Inital Commit of px4-same70xplained-v1

Images/px4-same70xplained-v1.prototype

+{
+    "board_id": 110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SAME70xplained board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/SAME70xplained",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Makefile

@@ -211,6 +211,7 @@ misc_qgc_extra_firmware: \
 # Other NuttX firmware
 alt_firmware: \
 	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
 	check_px4-stm32f4discovery_default \
 	check_px4cannode-v1_default \
 	check_px4esc-v1_default \

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+##set(config_uavcan_num_ifaces 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/samv7
+#WIP 	drivers/samv7/adc
+	drivers/samv7/tone_alarm
+	drivers/led
+	drivers/px4fmu
+#WIP 	drivers/px4io
+	drivers/boards/px4-same70xplained-v1
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+#WIP 	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+##	drivers/gimbal
+#WIP  	drivers/pwm_input
+#WIP  	drivers/camera_trigger
+	drivers/bst
+	drivers/snapdragon_rc_pwm
+	drivers/lis3mdl
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+#WIP systemcmds/hardfault_log
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+#	systemcmds/mtd Excluded until TWIHS works
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+##WIP	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+##	modules/logger
+
+	#
+	# Library modules
+	#
+	modules/systemlib/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/rc
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/led
+	lib/DriverFramework/framework
+	lib/launchdetection
+	lib/version
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	#examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+ set(config_extra_libs
+#	uavcan
+#	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon"
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis"
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

nuttx-configs/px4-same70xplained-v1/Kconfig

+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_PX4_SAME70XPLAINED_V1
+
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-4 to provide timing signals from selected drivers.
+
+endif

