power switch controls ******************************************************/
+
+#define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
+
+#define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
+#define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
+
+#define GPIO_SERVO_FAULT_DETECT 0 // (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
+
+/* Analog inputs **************************************************************/
+
+/* PWM pins  **************************************************************/
+
+#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+
+#define DIRECT_PWM_OUTPUT_CHANNELS 8
+#define BOARD_HAS_NO_CAPTURE
+
+/* SBUS pins  *************************************************************/
+
+/* XXX these should be UART pins */
+#define GPIO_SBUS_INPUT   (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_SBUS_OUTPUT  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_SBUS_OENABLE 0 // (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
+
+/*
+ * High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 PA8 */
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
+
+/* LED definitions ******************************************************************/
+/* PX4 has two LEDs that we will encode as: */
+
+#define LED_STARTED       0  /* LED? */
+#define LED_HEAPALLOCATE  1  /* LED? */
+#define LED_IRQSENABLED   2  /* LED? + LED? */
+#define LED_STACKCREATED  3  /* LED? */
+#define LED_INIRQ         4  /* LED? + LED? */
+#define LED_SIGNAL        5  /* LED? + LED? */
+#define LED_ASSERTION     6  /* LED? + LED? + LED? */
+#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
+
+#define BOARD_NUM_IO_TIMERS 3
+
+#include <px4_platform_common/board_common.h>

boards/modalai/voxl2-io/src/init.c

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * stm32_boardinitialize() function that is called during cpu startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure GPIOs */
+
+	/* Set up for sensing HW */
+	stm32_configgpio(GPIO_SENSE_PC14_DN);
+	stm32_configgpio(GPIO_SENSE_PC15_UP);
+
+	/* LEDS - default to off */
+	stm32_configgpio(GPIO_LED_BLUE);
+	stm32_configgpio(GPIO_LED_AMBER);
+	stm32_configgpio(GPIO_LED_SAFETY);
+
+	stm32_configgpio(GPIO_PC14);
+	stm32_configgpio(GPIO_PC15);
+
+
+	stm32_configgpio(GPIO_BTN_SAFETY);
+
+	/* spektrum power enable is active high - enable it by default */
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+
+	stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
+	stm32_configgpio(GPIO_SBUS_OUTPUT);
+
+	stm32_gpiowrite(GPIO_PWM1, true);
+	stm32_configgpio(GPIO_PWM1);
+
+	stm32_gpiowrite(GPIO_PWM2, true);
+	stm32_configgpio(GPIO_PWM2);
+
+	stm32_gpiowrite(GPIO_PWM3, true);
+	stm32_configgpio(GPIO_PWM3);
+
+	stm32_gpiowrite(GPIO_PWM4, true);
+	stm32_configgpio(GPIO_PWM4);
+
+	stm32_gpiowrite(GPIO_PWM5, true);
+	stm32_configgpio(GPIO_PWM5);
+
+	stm32_gpiowrite(GPIO_PWM6, true);
+	stm32_configgpio(GPIO_PWM6);
+
+	stm32_gpiowrite(GPIO_PWM7, true);
+	stm32_configgpio(GPIO_PWM7);
+
+	stm32_gpiowrite(GPIO_PWM8, true);
+	stm32_configgpio(GPIO_PWM8);
+}

boards/modalai/voxl2-io/src/timer_config.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortA, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/modalai/voxl2-slpi/default.px4board

@@ -1,18 +1,23 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -22,5 +27,8 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_ORB_COMMUNICATOR=y
+CONFIG_PARAM_REMOTE=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -44,7 +44,10 @@ add_library(drivers_board
     )
 
 # Add custom drivers for SLPI
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -62,4 +62,21 @@
 /*
  *  Default port for the ESC
  */
-#define MODAL_IO_DEFAULT_PORT 	"2"
+#define VOXL_ESC_DEFAULT_PORT 	"2"
+
+/*
+ *  Default port for the GHST RC
+ */
+#define GHST_RC_DEFAULT_PORT 	"7"
+
+/*
+ * Default port for M0065
+*/
+#define VOXL2_IO_DEFAULT_PORT 	"2"
+
+
+/*
+ * M0065 PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS 4
+#define MAX_IO_TIMERS 3

boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/CMakeLists.txt

@@ -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.
+#
+############################################################################
+
+message(STATUS "Mavlink include directory: ${PX4_SOURCE_DIR}/../build/modalai_voxl2_default/mavlink/common")
+
+px4_add_module(
+	MODULE drivers__modalai__dsp_hitl
+	MAIN dsp_hitl
+	INCLUDES
+		${PX4_SOURCE_DIR}/src/drivers/dsp_hitl
+		${PX4_SOURCE_DIR}/build/modalai_voxl2_default/mavlink/common
+	SRCS
+		dsp_hitl.cpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers_magnetometer
+	)

boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__dsp_sbus
+	MAIN dsp_sbus
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		dsp_sbus.cpp
+	)

boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/dsp_sbus.cpp

@@ -0,0 +1,383 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2020 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.
+ *
+ ****************************************************************************/
+
+
+#include <string>
+#include <px4_log.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <uORB/PublicationMulti.hpp>
+#include <drivers/device/qurt/uart.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/input_rc.h>
+#include <lib/parameters/param.h>
+
+#include "protocol.h"
+
+#define ASYNC_UART_READ_WAIT_US 2000
+
+
+extern "C" { __EXPORT int dsp_sbus_main(int argc, char *argv[]); }
+
+namespace dsp_sbus
+{
+
+std::string _port = "7";
+int _uart_fd = -1;
+IOPacket _packet;
+bool _initialized = false;
+bool _is_running = false;
+uint64_t _rc_last_valid;		///< last valid timestamp
+uint16_t _rc_valid_update_count = 0;
+
+static px4_task_t _task_handle = -1;
+
+uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
+
+int bus_exchange(IOPacket *packet)
+{
+	int ret = 0;
+	int read_retries = 3;
+	int read_succeeded = 0;
+	int packet_size = sizeof(IOPacket);
+
+	(void) qurt_uart_write(_uart_fd, (const char *) packet, packet_size);
+
+	usleep(100);
+
+	// The UART read on SLPI is via an asynchronous service so specify a timeout
+	// for the return. The driver will poll periodically until the read comes in
+	// so this may block for a while. However, it will timeout if no read comes in.
+	while (read_retries) {
+		ret = qurt_uart_read(_uart_fd, (char *) packet, packet_size, ASYNC_UART_READ_WAIT_US);
+
+		if (ret) {
+			// PX4_INFO("Read %d bytes", ret);
+
+			/* Check CRC */
+			uint8_t crc = packet->crc;
+			packet->crc = 0;
+
+			if (crc != crc_packet(packet)) {
+				PX4_ERR("PX4IO packet CRC error");
+				return -EIO;
+
+			} else if (PKT_CODE(*packet) == PKT_CODE_CORRUPT) {
+				PX4_ERR("PX4IO packet corruption");
+				return -EIO;
+
+			} else {
+				read_succeeded = 1;
+				break;
+			}
+		}
+
+		PX4_ERR("Read attempt %d failed", read_retries);
+		read_retries--;
+	}
+
+
+	if (! read_succeeded) {
+		return -EIO;
+	}
+
+	return 0;
+}
+
+int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
+{
+	/* range check the transfer */
+	// if (num_values > ((_max_transfer) / sizeof(*values))) {
+	// 	PX4_ERR("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
+	// 	return -1;
+	// }
+
+	// int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
+	int ret = 0;
+
+	_packet.count_code = num_values | PKT_CODE_READ;
+	_packet.page = page;
+	_packet.offset = offset;
+
+	_packet.crc = 0;
+	_packet.crc = crc_packet(&_packet);
+
+	ret = bus_exchange(&_packet);
+
+	if (ret != 0) {
+		// PX4_ERR("px4io io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret);
+		return -1;
+	}
+
+	memcpy(values, &_packet.regs[0], num_values * 2);
+
+	return OK;
+}
+
+uint32_t io_reg_get(uint8_t page, uint8_t offset)
+{
+	uint16_t value;
+
+	if (io_reg_get(page, offset, &value, 1) != OK) {
+		// Registers are only 16 bit so any value over 0xFFFF can signal a fault
+		return 0xFFFFFFFF;
+	}
+
+	return value;
+}
+
+int initialize()
+{
+	if (_initialized) {
+		// Already successfully initialized
+		return 0;
+	}
+
+	if (_uart_fd < 0) {
+		_uart_fd = qurt_uart_open(_port.c_str(), 921600);
+	}
+
+	if (_uart_fd < 0) {
+		PX4_ERR("Open failed in %s", __FUNCTION__);
+		return -1;
+	}
+
+	// Verify connectivity and version number
+	unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
+
+	if (protocol != PX4IO_PROTOCOL_VERSION) {
+		PX4_ERR("dsp_sbus version error: %u", protocol);
+		_uart_fd = -1;
+		return -1;
+	}
+
+	_initialized = true;
+
+	return 0;
+}
+
+void dsp_sbus_task()
+{
+
+	uint16_t status_regs[2] {};
+	input_rc_s	rc_val;
+	const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
+	uint16_t rc_regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
+	uint32_t channel_count = 0;
+
+	_is_running = true;
+
+	while (true) {
+
+		usleep(20000); // Update every 20ms
+
+		memset(&rc_val, 0, sizeof(input_rc_s));
+
+		if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status_regs[0],
+			       sizeof(status_regs) / sizeof(status_regs[0])) == OK) {
+			// PX4_INFO("dsp_sbus status 0x%.4x", status_regs[0]);
+			// PX4_INFO("dsp_sbus alarms 0x%.4x", status_regs[1]);
+		} else {
+			// PX4_ERR("Failed to read status / alarm registers");
+			continue;
+		}
+
+		/* fetch values from IO */
+
+		// When starting the RC flag will not be okay if the receiver isn't
+		// getting a signal from the transmitter. Once it does, then this flag
+		// will say okay even if later the signal is lost.
+		if (!(status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+			// PX4_INFO("RC lost status flag set");
+			rc_val.rc_lost = true;
+
+		} else {
+			// PX4_INFO("RC lost status flag is not set");
+			rc_val.rc_lost = false;
+		}
+
+		if (status_regs[0] & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+			rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
+			// PX4_INFO("Got valid SBUS");
+
+		} else {
+			rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
+			// PX4_INFO("SBUS not valid");
+		}
+
+		rc_val.timestamp = hrt_absolute_time();
+
+		// No point in reading the registers if we haven't acquired a transmitter signal yet
+		if (! rc_val.rc_lost) {
+			if (io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &rc_regs[0],
+				       sizeof(rc_regs) / sizeof(rc_regs[0])) != OK) {
+				// PX4_ERR("Failed to read RC registers");
+				continue;
+				// } else {
+				// 	PX4_INFO("Successfully read RC registers");
+				// 	PX4_INFO("Prolog: %u 0x%.4x 0x%.4x 0x%.4x 0x%.4x 0x%.4x",
+				// 			 rc_regs[0], rc_regs[1], rc_regs[2], rc_regs[3], rc_regs[4], rc_regs[5]);
+			}
+
+			channel_count = rc_regs[PX4IO_P_RAW_RC_COUNT];
+
+			// const uint16_t rc_valid_update_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT];
+			// const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count);
+			//
+			// if (!rc_updated) {
+			// 	PX4_INFO("Didn't get an RC update indication. %u %u", rc_valid_update_count, _rc_valid_update_count);
+			// 	continue;
+			// }
+			//
+			// _rc_valid_update_count = rc_valid_update_count;
+			//
+			// PX4_INFO("Got an RC update indication");
+
+			/* limit the channel count */
+			if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+				// PX4_INFO("Got %u for channel count. Limiting to 18", channel_count);
+				channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
+			}
+
+			rc_val.channel_count = channel_count;
+			// PX4_INFO("RC channel count: %u", rc_val.channel_count);
+
+			// rc_val.rc_ppm_frame_length = rc_regs[PX4IO_P_RAW_RC_DATA];
+			rc_val.rc_ppm_frame_length = 0;
+
+			rc_val.rc_failsafe = (rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+			// rc_val.rc_lost = !(rc_regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
+			rc_val.rc_lost = rc_val.rc_failsafe;
+			rc_val.rc_lost_frame_count = rc_regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
+			rc_val.rc_total_frame_count = rc_regs[PX4IO_P_RAW_FRAME_COUNT];
+
+			if (!rc_val.rc_lost && !rc_val.rc_failsafe) {
+				_rc_last_valid = rc_val.timestamp;
+				rc_val.rssi = rc_regs[PX4IO_P_RAW_RC_NRSSI];
+				rc_val.link_quality = rc_regs[PX4IO_P_RAW_RC_NRSSI];
+
+				/* last thing set are the actual channel values as 16 bit values */
+				for (unsigned i = 0; i < channel_count; i++) {
+					rc_val.values[i] = rc_regs[prolog + i];
+					// PX4_INFO("RC channel %u: %.4u", i, rc_val.values[i]);
+				}
+
+				/* zero the remaining fields */
+				for (unsigned i = channel_count; i < (sizeof(rc_val.values) / sizeof(rc_val.values[0])); i++) {
+					rc_val.values[i] = 0;
+				}
+			}
+
+			rc_val.timestamp_last_signal = _rc_last_valid;
+		}
+
+		_rc_pub.publish(rc_val);
+
+	}
+}
+
+int start(int argc, char *argv[])
+{
+
+	int ch;
+	int myoptind = 1;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "p:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'p':
+			_port = myoptarg;
+			PX4_INFO("Setting port to %s", _port.c_str());
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	if (! _initialized) {
+		if (initialize()) {
+			return -1;
+		}
+	}
+
+	if (_is_running) {
+		PX4_WARN("Already started");
+		return 0;
+	}
+
+	_task_handle = px4_task_spawn_cmd("dsp_sbus_main",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2000,
+					  (px4_main_t) &dsp_sbus_task,
+					  (char *const *)argv);
+
+	if (_task_handle < 0) {
+		PX4_ERR("task start failed");
+		return -1;
+	}
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: dsp_sbus start [options]");
+	PX4_INFO("Options: -p <number>    uart port number");
+}
+
+} // End namespance dsp_sbus
+
+int dsp_sbus_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		dsp_sbus::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
+
+	if (!strcmp(verb, "start")) {
+		return dsp_sbus::start(argc - 1, argv + 1);
+
+	} else {
+		dsp_sbus::usage();
+		return -1;
+	}
+
+	return 0;
+}

boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/protocol.h

@@ -0,0 +1,405 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <inttypes.h>
+
+/**
+ * @file protocol.h
+ *
+ * PX4IO interface protocol.
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ *
+ * Communication is performed via writes to and reads from 16-bit virtual
+ * registers organised into pages of 255 registers each.
+ *
+ * The first two bytes of each write select a page and offset address
+ * respectively. Subsequent reads and writes increment the offset within
+ * the page.
+ *
+ * Some pages are read- or write-only.
+ *
+ * Note that some pages may permit offset values greater than 255, which
+ * can only be achieved by long writes. The offset does not wrap.
+ *
+ * Writes to unimplemented registers are ignored. Reads from unimplemented
+ * registers return undefined values.
+ *
+ * As convention, values that would be floating point in other parts of
+ * the PX4 system are expressed as signed integer values scaled by 10000,
+ * e.g. control values range from -10000..10000.  Use the REG_TO_SIGNED and
+ * SIGNED_TO_REG macros to convert between register representation and
+ * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
+ *
+ * Note that the implementation of readable pages prefers registers within
+ * readable pages to be densely packed. Page numbers do not need to be
+ * packed.
+ *
+ * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
+ * [2] denotes definitions specific to the PX4IOv2 board.
+ */
+
+/* Per C, this is safe for all 2's complement systems */
+#define REG_TO_SIGNED(_reg)	((int16_t)(_reg))
+#define SIGNED_TO_REG(_signed)	((uint16_t)(_signed))
+
+#define REG_TO_FLOAT(_reg)	((float)REG_TO_SIGNED(_reg) / 10000.0f)
+#define FLOAT_TO_REG(_float)	SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f))
+
+#define REG_TO_BOOL(_reg) 	((bool)(_reg))
+
+#define PX4IO_PROTOCOL_VERSION		4
+
+/* maximum allowable sizes on this protocol version */
+#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT	8	/**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
+
+/* static configuration page */
+#define PX4IO_PAGE_CONFIG					0
+#define PX4IO_P_CONFIG_PROTOCOL_VERSION		0	/* PX4IO_PROTOCOL_VERSION */
+#define PX4IO_P_CONFIG_HARDWARE_VERSION		1	/* magic numbers TBD */
+#define PX4IO_P_CONFIG_BOOTLOADER_VERSION	2	/* get this how? */
+#define PX4IO_P_CONFIG_MAX_TRANSFER			3	/* maximum I2C transfer size */
+#define PX4IO_P_CONFIG_CONTROL_COUNT		4	/* hardcoded max control count supported */
+#define PX4IO_P_CONFIG_ACTUATOR_COUNT		5	/* hardcoded max actuator output count */
+#define PX4IO_P_CONFIG_RC_INPUT_COUNT		6	/* hardcoded max R/C input count supported */
+#define PX4IO_P_CONFIG_ADC_INPUT_COUNT		7	/* hardcoded max ADC inputs */
+#define PX4IO_P_CONFIG_RELAY_COUNT			8	/* hardcoded # of relay outputs */
+#define PX4IO_MAX_TRANSFER_LEN				64
+
+/* dynamic status page */
+#define PX4IO_PAGE_STATUS		1
+#define PX4IO_P_STATUS_FREEMEM			0
+#define PX4IO_P_STATUS_CPULOAD			1
+
+#define PX4IO_P_STATUS_FLAGS			2	 /* monitoring flags */
+#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED	(1 << 0) /* arm-ok and locally armed */
+#define PX4IO_P_STATUS_FLAGS_OVERRIDE		(1 << 1) /* in manual override */
+#define PX4IO_P_STATUS_FLAGS_RC_OK		(1 << 2) /* RC input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_PPM		(1 << 3) /* PPM input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_DSM		(1 << 4) /* DSM input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_SBUS		(1 << 5) /* SBUS input is valid */
+#define PX4IO_P_STATUS_FLAGS_FMU_OK		(1 << 6) /* controls from FMU are valid */
+#define PX4IO_P_STATUS_FLAGS_RAW_PWM		(1 << 7) /* raw PWM from FMU is bypassing the mixer */
+#define PX4IO_P_STATUS_FLAGS_MIXER_OK		(1 << 8) /* mixer is OK */
+#define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 9) /* the arming state between IO and FMU is in sync */
+#define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 10) /* initialisation of the IO completed without error */
+#define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 11) /* failsafe is active */
+#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF		(1 << 12) /* safety is off */
+#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 13) /* FMU was initialized and OK once */
+#define PX4IO_P_STATUS_FLAGS_RC_ST24		(1 << 14) /* ST24 input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_SUMD		(1 << 15) /* SUMD input is valid */
+
+#define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
+#define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* [1] VBatt is very close to regulator dropout */
+#define PX4IO_P_STATUS_ALARMS_TEMPERATURE	(1 << 1) /* board temperature is high */
+#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT	(1 << 2) /* [1] servo current limit was exceeded */
+#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT	(1 << 3) /* [1] accessory current limit was exceeded */
+#define PX4IO_P_STATUS_ALARMS_FMU_LOST		(1 << 4) /* timed out waiting for controls from FMU */
+#define PX4IO_P_STATUS_ALARMS_RC_LOST		(1 << 5) /* timed out waiting for RC input */
+#define PX4IO_P_STATUS_ALARMS_PWM_ERROR		(1 << 6) /* PWM configuration or output was bad */
+#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT	(1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
+
+#define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
+#define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
+#define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
+
+#define PX4IO_P_STATUS_MIXER			9	 /* mixer actuator limit flags */
+
+/* array of post-mix actuator outputs, -10000..10000 */
+#define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* array of PWM servo output values, microseconds */
+#define PX4IO_PAGE_SERVOS		3		/* 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* array of raw RC input values, microseconds */
+#define PX4IO_PAGE_RAW_RC_INPUT		4
+#define PX4IO_P_RAW_RC_COUNT			0	/* number of valid channels */
+#define PX4IO_P_RAW_RC_FLAGS			1	/* RC detail status flags */
