Intial Commit PX4 FMUV6RT

nxp/rt117x:Fix Pin IRQ

nxp/rt117x:Support 4 i2c busses

nxp/rt117x:Add px4io_serial support

nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4

px4_fmu-6xrt:Using imxrt_flexspi_nor_octal

px4_fmu-6xrt:Entry is start

px4_fmu-6xrt:Add Proper MTD

px4_fmu-6xrt:Set I2C Buses

px4_fmu-6xrt:Proper SPI usage

px4_fmu-6xrt:Adjust memory Map to use the 2 MB

px4_fmu-6xrt:Bring in ROMAPI

px4_fmu-6xrt:Push FLASH to 200Mhz

px4_fmu-6xrt:Use BOARD_I2C_LATEINIT

px4_fmu-6xrt:Clock Config remove unused devices

px4_fmu-6xrt:Remove EVK SDRAM IO

px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE

px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI

px4_fmu-6xrt:Manifest

px4_fmu-6xrt:Restore board_peripheral_reset

px4_fmu-6xrt:Set I2C buss Interna/Externa and startup

nxp/rt117x:Set 6 I2C busses

px4_fmu-6xrt:Correct Clock Sources and Freqency Settings

px4_fmu-6xrt:Correct ADC Settings

px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning

px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata

   Current config
     1KB Prefetch .rodata
     3KB Prefetch .text

px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers

px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable

px4_fmu-6xrt:Octal spi boot/debug problem bypass

px4_fmu-6xrt:Add PWM test

px4_fmu-6xrt:Fix clockconfig and USB vbus sense

px4_fmu-6xrt: Use TCM

px4_fmu-6xrt: Ethernet bringup

imxrt: use unique_id register for board_identity

px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0

px4_fmu-6xrt:correct rotation icm42688p onboard imu

rt117x: Add SSARC HP RAM driver for memory dumps

px4_fmu-6xrt: Enable hardfault_log

px4_fmu-6xrt: Enable DMA pool

px4_fmu-6xrt: fix uart mapping

px4_fmu-6xrt: enable SocketCAN & DroneCAN

px4_fmu-6xrt:Command line history TAB completion

px4_fmu-6xrt:Fix pinning duplication

px4_fmu-6xrt:Support conditional PHY address based on selected PHY

px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS

px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max

px4_fmu-6xrt::Set TELEM Buffers add HW HS

px4_fmu-6xrt:Turn off DMA poll

px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!

px4_fmu-6xrt: bootloader (#22228)

* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes

px4_fmu-6xrt:Default to use LAN8742A PHY

px4_fmu-v6xrt:VID Set to Drone Code

board_reset:Enable ability to write RTC GP regs

px4_fmu-6xrt:Fix CMP0079 error

rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT

px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders

fmu-v6xrt: increase 5v down time

fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.

imxrt:board_hw_rev_ver Rework for 3.893V Ref

px4_fmu-v6xrt:Move ADC to Port3

.ci/Jenkinsfile-compile

@@ -111,6 +111,8 @@ pipeline {
                      "px4_fmu-v6c_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6xrt_bootloader",
+                     "px4_fmu-v6xrt_default",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
                      "sky-drones_smartap-airlink_default",

.github/workflows/compile_nuttx.yml

@@ -57,7 +57,6 @@ jobs:
           mro_x21-777,
           nxp_fmuk66-e,
           nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
           nxp_mr-canhubk3,
           nxp_ucans32k146,
           omnibus_f4sd,
@@ -70,6 +69,7 @@ jobs:
           px4_fmu-v6c,
           px4_fmu-v6u,
           px4_fmu-v6x,
+          px4_fmu-v6xrt,
           raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,

.vscode/cmake-variants.yaml

@@ -81,6 +81,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6x_bootloader
+    px4_fmu-v6xrt_default:
+      short: px4_fmu-v6xrt
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_default
+    px4_fmu-v6xrt_bootloader:
+      short: px4_fmu-v6xrt_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel

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 NXP_FMURT1062_V2
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
 	then
 		netman update -i eth0
 	fi

boards/px4/fmu-v6xrt/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/px4/fmu-v6xrt/default.px4board

@@ -0,0 +1,87 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_COMMON_UWB=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/px4/fmu-v6xrt/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 35,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv6XRT board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv6XRT",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 7340032,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/px4/fmu-v6xrt/init/rc.board_defaults