nuttx-configs/px4-same70xplained-v1/include/board.h

+/************************************************************************************
+ * configs/same70-xplained/include/board.h
+ *
+ *   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.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
+#define __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdbool.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Clocking *************************************************************************/
+/* After power-on reset, the SAME70Q device is running out of the Master Clock using
+ * the Fast RC Oscillator running at 4 MHz.
+ *
+ *   MAINOSC:  Frequency = 12MHz (crystal)
+ *
+ * 300MHz Settings:
+ *   PLLA: PLL Divider = 1, Multiplier = 20 to generate PLLACK = 240MHz
+ *   Master Clock (MCK): Source = PLLACK, Prescalar = 1 to generate MCK = 120MHz
+ *   CPU clock: 120MHz
+ *
+ * There can be two on-board crystals.  However, the the 32.768 crystal is not
+ * populated on the stock SAME70.  The fallback is to use th on-chip, slow RC
+ * oscillator which has a frequency of 22-42 KHz, nominally 32 KHz.
+ */
+
+#undef  BOARD_HAVE_SLOWXTAL                   /* Slow crystal not populated */
+#define BOARD_SLOWCLK_FREQUENCY    (32000)    /* 32 KHz RC oscillator (nominal)  */
+#define BOARD_MAINOSC_FREQUENCY    (12000000) /* 12 MHz main oscillator */
+
+/* Main oscillator register settings.
+ *
+ * The main oscillator could be either the embedded 4/8/12 MHz fast RC oscillators
+ * or an external 3-20 MHz crystal or ceramic resonator.  The external clock source
+ * is selected by default in sam_clockconfig.c.  Here we need to specify the main
+ * oscillator start-up time.
+ *
+ * REVISIT... this is old information:
+ * The start up time should be should be:
+ *
+ *   Start Up Time = 8 * MOSCXTST / SLCK = 56 Slow Clock Cycles.
+ */
+
+#define BOARD_CKGR_MOR_MOSCXTST    (62 << PMC_CKGR_MOR_MOSCXTST_SHIFT) /* Start-up Time */
+#define BOARD_CKGR_MOR_MOSCXTENBY  (PMC_CKGR_MOR_MOSCXTEN)             /* Crystal Oscillator Enable */
+
+/* PLLA configuration.
+ *
+ *   Divider = 1
+ *   Multiplier = 25
+ *
+ * Yields:
+ *
+ *   PLLACK = 25 * 12MHz / 1 = 300MHz
+ */
+
+#define BOARD_CKGR_PLLAR_STMODE    PMC_CKGR_PLLAR_STMODE_FAST
+#define BOARD_CKGR_PLLAR_COUNT     (63 << PMC_CKGR_PLLAR_COUNT_SHIFT)
+#define BOARD_CKGR_PLLAR_MUL       PMC_CKGR_PLLAR_MUL(24)
+#define BOARD_CKGR_PLLAR_DIV       PMC_CKGR_PLLAR_DIV_BYPASS
+
+/* PMC master clock register settings.
+ *
+ *  BOARD_PMC_MCKR_CSS - The source of main clock input.  This may be one of:
+ *
+ *    PMC_MCKR_CSS_SLOW   Slow Clock
+ *    PMC_MCKR_CSS_MAIN   Main Clock
+ *    PMC_MCKR_CSS_PLLA   PLLA Clock
+ *    PMC_MCKR_CSS_UPLL   Divided UPLL Clock
+ *
+ *  BOARD_PMC_MCKR_PRES - Source clock pre-scaler.  May be one of:
+ *
+ *    PMC_MCKR_PRES_DIV1  Selected clock
+ *    PMC_MCKR_PRES_DIV2  Selected clock divided by 2
+ *    PMC_MCKR_PRES_DIV4  Selected clock divided by 4
+ *    PMC_MCKR_PRES_DIV8  Selected clock divided by 8
+ *    PMC_MCKR_PRES_DIV16 Selected clock divided by 16
+ *    PMC_MCKR_PRES_DIV32 Selected clock divided by 32
+ *    PMC_MCKR_PRES_DIV64 Selected clock divided by 64
+ *    PMC_MCKR_PRES_DIV3  Selected clock divided by 3
+ *
+ *  The prescaler determines (1) the CPU clock and (2) the input into the
+ *  second divider that then generates the Master Clock (MCK).  MCK is the
+ *  source clock of the peripheral clocks.
+ *
+ *  BOARD_PMC_MCKR_MDIV - MCK divider.  May be one of:
+ *
+ *    PMC_MCKR_MDIV_DIV1  Master Clock = Prescaler Output Clock / 1
+ *    PMC_MCKR_MDIV_DIV2  Master Clock = Prescaler Output Clock / 2
+ *    PMC_MCKR_MDIV_DIV4  Master Clock = Prescaler Output Clock / 4
+ *    PMC_MCKR_MDIV_DIV3  Master Clock = Prescaler Output Clock / 3
+ */
+
+#define BOARD_PMC_MCKR_CSS         PMC_MCKR_CSS_PLLA   /* Source = PLLA */
+#define BOARD_PMC_MCKR_PRES        PMC_MCKR_PRES_DIV1  /* Prescaler = /1 */
+#define BOARD_PMC_MCKR_MDIV        PMC_MCKR_MDIV_DIV2  /* MCK divider = /2 */
+
+/* USB clocking */
+
+#define BOARD_PMC_MCKR_UPLLDIV2    0           /* UPLL clock not divided by 2 */
+
+/* Resulting frequencies */
+
+#define BOARD_PLLA_FREQUENCY       (300000000) /* PLLACK:  25 * 12Mhz / 1 */
+#define BOARD_CPU_FREQUENCY        (300000000) /* CPU:     PLLACK / 1 */
+#define BOARD_MCK_FREQUENCY        (150000000) /* MCK:     PLLACK / 1 / 2 */