+#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP		(1 << 0) /* single frame drop */
+#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE		(1 << 1) /* receiver is in failsafe mode */
+#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11		(1 << 2) /* DSM decoding is 11 bit mode */
+#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK		(1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK		(1 << 4) /* RC reception ok */
+
+#define PX4IO_P_RAW_RC_NRSSI			2	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
+#define PX4IO_P_RAW_RC_DATA			3	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
+#define PX4IO_P_RAW_FRAME_COUNT			4	/* Number of total received frames (wrapping counter) */
+#define PX4IO_P_RAW_LOST_FRAME_COUNT		5	/* Number of total dropped frames (wrapping counter) */
+#define PX4IO_P_RAW_RC_BASE			6	/* CONFIG_RC_INPUT_COUNT channels from here */
+
+/* array of scaled RC input values, -10000..10000 */
+#define PX4IO_PAGE_RC_INPUT		5
+#define PX4IO_P_RC_VALID			0	/* bitmask of valid controls */
+#define PX4IO_P_RC_BASE				1	/* CONFIG_RC_INPUT_COUNT controls from here */
+
+/* array of raw ADC values */
+#define PX4IO_PAGE_RAW_ADC_INPUT	6		/* 0..CONFIG_ADC_INPUT_COUNT-1 */
+
+/* PWM servo information */
+#define PX4IO_PAGE_PWM_INFO		7
+#define PX4IO_RATE_MAP_BASE			0	/* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
+
+/* setup page */
+#define PX4IO_PAGE_SETUP		50
+#define PX4IO_P_SETUP_FEATURES			0
+#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT	(1 << 0) /**< enable S.Bus v1 output */
+#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /**< enable S.Bus v2 output */
+#define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /**< enable PWM RSSI parsing */
+#define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /**< enable ADC RSSI parsing */
+
+#define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
+#define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
+#define PX4IO_P_SETUP_ARMING_FMU_ARMED		(1 << 1) /* FMU is already armed */
+#define PX4IO_P_SETUP_ARMING_FMU_PREARMED	(1 << 2) /* FMU is already prearmed */
+#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 3) /* OK to switch to manual override via override RC channel */
+#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM	(1 << 4) /* use custom failsafe values, not 0 values of mixer */
+#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 5) /* OK to try in-air restart */
+#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE	(1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
+#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED	(1 << 7) /* Disable the IO-internal evaluation of the RC */
+#define PX4IO_P_SETUP_ARMING_LOCKDOWN		(1 << 8) /* If set, the system operates normally, but won't actuate any servos */
+#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE	(1 << 9) /* If set, the system will always output the failsafe values */
+#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE	(1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
+#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE	(1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */
+
+#define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
+#define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
+#define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
+#define PX4IO_P_SETUP_RELAYS_PAD		5
+
+#define PX4IO_P_SETUP_VSERVO_SCALE		6	/* hardware rev [2] servo voltage correction factor (float) */
+#define PX4IO_P_SETUP_DSM			7	/* DSM bind state */
+enum {							/* DSM bind states */
+	dsm_bind_power_down = 0,
+	dsm_bind_power_up,
+	dsm_bind_set_rx_out,
+	dsm_bind_send_pulses,
+	dsm_bind_reinit_uart
+};
+/* 8 */
+#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
+
+#define PX4IO_P_SETUP_REBOOT_BL			10	/* reboot IO into bootloader */
+#define PX4IO_REBOOT_BL_MAGIC			14662	/* required argument for reboot (random) */
+
+#define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
+/* storage space of 12 occupied by CRC */
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF		12	/* force safety switch into
+                                                           'armed' (PWM enabled) state - this is a non-data write and
+                                                           hence index 12 can safely be used. */
+#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
+
+#define PX4IO_P_SETUP_FORCE_SAFETY_ON		14	/* force safety switch into 'disarmed' (PWM disabled state) */
+#define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
+
+#define PX4IO_P_SETUP_PWM_REVERSE		15	/**< Bitmask to reverse PWM channels 1-8 */
+#define PX4IO_P_SETUP_TRIM_ROLL			16	/**< Roll trim, in actuator units */
+#define PX4IO_P_SETUP_TRIM_PITCH		17	/**< Pitch trim, in actuator units */
+#define PX4IO_P_SETUP_TRIM_YAW			18	/**< Yaw trim, in actuator units */
+#define PX4IO_P_SETUP_SCALE_ROLL		19	/**< Roll scale, in actuator units */
+#define PX4IO_P_SETUP_SCALE_PITCH		20	/**< Pitch scale, in actuator units */
+#define PX4IO_P_SETUP_SCALE_YAW			21	/**< Yaw scale, in actuator units */
+
+#define PX4IO_P_SETUP_SBUS_RATE			22	/**< frame rate of SBUS1 output in Hz */
+
+#define PX4IO_P_SETUP_MOTOR_SLEW_MAX		24 	/**< max motor slew rate */
+
+#define PX4IO_P_SETUP_THR_MDL_FAC 		25	/**< factor for modelling motor control signal output to static thrust relationship */
+
+#define PX4IO_P_SETUP_THERMAL			26	/**< thermal management */
+
+#define PX4IO_P_SETUP_AIRMODE 			27 	/**< air-mode */
+
+#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION	28	/**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
+
+#define PX4IO_THERMAL_IGNORE			UINT16_MAX
+#define PX4IO_THERMAL_OFF			0
+#define PX4IO_THERMAL_FULL			10000
+
+/* autopilot control values, -10000..10000 */
+#define PX4IO_PAGE_CONTROLS			51	/**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_P_CONTROLS_GROUP_0		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_1		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_2		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_3		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+