@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
+
+param set-default SENS_EN_INA238 0
+param set-default SENS_EN_INA228 0
+param set-default SENS_EN_INA226 1
+
+param set-default SYS_USE_IO 1
+
+safety_button start
+
+if param greater -s UAVCAN_ENABLE 0
+then
+	ifup can0
+	ifup can1
+	ifup can2
+fi

boards/px4/fmu-v6xrt/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the UART connected to the mission computer
+mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z

boards/px4/fmu-v6xrt/init/rc.board_sensors

@@ -0,0 +1,89 @@
+#!/bin/sh
+#
+# PX4 FMUv5 specific board sensors init
+#------------------------------------------------------------------------------
+#
+# UART mapping on PX4 FMU-V6XRT:
+#
+# LPUART1       /dev/ttyS0      CONSOLE
+# LPUART3       /dev/ttyS1      GPS
+# LPUART4       /dev/ttyS2      TELEM1
+# LPUART5       /dev/ttyS4      GPS2
+# LPUART6       /dev/ttyS5      PX4IO
+# LPUART8       /dev/ttyS6      TELEM2
+# LPUART10      /dev/ttyS7      TELEM3
+# LPUART11      /dev/ttyS8      EXT2
+#
+#------------------------------------------------------------------------------
+
+set HAVE_PM2 yes
+
+if ver hwtypecmp V5X005000 V5X005001 V5X005002
+then
+	set HAVE_PM2 no
+fi
+if param compare -s ADC_ADS1115_EN 1
+then
+	ads1115 start -X
+else
+	board_adc start
+fi
+
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -X -b 1 -t 1 -k start
+
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina226 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA228 1
+then
+	# Start Digital power monitors
+	ina228 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina228 -X -b 2 -t 2 -k start
+	fi
+fi
+
+if param compare SENS_EN_INA238 1
+then
+	# Start Digital power monitors
+	ina238 -X -b 1 -t 1 -k start
+	if [ $HAVE_PM2 = yes ]
+	then
+		ina238 -X -b 2 -t 2 -k start
+	fi
+fi
+
+# Internal SPI bus ICM42688p (hard-mounted)
+icm42688p -R 12 -b 1 -s start
+
+# Internal on IMU SPI BMI088
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start
+
+# Internal on IMU SPI bus ICM42688p
+icm42688p -R 6 -b 2 -s start
+
+# Internal magnetometer on I2c
+bmm150 -I start
+
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+# Possible internal Baro
+
+# Disable startup of internal baros if param is set to false
+if param compare SENS_INT_BARO_EN 1
+then
+	bmp388 -I -b 3 -a 0x77 start
+	bmp388 -X -b 2 start
+fi
+unset HAVE_PM2

boards/px4/fmu-v6xrt/nuttx-config/Kconfig

@@ -0,0 +1,59 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+choice
+	prompt "Boot Flash"
+	default PX4_FMU_V6XRT_V3_QSPI_FLASH
+
+config PX4_FMU_V6XRT_V3_HYPER_FLASH
+	bool "HYPER Flash"
+
+config PX4_FMU_V6XRT_V3_QSPI_FLASH
+	bool "QSPI Flash"
+
+endchoice # Boot Flash
+
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals
+		from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-8 as PROBE_1-8"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-8, as PROBE_1-8 to provide timing signals
+		from selected drivers.
+
+config BOARD_FORCE_ALIGNMENT
+	bool "Forces all acesses to be Aligned"
+	default n
+
+	---help---
+		Adds -mno-unaligned-access to build flags. to force alignment.
+		This can be needed if data is stored in a region of memory, that
+		is Strongly ordered and dcache is off.
+
+config BOARD_BOOTLOADER_INVALID_FCB
+	bool "Disables the FCB header"
+	default n
+
+	---help---
+		This can be used to keep the ROM bootloader in the serial Download mode.
+		Thus preventing bootlooping on `is_debug_pending` in the lame Rev B
+		silicon ROM bootloader. You can not cold boot (Power cycle) but can
+		Jtag from Load and be abel to reset it.
+
+config BOARD_BOOTLOADER_FIXUP
+	bool "Restores OCTAL Flash when No FCB"
+	default n
+	select ARCH_RAMFUNCS
+
+	---help---
+		Restores OCTAL Flash when FCB is invalid.