+#undef  BOARD_UPLL_FREQUENCY                   /* To be provided */
+
+/* HSMCI clocking
+ *
+ * Multimedia Card Interface clock (MCCK or MCI_CK) is Master Clock (MCK)
+ * divided by (2*(CLKDIV) + CLOCKODD + 2).
+ *
+ *   MCI_SPEED = MCK / (2*CLKDIV + CLOCKODD + 2)
+ *
+ * Where CLKDIV has a range of 0-255.
+ */
+
+/* MCK = 150MHz, CLKDIV = 186, MCI_SPEED = 150MHz / (2*186 + 1 + 2) = 400 KHz */
+
+#define HSMCI_INIT_CLKDIV          ((186 << HSMCI_MR_CLKDIV_SHIFT) | HSMCI_MR_CLKODD)
+
+/* MCK = 150MHz, CLKDIV = 3 w/CLOCKODD, MCI_SPEED = 150MHz /(2*3 + 0 + 2) = 18.75 MHz */
+
+#define HSMCI_MMCXFR_CLKDIV        (2 << HSMCI_MR_CLKDIV_SHIFT)
+
+/* MCK = 150MHz, CLKDIV = 2, MCI_SPEED = 150MHz /(2*2 + 0 + 2) = 25 MHz */
+
+#define HSMCI_SDXFR_CLKDIV         (2 << HSMCI_MR_CLKDIV_SHIFT)
+#define HSMCI_SDWIDEXFR_CLKDIV     HSMCI_SDXFR_CLKDIV
+
+/* FLASH wait states.
+ *
+ * Wait states Max frequency at 105 centigrade (STH conditions)
+ *
+ *           VDDIO
+ *      1.62V     2.7V
+ * --- -------  -------
+ *  0   26 MHz   30 MHz
+ *  1   52 MHz   62 MHz
+ *  2   78 MHz   93 MHz
+ *  3  104 MHz  124 MHz
+ *  4  131 MHz  150 MHz
+ *  5  150 MHz  --- MHz
+ *
+ * Given: VDDIO=3.3V, VDDCORE=1.2V, MCK=150MHz
+ */
+
+#define BOARD_FWS                  4
+
+/* LED definitions ******************************************************************/
+/* LEDs
+ *
+ * A single LED is available driven by PC8.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED0        0
+#define BOARD_NLEDS       1
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED0_BIT    (1 << BOARD_LED0)
+
+/* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
+ * defined.  In that case, the usage by the board port is defined in
+ * include/board.h and src/sam_autoleds.c. The LEDs are used to encode
+ * OS-related events as follows:
+ *
+ *   ------------------- ---------------------------- ------
+ *   SYMBOL                  Meaning                  LED
+ *   ------------------- ---------------------------- ------   */
+
+#define LED_STARTED      0 /* NuttX has been started  OFF      */
+#define LED_HEAPALLOCATE 0 /* Heap has been allocated OFF      */
+#define LED_IRQSENABLED  0 /* Interrupts enabled      OFF      */
+#define LED_STACKCREATED 1 /* Idle stack created      ON       */
+#define LED_INIRQ        2 /* In an interrupt         N/C      */
+#define LED_SIGNAL       2 /* In a signal handler     N/C      */
+#define LED_ASSERTION    2 /* An assertion failed     N/C      */
+#define LED_PANIC        3 /* The system has crashed  FLASH    */
+#undef  LED_IDLE           /* MCU is is sleep mode    Not used */
+
+/* Thus is LED is statically on, NuttX has successfully  booted and is,
+ * apparently, running normally.  If LED is flashing at approximately
+ * 2Hz, then a fatal error has been detected and the system has halted.
+ */
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN19)
+# define PROBE_2	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN26)
+# define PROBE_3	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN2)
+# define PROBE_4	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN24)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { sam_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { sam_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { sam_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { sam_configgpio(PROBE_4); } \
+	} while(0)
+
+# define PROBE(n,s)  do {sam_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+/* Button definitions ***************************************************************/
+/* Buttons
+ *
+ * SAM E70 Xplained contains two mechanical buttons. One button is the RESET
+ * button connected to the SAM E70 reset line and the other, PA11, is a generic
+ * user configurable button. When a button is pressed it will drive the I/O
+ * line to GND.
+ *
+ * NOTE: There are no pull-up resistors connected to the generic user buttons
+ * so it is necessary to enable the internal pull-up in the SAM E70 to use the
+ * button.
+ */
+
+#define BUTTON_SW0        0
+#define NUM_BUTTONS       1
+
+#define BUTTON_SW0_BIT    (1 << BUTTON_SW0)
+
+/* PIO Disambiguation ***************************************************************/
+/* Serial Console
+ *
+ * The SAME70-XPLD has no on-board RS-232 drivers so it will be necessary to use
+ * either the VCOM or an external RS-232 driver.  Here are some options.