+#define PX4IO_P_CONTROLS_GROUP_VALID		64
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /**< group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /**< group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /**< group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /**< group 3 is valid / received */
+
+/* raw text load to the mixer parser - ignores offset */
+#define PX4IO_PAGE_MIXERLOAD			52
+
+/* R/C channel config */
+#define PX4IO_PAGE_RC_CONFIG			53		/**< R/C input configuration */
+#define PX4IO_P_RC_CONFIG_MIN			0		/**< lowest input value */
+#define PX4IO_P_RC_CONFIG_CENTER		1		/**< center input value */
+#define PX4IO_P_RC_CONFIG_MAX			2		/**< highest input value */
+#define PX4IO_P_RC_CONFIG_DEADZONE		3		/**< band around center that is ignored */
+#define PX4IO_P_RC_CONFIG_ASSIGNMENT		4		/**< mapped input value */
+#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH	100		/**< magic value for mode switch */
+#define PX4IO_P_RC_CONFIG_OPTIONS		5		/**< channel options bitmask */
+#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED	(1 << 0)
+#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE	(1 << 1)
+#define PX4IO_P_RC_CONFIG_STRIDE		6		/**< spacing between channel config data */
+
+/* PWM output - overrides mixer */
+#define PX4IO_PAGE_DIRECT_PWM			54		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* PWM failsafe values - zero disables the output */
+#define PX4IO_PAGE_FAILSAFE_PWM			55		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* PWM failsafe values - zero disables the output */
+#define PX4IO_PAGE_SENSORS			56		/**< Sensors connected to PX4IO */
+#define PX4IO_P_SENSORS_ALTITUDE		0		/**< Altitude of an external sensor (HoTT or S.BUS2) */
+
+/* Debug and test page - not used in normal operation */
+#define PX4IO_PAGE_TEST				127
+#define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */
+
+/* PWM minimum values for certain ESCs */
+#define PX4IO_PAGE_CONTROL_MIN_PWM		106		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* PWM maximum values for certain ESCs */
+#define PX4IO_PAGE_CONTROL_MAX_PWM		107		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* PWM mtrim values for central position */
+#define PX4IO_PAGE_CONTROL_TRIM_PWM		108		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/* PWM disarmed values that are active, even when SAFETY_SAFE */
+#define PX4IO_PAGE_DISARMED_PWM		109			/* 0..CONFIG_ACTUATOR_COUNT-1 */
+
+/**
+ * As-needed mixer data upload.
+ *
+ * This message adds text to the mixer text buffer; the text
+ * buffer is drained as the definitions are consumed.
+ */
+#pragma pack(push, 1)
+struct px4io_mixdata {
+	uint16_t	f2i_mixer_magic;
+#define F2I_MIXER_MAGIC		0x6d74
+
+	uint8_t		action;
+#define F2I_MIXER_ACTION_RESET			0
+#define F2I_MIXER_ACTION_APPEND			1
+
+	char		text[0];	/* actual text size may vary */
+};
+#pragma pack(pop)
+
+/**
+ * Serial protocol encapsulation.
+ */
+
+#define PKT_MAX_REGS	32 // by agreement w/FMU
+
+#pragma pack(push, 1)
+struct IOPacket {
+	uint8_t 	count_code;
+	uint8_t 	crc;
+	uint8_t 	page;
+	uint8_t 	offset;
+	uint16_t	regs[PKT_MAX_REGS];
+};
+#pragma pack(pop)
+
+#if (PX4IO_MAX_TRANSFER_LEN > PKT_MAX_REGS * 2)
+#error The max transfer length of the IO protocol must not be larger than the IO packet size
+#endif
+
+#define PKT_CODE_READ		0x00	/* FMU->IO read transaction */
+#define PKT_CODE_WRITE		0x40	/* FMU->IO write transaction */
+#define PKT_CODE_SUCCESS	0x00	/* IO->FMU success reply */
+#define PKT_CODE_CORRUPT	0x40	/* IO->FMU bad packet reply */
+#define PKT_CODE_ERROR		0x80	/* IO->FMU register op error reply */
+
+#define PKT_CODE_MASK		0xc0
+#define PKT_COUNT_MASK		0x3f
+
+#define PKT_COUNT(_p)	((_p).count_code & PKT_COUNT_MASK)
+#define PKT_CODE(_p)	((_p).count_code & PKT_CODE_MASK)
+#define PKT_SIZE(_p)	((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
+
+static const uint8_t crc8_tab[256] __attribute__((unused)) = {
+	0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
+	0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
+	0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
+	0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
+	0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
+	0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
+	0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
+	0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
+	0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
+	0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
+	0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
+	0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
+	0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
+	0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
+	0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
+	0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
+	0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
+	0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
+	0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
+	0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
+	0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
+	0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
+	0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
+	0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
+	0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
+	0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
+	0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
+	0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
+	0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
+	0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
+	0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
+	0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3
+};
+
+static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused));
+static uint8_t
+crc_packet(struct IOPacket *pkt)
+{
+	uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]);
+	uint8_t *p = (uint8_t *)pkt;
+	uint8_t c = 0;
+
+	while (p < end) {
+		c = crc8_tab[c ^ * (p++)];
+	}
+
+	return c;
+}

boards/modalai/voxl2-slpi/src/drivers/elrs_led/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2023 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__elrs_led
+	MAIN elrs_led
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		elrs_led.cpp
+	)

boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp

@@ -0,0 +1,317 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+#include <string>
+#include <px4_log.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <uORB/Subscription.hpp>
+#include <drivers/device/qurt/uart.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <lib/parameters/param.h>
+#include "elrs_led.h"
+
+
+extern "C" { __EXPORT int elrs_led_main(int argc, char *argv[]); }
+
+namespace elrs_led
+{
+
+std::string _port = "7";
+int _uart_fd = -1;
+bool _initialized = false;
+bool _is_running = false;
+static bool _debug = false;
+
+static GENERIC_CRC8 crsf_crc{};
+static LEDState _state = LEDState::DEFAULT;
+static ControllerInput _off = ControllerInput::DEFAULT;
+static ControllerInput _on = ControllerInput::DEFAULT;
+static ControllerInput _ir = ControllerInput::DEFAULT;
+static ControllerInput _cmd = ControllerInput::DEFAULT;
+static ControllerInput _prev_cmd = ControllerInput::DEFAULT;
+static std::map<ControllerInput, std::string> ControllerInputMap{
+	{ControllerInput::DLEFT, "DLEFT"},
+	{ControllerInput::DRIGHT, "DRIGHT"},
+	{ControllerInput::DDOWN, "DDOWN"},
+	{ControllerInput::DUP, "DUP"},
+	{ControllerInput::BACK, "BACK"},
+	{ControllerInput::START, "START"},
+	{ControllerInput::Y, "Y"},
+	{ControllerInput::B, "B"},
+	{ControllerInput::A, "A"},
+	{ControllerInput::X, "X"},
+	{ControllerInput::STICK_RIGHT, "STICK_RIGHT"},
+	{ControllerInput::STICK_LEFT, "STICK_LEFT"},
+	{ControllerInput::BUMPER_RIGHT, "BUMPER_RIGHT"},
+	{ControllerInput::BUMPER_LEFT, "BUMPER_LEFT"},
+	{ControllerInput::DEFAULT, "Unkown"}
+};
+static px4_task_t _task_handle = -1;
+void debug_info(LEDState, uint8_t *);
+void make_packet(LEDState, uint8_t *);
+
+int initialize()
+{
+	if (_initialized) {
+		// Already successfully initialized
+		return 0;
+	}
+
+	if (_uart_fd < 0) {
+		_uart_fd = qurt_uart_open(_port.c_str(), 420000);
+	}
+
+	if (_uart_fd < 0) {
+		PX4_ERR("Open failed in %s", __FUNCTION__);
+		return -1;
+	}
+
+	_initialized = true;
+
+	return 0;
+}
+
+void elrs_led_task()
+{
+
+	PX4_INFO("Starting task for elrs_led");
+
+	int ret = 0;
+	int manual_control_input_fd  = orb_subscribe(ORB_ID(manual_control_input));
+	uint8_t pwmPacket[11] = {0xEC, 0x09, 0x32, 0x70, 0x77, 0x6D, 0x07, 0x75, 0x00, 0x00, 0x00};
+
+	px4_pollfd_struct_t fds[1] = { { .fd = manual_control_input_fd,  .events = POLLIN }	};
+
+	struct manual_control_setpoint_s setpoint_req;
+
+	_is_running = true;
+
+	while (true) {
+		px4_poll(fds, 1, 10000);
+
+		if (fds[0].revents & POLLIN) {
+
+			orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
+
+			_cmd = (ControllerInput)setpoint_req.aux1;
+
+			// skip duplicate cmds
+			if (_cmd == _prev_cmd) {
+				continue;
+			}
+
+			if (_cmd == _off) {
+				_prev_cmd = _cmd;
+				_state = LEDState::OFF;
+				make_packet(_state, pwmPacket);
+				ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
+
+				if (_debug) {
+					debug_info(_state, pwmPacket);
+				}
+
+			} else if (_cmd == _on) {
+				_prev_cmd = _cmd;
+				_state = LEDState::ON;
+				make_packet(_state, pwmPacket);
+				ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
+
+				if (_debug) {
+					debug_info(_state, pwmPacket);
+				}
+
+			} else if (_cmd == _ir) {
+				_prev_cmd = _cmd;
+				_state = LEDState::IR;
+				make_packet(_state, pwmPacket);
+				ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
+
+				if (_debug) {
+					debug_info(_state, pwmPacket);
+				}
+
+			}
+
+		}
+	}
+}
+
+int start(int argc, char *argv[])
+{
+
+	int ch;
+	int myoptind = 1;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "p:o:l:i:d", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'p':
+			_port = myoptarg;
+			break;
+
+		case 'o':
+			_off = getKey(ControllerInputMap, myoptarg);
+			break;
+
+		case 'l':
+			_on = getKey(ControllerInputMap, myoptarg);
+			break;
+
+		case 'i':
+			_ir = getKey(ControllerInputMap, myoptarg);
+			break;
+
+		case 'd':
+			_debug = true;
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	if (_debug) {
+		PX4_INFO("ELRS LED Debug Mode Enabled");
+		PX4_INFO("Port: %s", _port.c_str());
+		PX4_INFO("Button Configuration:");
+		PX4_INFO("\tOn: %s", ControllerInputMap.at(_on).c_str());
+		PX4_INFO("\tIR: %s", ControllerInputMap.at(_ir).c_str());
+		PX4_INFO("\tOff: %s", ControllerInputMap.at(_off).c_str());
+	}
+
+	if (! _initialized) {
+		if (initialize()) {
+			return -1;
+		}
+	}
+
+	if (_is_running) {
+		PX4_WARN("Already started");
+		return 0;
+	}
+
+	_task_handle = px4_task_spawn_cmd("elrs_led_main",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2000,
+					  (px4_main_t) &elrs_led_task,
+					  (char *const *)argv);
+
+	if (_task_handle < 0) {
+		PX4_ERR("task start failed");
+		return -1;
+	}
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: elrs_led start [options]");
+	PX4_INFO("Options: -p <number>    uart port number");
+	PX4_INFO("Options: -o <number>    LEDs off button");
+	PX4_INFO("Options: -l <number>    Overt LEDs on button");
+	PX4_INFO("Options: -i <number>    IR LEDs on button");
+	PX4_INFO("Options: -d <number>    enable debug messages");
+}
+
+void debug_info(LEDState led_state, uint8_t *pwmPacket)
+{
+	PX4_INFO("");
+
+	if (led_state == LEDState::ON) {
+		PX4_INFO("Turning LEDs on");
+
+	} else if (led_state == LEDState::OFF) {
+		PX4_INFO("Turning LEDs off");
+
+	} else if (led_state == LEDState::IR) {
+		PX4_INFO("Turning IR LEDs on");
+
+	} else {
+		PX4_WARN("ELRS LED: LED state unknown: 0x%x", led_state);
+	}
+
+	PX4_INFO("Wrote packet: [0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x]",
+		 pwmPacket[0], pwmPacket[1], pwmPacket[2], pwmPacket[3], pwmPacket[4], pwmPacket[5],
+		 pwmPacket[6], pwmPacket[7], pwmPacket[8], pwmPacket[9], pwmPacket[10]);
+}
+
+void make_packet(LEDState led_state, uint8_t *pwmPacket)
+{
+	if (led_state == LEDState::OFF) {
+		pwmPacket[8] = 0x03;
+		pwmPacket[9] = 0x84;
+		pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
+
+	} else if (led_state == LEDState::ON) {
+		pwmPacket[8] = 0x05;
+		pwmPacket[9] = 0xAA;
+		pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
+
+	} else if (led_state == LEDState::IR) {
+		pwmPacket[8] = 0x07;
+		pwmPacket[9] = 0xFF;
+		pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
+
+	} else {
+		PX4_WARN("ELRS LED: Unknown LED state.");
+	}
+}
+
+} // End namespance elrs_led
+
+int elrs_led_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		elrs_led::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
+
+	if (!strcmp(verb, "start")) {
+		return elrs_led::start(argc - 1, argv + 1);
+
+	} else {
+		elrs_led::usage();
+		return -1;
+	}
+
+	return 0;
+}

boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.h

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <string>
+#include <map>
+
+#define crclen 256
+#define CRSF_CRC_POLY 0xd5
+#define CRSF_FRAME_NOT_COUNTED_BYTES 2
+#define PWM_FRAME_SIZE 9
+
+
+enum class ControllerInput : uint32_t {
+	DLEFT = 0x2000,
+	DRIGHT = 0x4000,
+	DDOWN = 0x1000,
+	DUP = 0x800,
+	BACK = 0x10,
+	START = 0x40,
+	Y = 0x08,
+	B = 0x02,
+	A = 0x01,
+	X = 0x04,
+	STICK_RIGHT = 0x100,
+	STICK_LEFT = 0x80,
+	BUMPER_RIGHT = 0x400,
+	BUMPER_LEFT = 0x200,
+	DEFAULT = 0xFFFFFFFF
+};
+
+enum class LEDState : uint8_t {
+	OFF = 0x00,
+	ON = 0x01,
+	IR = 0x02,
+	DEFAULT = 0xFF
+};
+
+
+class GENERIC_CRC8
+{
+public:
+	GENERIC_CRC8() {};
+	uint8_t calc(const uint8_t *data, uint16_t len, uint8_t crc)
+	{
+		while (len--) {
+			crc = crc8tab[crc ^ *data++];
+		}
+
+		return crc;
+	}
+
+private:
+	uint8_t crc8tab[crclen] = {0, 213, 127, 170, 254, 43, 129, 84, 41, 252, 86, 131, 215, 2, 168, 125, 82, 135,
+				   45, 248, 172, 121, 211, 6, 123, 174, 4, 209, 133, 80, 250, 47, 164, 113, 219, 14,
+				   90, 143, 37, 240, 141, 88, 242, 39, 115, 166, 12, 217, 246, 35, 137, 92, 8, 221,
+				   119, 162, 223, 10, 160, 117, 33, 244, 94, 139, 157, 72, 226, 55, 99, 182, 28, 201,
+				   180, 97, 203, 30, 74, 159, 53, 224, 207, 26, 176, 101, 49, 228, 78, 155, 230, 51,
+				   153, 76, 24, 205, 103, 178, 57, 236, 70, 147, 199, 18, 184, 109, 16, 197, 111, 186,
+				   238, 59, 145, 68, 107, 190, 20, 193, 149, 64, 234, 63, 66, 151, 61, 232, 188, 105,
+				   195, 22, 239, 58, 144, 69, 17, 196, 110, 187, 198, 19, 185, 108, 56, 237, 71, 146,
+				   189, 104, 194, 23, 67, 150, 60, 233, 148, 65, 235, 62, 106, 191, 21, 192, 75, 158,
+				   52, 225, 181, 96, 202, 31, 98, 183, 29, 200, 156, 73, 227, 54, 25, 204, 102, 179, 231,
+				   50, 152, 77, 48, 229, 79, 154, 206, 27, 177, 100, 114, 167, 13, 216, 140, 89, 243,
+				   38, 91, 142, 36, 241, 165, 112, 218, 15, 32, 245, 95, 138, 222, 11, 161, 116, 9, 220,
+				   118, 163, 247, 34, 136, 93, 214, 3, 169, 124, 40, 253, 87, 130, 255, 42, 128, 85, 1,
+				   212, 126, 171, 132, 81, 251, 46, 122, 175, 5, 208, 173, 120, 210, 7, 83, 134, 44, 249
+				  };
+};
+
+
+ControllerInput getKey(const std::map<ControllerInput, std::string> &map, const std::string &value)
+{
+	for (const auto &pair : map) {
+		if (pair.second == value) {
+			return pair.first;
+		}
+	}
+
+	return ControllerInput::DEFAULT;
+}
+
+
+

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   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
@@ -31,18 +31,17 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__imu__invensense__icm42688p
-	MAIN icm42688p
+	MODULE drivers__ghst_rc
+	MAIN ghst_rc
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+	INCLUDES
+	${PX4_SOURCE_DIR}/src/drivers/rc_input
+	${PX4_SOURCE_DIR}/src/lib/rc/spektrum_rssi.h
 	SRCS
-		icm42688p_main.cpp
-		ICM42688P.cpp
-		ICM42688P.hpp
-		InvenSense_ICM42688P_registers.hpp
+		ghst_rc.cpp
+		ghst_rc.hpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
-		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
-		drivers__device
+		rc
 	)

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_GHST_RC
+	bool "ghst_rc"
+	default n
+	---help---
+		Enable support for ghst rc