+ *
+ *  - Arduino Serial Shield:  One option is to use an Arduino-compatible
+ *    serial shield.  This will use the RXD and TXD signals available at pins
+ *    0 an 1, respectively, of the Arduino "Digital Low" connector.  On the
+ *    SAME70-XPLD board, this corresponds to UART3:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70 Arduino Arduino SAME70
+ *    J503   PIO    Name    Pin     Function
+ *    ------ ------ ------- ------- --------
+ *      1    PD28   RX0     0       URXD3
+ *      2    PD30   TX0     1       UTXD3
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART3 TXD:
+ */
+
+//#define GPIO_UART3_TXD  GPIO_UART3_TXD_1
+
+
+/* - Arduino Communications.  Additional UART/USART connections are available
+ *  on the Arduino Communications connection J505:
+ *
+ *   ------ ------ ------- ------- --------
+ *   Pin on SAME70 Arduino Arduino SAME70
+ *   J503   PIO    Name    Pin     Function
+ *   ------ ------ ------- ------- --------
+ *     3    PD18   RX1     0       URXD4
+ *     4    PD19   TX1     0       UTXD4
+ *     5    PD15   RX2     0       RXD2
+ *     6    PD16   TX2     0       TXD2
+ *     7    PB0    RX3     0       RXD0
+ *     8    PB1    TX3     1       TXD0
+ *   ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART4 TXD:
+ */
+
+//#define GPIO_UART4_TXD  GPIO_UART4_TXD_1
+
+/*  - SAMV7-XULT EXTn connectors.  USART pins are also available the EXTn
+ *    connectors.  The following are labelled in the User Guide for USART
+ *    functionality:
+ *
+ *    ---- -------- ------ --------
+ *    EXT1 EXTI1    SAME70 SAME70
+ *    Pin  Name     PIO    Function
+ *    ---- -------- ------ --------
+ *    13   USART_RX PB00   RXD0
+ *    14   USART_TX PB01   TXD0
+ *
+ *    ---- -------- ------ --------
+ *    EXT2 EXTI2    SAME70 SAME70
+ *    Pin  Name     PIO    Function
+ *    ---- -------- ------ --------
+ *    13   USART_RX PA21   RXD1
+ *    14   USART_TX PB04   TXD1
+ *
+ *    There are no alternative pin selections for USART0 or USART1.
+ */
+
+/*  - VCOM.  The Virtual Com Port gateway is available on USART1:
+ *
+ *    ------ --------
+ *    SAME70 SAME70
+ *    PIO    Function
+ *    ------ --------
+ *    PB04   TXD1
+ *    PA21   RXD1
+ *    ------ --------
+ *
+ *    There are no alternative pin selections for USART1.
+ */
+
+
+/*    SAME70-XPLD board, this corresponds to UART1:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70  SAME70
+ *              PIO      Function
+ *    ------ ------ ------- ------- --------
+ *      J503-3  PA5        URXD1
+ *      J503-4  PA6        UTXD1
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART1 TXD:
+ *
+ */
+
+#define GPIO_UART1_TXD  GPIO_UART1_TXD_3
+
+/*    SAME70-XPLD board, this corresponds to UART2:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70  SAME70
+ *              PIO      Function
+ *    ------ ------ ------- ------- --------
+ *      J500-3  PD25       URXD2
+ *      J502-1  PD26       UTXD3
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are No alternative pin selections only for UART2
+ *
+ */
+
+
+/* MCAN1
+ *
+ * SAM E70 Xplained has two MCAN modules that performs communication according
+ * to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
+ * specification V1.0.  MCAN1 is connected to an on-board ATA6561 CAN physical-layer
+ * transceiver.
+ *
+ *   ------- -------- -------- -------------
+ *   SAM E70 FUNCTION ATA6561  SHARED
+ *   PIN              FUNCTION FUNCTIONALITY
+ *   ------- -------- -------- -------------
+ *   PC14    CANTX1   TXD      Shield
+ *   PC12    CANRX1   RXD      Shield
+ *   ------- -------- -------- -------------
+ */
+
+#define GPIO_MCAN1_TX         GPIO_MCAN1_TX_2
+#define GPIO_MCAN1_RX         GPIO_MCAN1_RX_2
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  sam_lcdclear
+ *
+ * Description:
+ *   This is a non-standard LCD interface just for the SAM4e-EK board.  Because
+ *   of the various rotations, clearing the display in the normal way by writing a
+ *   sequences of runs that covers the entire display can be very slow.  Here the
+ *   display is cleared by simply setting all GRAM memory to the specified color.
+ *
+ ************************************************************************************/
+
+void sam_lcdclear(uint16_t color);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H */

nuttx-configs/px4-same70xplained-v1/include/nsh_romfsimg.h

+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;

nuttx-configs/px4-same70xplained-v1/nsh/Make.defs

+############################################################################
+# configs/same70-xplained/nsh/Make.defs
+#
+#   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.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES   = -finstrument-functions \
+                           -ffixed-r10
+endif
+
+ifeq ($(CONFIG_ARMV7M_DTCM),y)
+  LDSCRIPT = flash-dtcm.ld
+else
+  LDSCRIPT = ld.script
+endif
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+  MKDEP = $(TOPDIR)/tools/mkwindeps.sh
+  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  # Linux/Cygwin-native toolchain
+  MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
+  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+endif
+
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(CROSSDEV)ar rcs
+NM = $(CROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
+
+ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
+    -fno-strict-aliasing \
+    -fno-strength-reduce \
+    -fomit-frame-pointer \
+    -funsafe-math-optimizations \
+    -fno-builtin-printf \
+    -ffunction-sections \
+    -fdata-sections
+
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  ARCHOPTIMIZATION += -g
+endif
+
+ifneq ($(CONFIG_DEBUG_NOOPT),y)
+  ARCHOPTIMIZATION += $(MAXOPTIMIZATION)
+endif
+
+ARCHCFLAGS = -fno-builtin
+ARCHCFLAGS += -std=gnu99
+
+ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -fno-strict-aliasing
+ARCHWARNINGS += -Wno-sign-compare \
+    -Wextra \
+    -Wdouble-promotion \
+    -Wshadow \
+    -Wfloat-equal \
+    -Wframe-larger-than=1024 \
+    -Wpointer-arith \
+    -Wlogical-op \
+    -Wmissing-declarations \
+    -Wpacked \
+    -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+ARCHCWARNINGS = $(ARCHWARNINGS) \
+    -Wbad-function-cast \
+    -Wstrict-prototypes \
+    -Wold-style-declaration \
+    -Wmissing-parameter-type \
+    -Wmissing-prototypes \
+    -Wnested-externs
+ARCHWARNINGSXX = -Wall -Wshadow -Wundef
+ARCHWARNINGSXX += $(ARCHWARNINGS) \
+    -Wno-psabi
+ARCHDEFINES =
+ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
+
+# This seems to be the only way to add linker flags
+
+EXTRA_LIBS += --warn-common \
+    --gc-sections
+
+CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+ASMEXT = .S
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+ifneq ($(CROSSDEV),arm-nuttx-elf-)
+  LDFLAGS += -nostartfiles -nodefaultlibs
+endif
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  LDFLAGS += -g
+endif
+
+
+HOSTCC = gcc
+HOSTINCLUDES = -I.
+HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -g -pipe
+HOSTLDFLAGS =