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -0,0 +1,312 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <lib/rc/common_rc.h>
+#include "ghst_rc.hpp"
+#include <lib/rc/ghst.hpp>
+
+#include <px4_log.h>
+
+#include <drivers/device/qurt/uart.h>
+
+#include <termios.h>
+#include <fcntl.h>
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/vehicle_status.h>
+
+using namespace time_literals;
+
+uint32_t GhstRc::baudrate = GHST_BAUDRATE;
+
+GhstRc::GhstRc(const char *device) :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(GHST_RC_DEFAULT_PORT))
+{
+	if (device) {
+		strncpy(_device, device, sizeof(_device) - 1);
+		_device[sizeof(_device) - 1] = '\0';
+	}
+}
+
+GhstRc::~GhstRc()
+{
+	perf_free(_cycle_interval_perf);
+	perf_free(_publish_interval_perf);
+}
+
+int GhstRc::task_spawn(int argc, char *argv[])
+{
+	bool error_flag = false;
+
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+	const char *device_name = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "d:b:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = myoptarg;
+			break;
+
+		case 'b':
+			baudrate = atoi(myoptarg);
+			PX4_INFO("Setting GHST baudrate to %u", baudrate);
+			break;
+
+		case '?':
+			error_flag = true;
+			break;
+
+		default:
+			PX4_WARN("unrecognized flag");
+			error_flag = true;
+			break;
+		}
+	}
+
+	if (error_flag) {
+		return PX4_ERROR;
+	}
+
+	if (!device_name) {
+		PX4_ERR("Valid device required");
+		return PX4_ERROR;
+	}
+
+	GhstRc *instance = new GhstRc(device_name);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return PX4_ERROR;
+	}
+
+	_object.store(instance);
+	_task_id = task_id_is_work_queue;
+
+	instance->ScheduleNow();
+
+	return PX4_OK;
+}
+
+void GhstRc::fill_rc_in(uint16_t raw_rc_count_local,
+			uint16_t raw_rc_values_local[GHST_MAX_NUM_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi = -1)
+{
+	// fill rc_in struct for publishing
+	_rc_in.channel_count = raw_rc_count_local;
+
+	if (_rc_in.channel_count > GHST_MAX_NUM_CHANNELS) {
+		_rc_in.channel_count = GHST_MAX_NUM_CHANNELS;
+	}
+
+	unsigned valid_chans = 0;
+
+	for (unsigned i = 0; i < _rc_in.channel_count; i++) {
+		_rc_in.values[i] = raw_rc_values_local[i];
+
+		if (raw_rc_values_local[i] != UINT16_MAX) {
+			valid_chans++;
+		}
+
+		// once filled, reset values back to default
+		_raw_rc_values[i] = UINT16_MAX;
+	}
+
+	_rc_in.timestamp = now;
+	_rc_in.timestamp_last_signal = _rc_in.timestamp;
+	_rc_in.rc_ppm_frame_length = 0;
+
+	/* fake rssi if no value was provided */
+	if (rssi == -1) {
+		_rc_in.rssi = 255;
+
+	} else {
+		_rc_in.rssi = rssi;
+	}
+
+	if (valid_chans == 0) {
+		_rc_in.rssi = 0;
+	}
+
+	_rc_in.rc_failsafe = failsafe;
+	_rc_in.rc_lost = (valid_chans == 0);
+	_rc_in.rc_lost_frame_count = frame_drops;
+	_rc_in.rc_total_frame_count = 0;
+}
+
+void GhstRc::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		_rc_fd = -1;
+		exit_and_cleanup();
+		return;
+	}
+
+	if (_rc_fd < 0) {
+		_rc_fd = qurt_uart_open(_device, baudrate);
+
+		if (_rc_fd < 0) {
+			PX4_ERR("Error opening port: %s", _device);
+			return;
+		}
+
+		if (_rc_fd >= 0) {
+			_is_singlewire = true;
+
+			// Configure serial port for GHST
+			ghst_config(_rc_fd);
+		}
+
+		_rc_in.rssi_dbm = NAN;
+		_rc_in.link_quality = -1;
+
+	}
+
+	const hrt_abstime time_now_us = hrt_absolute_time();
+	const hrt_abstime cycle_timestamp = time_now_us;
+	perf_count_interval(_cycle_interval_perf, time_now_us);
+
+	// Read all available data from the serial RC input UART
+	int new_bytes = qurt_uart_read(_rc_fd, (char *) &_rcs_buf[0], RC_MAX_BUFFER_SIZE, 500);
+
+	if (new_bytes > 0) {
+		_bytes_rx += new_bytes;
+		int8_t ghst_rssi = -1;
+		bool rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], new_bytes, &_raw_rc_values[0], &ghst_rssi,
+					     &_raw_rc_count, GHST_MAX_NUM_CHANNELS);
+
+		if (rc_updated) {
+			_last_packet_seen = time_now_us;
+			// we have a new GHST frame. Publish it.
+			_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
+			fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
+
+			// ghst telemetry works on fmu-v5
+			// on other Pixhawk (-related) boards we cannot write to the RC UART
+			// another option is to use a different UART port
+#ifdef BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+			if (!_ghst_telemetry) {
+				_ghst_telemetry = new GHSTTelemetry(_rcs_fd);
+			}
+
+			if (_ghst_telemetry) {
+				_ghst_telemetry->update(cycle_timestamp);
+			}
+
+#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */
+		}
+	}
+
+	// If no communication
+	if (time_now_us - _last_packet_seen > 100_ms) {
+		// Invalidate link statistics
+		_rc_in.rssi_dbm = NAN;
+		_rc_in.link_quality = -1;
+	}
+
+	// If we have not gotten RC updates specifically
+	if (time_now_us - _rc_in.timestamp_last_signal > 50_ms) {
+		_rc_in.rc_lost = 1;
+		_rc_in.rc_failsafe = 1;
+		_rc_in.rssi_dbm = NAN;
+		_rc_in.link_quality = -1;
+
+	} else {
+		_rc_in.rc_lost = 0;
+		_rc_in.rc_failsafe = 0;
+	}
+
+	_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
+	_rc_in.timestamp = hrt_absolute_time();
+	_input_rc_pub.publish(_rc_in);
+
+	perf_count(_publish_interval_perf);
+
+	ScheduleDelayed(4_ms);
+}
+
+int GhstRc::print_status()
+{
+	if (_device[0] != '\0') {
+		PX4_INFO("UART device: %s", _device);
+		PX4_INFO("UART RX bytes: %"  PRIu32, _bytes_rx);
+	}
+
+	if (_is_singlewire) {
+		PX4_INFO("Telemetry disabled: Singlewire RC port");
+	}
+
+	perf_print_counter(_cycle_interval_perf);
+	perf_print_counter(_publish_interval_perf);
+
+	return 0;
+}
+
+int GhstRc::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int GhstRc::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module parses the GHST RC uplink protocol and can generate GHST downlink telemetry data
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("ghst_rc", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
+
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
+{
+	return GhstRc::main(argc, argv);
+}

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/input_rc.h>
+
+// telemetry
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/sensor_gps.h>
+#include <uORB/topics/vehicle_status.h>
+
+#define GHST_MAX_NUM_CHANNELS			(16)
+
+class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	GhstRc(const char *device);
+	~GhstRc() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	void fill_rc_in(uint16_t raw_rc_count_local,
+			uint16_t raw_rc_values_local[GHST_MAX_NUM_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
+
+private:
+	void Run() override;
+
+	bool SendTelemetryBattery(const uint16_t voltage, const uint16_t current, const int fuel, const uint8_t remaining);
+
+	bool SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed,
+			      const uint16_t gps_heading, const uint16_t altitude, const uint8_t num_satellites);
+
+	bool SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw);
+
+	bool SendTelemetryFlightMode(const char *flight_mode);
+
+
+	uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
+	input_rc_s	_rc_in{};
+	int _rc_fd{-1};
+	char _device[20] {}; // device / serial port path
+	bool _is_singlewire{true};
+
+	static constexpr size_t RC_MAX_BUFFER_SIZE{64};
+	uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
+	uint32_t _bytes_rx{0};
+
+	uint16_t _raw_rc_values[GHST_MAX_NUM_CHANNELS] {};
+	uint16_t _raw_rc_count{};
+
+	hrt_abstime _last_packet_seen{0};
+
+	// telemetry
+	hrt_abstime _telemetry_update_last{0};
+	static constexpr int num_data_types{4}; ///< number of different telemetry data types
+	int _next_type{0};
+	static uint32_t baudrate;
+	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+
+
+	perf_counter_t	_cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
+	perf_counter_t	_publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")};
+
+	// DEFINE_PARAMETERS(
+	// (ParamBool<px4::params::RC_GHST_TEL_EN>) _param_rc_ghst_tel_en
+	// )
+};
+