nuttx-configs/px4-same70xplained-v1/nsh/setenv.sh

+#!/bin/bash
+# configs/samv7-xult/nsh/Make.defs
+#
+#   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.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the Atmel GCC
+# toolchain under Windows.  You will also have to edit this if you install
+# this toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Atmel/Atmel Toolchain/ARM GCC/Native/4.7.3.99/arm-gnu-toolchain/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+# export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+
+# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
+# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2015q2/bin"
+
+# This is the path to the location where I installed the devkitARM toolchain
+# You can get this free toolchain from http://devkitpro.org/ or http://sourceforge.net/projects/devkitpro/
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/devkitARM/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+# export TOOLCHAIN_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+
+# The same70-xplained/tools directory
+export TOOL_DIR="${WD}/configs/same70-xplained/tools"
+
+# Add the path to the toolchain and tools directory to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:${TOOL_DIR}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"

nuttx-configs/px4-same70xplained-v1/scripts/flash-dtcm.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-dtcm.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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * 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 0x0400:0000 address range (Assuming that ITCM is not enable).
+ *
+ * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM.  If DTCM is
+ * disabled, then the accesses will actually occur on the AHB bus.
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20000000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+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_section : {
+		_sinit = ABSOLUTE(.);
+		*(.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)
+		_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) }
+}

nuttx-configs/px4-same70xplained-v1/scripts/flash-sram.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-sram.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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * 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 0x0400:0000 address range (Assuming that ITCM is not enable).
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+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_section : {
+		_sinit = ABSOLUTE(.);
+		*(.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)
+		_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) }
+}

nuttx-configs/px4-same70xplained-v1/scripts/gnu-elf.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/gnu-elf.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.
+ *
+ ****************************************************************************/
+
+SECTIONS
+{
+  .text 0x00000000 :
+    {
+      _stext = . ;
+      *(.text)
+      *(.text.*)
+      *(.gnu.warning)
+      *(.stub)
+      *(.glue_7)
+      *(.glue_7t)
+      *(.jcr)
+
+      /* C++ support:  The .init and .fini sections contain specific logic
+       * to manage static constructors and destructors.
+       */
+
+      *(.gnu.linkonce.t.*)
+      *(.init)             /* Old ABI */
+      *(.fini)             /* Old ABI */
+      _etext = . ;
+    }
+
+  .rodata :
+    {
+      _srodata = . ;
+      *(.rodata)
+      *(.rodata1)
+      *(.rodata.*)
+      *(.gnu.linkonce.r*)
+      _erodata = . ;
+    }
+
+  .data :
+    {
+      _sdata = . ;
+      *(.data)
+      *(.data1)
+      *(.data.*)
+      *(.gnu.linkonce.d*)
+      _edata = . ;
+    }
+
+  /* C++ support. For each global and static local C++ object,
+   * GCC creates a small subroutine to construct the object. Pointers
+   * to these routines (not the routines themselves) are stored as
+   * simple, linear arrays in the .ctors section of the object file.
+   * Similarly, pointers to global/static destructor routines are
+   * stored in .dtors.
+   */
+
+  .ctors :
+    {
+      _sctors = . ;
+      *(.ctors)       /* Old ABI:  Unallocated */
+      *(.init_array)  /* New ABI:  Allocated */
+      _edtors = . ;
+    }
+
+  .dtors :
+    {
+      _sdtors = . ;
+      *(.dtors)       /* Old ABI:  Unallocated */
+      *(.fini_array)  /* New ABI:  Allocated */
+      _edtors = . ;
+    }
+
+  .bss :
+    {
+      _sbss = . ;
+      *(.bss)
+      *(.bss.*)
+      *(.sbss)
+      *(.sbss.*)
+      *(.gnu.linkonce.b*)
+      *(COMMON)
+      _ebss = . ;
+    }
+
+    /* 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) }
+}

nuttx-configs/px4-same70xplained-v1/scripts/kernel-space.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/kernel-space.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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+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(.);
+    } > kflash
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        *(.init_array .init_array.*)
+        _einit = ABSOLUTE(.);
+    } > kflash
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > kflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > kflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > ksram AT > kflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        _ebss = ABSOLUTE(.);
+    } > ksram
+
+    /* 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) }
+}

nuttx-configs/px4-same70xplained-v1/scripts/ld.script

+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-sram.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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * 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 0x0400:0000 address range (Assuming that ITCM is not enable).
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/*
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = 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)
+		_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) }
+}

nuttx-configs/px4-same70xplained-v1/scripts/memory.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/memory.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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * 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 0x0400:0000 address range.
+ *
+ * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM.  If DTCM is
+ * disabled, then the accesses will actually occur on the AHB bus.
+ *
+ * The user space partition will be spanned with a single region of size
+ * 2**n bytes.  The alignment of the user-space region must be the same.
+ * As a consequence, as the user-space increases in size, the alignment
+ * requirement also increases.  The sizes below give the largest possible
+ * user address spaces (but leave far too much for the OS).
+ *
+ * The solution to this wasted memory is to (1) use more than one region to
+ * span the user spaces, or (2) poke holes in a larger region to trim it
+ * to fit better.
+ *
+ * A detailed memory map for the 384KB SRAM region is as follows:
+ *
+ *   0x20000 0000:  Kernel .data region.  Typical size: 0.1KB
+ *   ------- ----   Kernel .bss  region.  Typical size: 1.8KB
+ *   0x20000 0800:  Kernel IDLE thread stack (approximate).  Size is
+ *                  determined by CONFIG_IDLETHREAD_STACKSIZE and
+ *                  adjustments for alignment.  Typical is 1KB.
+ *   ------- ----   Padded to 4KB
+ *   0x20002 0000:  User .data region.  Size is variable.
+ *   ------- ----   User .bss region  Size is variable.
+ *   0x20000 2000:  Beginning of kernel heap.  Size determined by
+ *                  CONFIG_MM_KERNEL_HEAPSIZE.
+ *   ------- ----   Beginning of user heap.  Can vary with other settings.
+ *   0x20004 0000:  End+1 of mappable internal SRAM
+ */
+
+MEMORY
+{
+    /* 2048KiB of internal FLASH */
+
+    kflash (rx)      : ORIGIN = 0x00400000, LENGTH = 1M
+    uflash (rx)      : ORIGIN = 0x00500000, LENGTH = 1M
+
+    /* 384Kb of internal SRAM */
+
+    ksram (rwx)      : ORIGIN = 0x20000000, LENGTH = 128K
+    usram (rwx)      : ORIGIN = 0x20020000, LENGTH = 128K
+    xsram (rwx)      : ORIGIN = 0x20040000, LENGTH = 128K
+}

nuttx-configs/px4-same70xplained-v1/scripts/user-space.ld

+/****************************************************************************
+ * configs/same70-xplained/scripts/user-space.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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+/* Make sure that the critical memory management functions are in user-space.
+ * the user heap memory manager will reside in user-space but be usable both
+ * by kernel- and user-space code
+ */
+
+EXTERN(umm_initialize)
+EXTERN(umm_addregion)
+EXTERN(umm_trysemaphore)
+EXTERN(umm_givesemaphore)
+
+EXTERN(malloc)
+EXTERN(realloc)
+EXTERN(zalloc)
+EXTERN(free)
+
+OUTPUT_ARCH(arm)
+SECTIONS
+{
+    .userspace : {
+        *(.userspace)
+    } > uflash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > uflash
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        *(.init_array .init_array.*)
+        _einit = ABSOLUTE(.);
+    } > uflash
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > uflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > uflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > usram AT > uflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        _ebss = ABSOLUTE(.);
+    } > usram
+
+    /* 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) }
+}

nuttx-configs/px4-same70xplained-v1/src/Makefile

+############################################################################
+# configs/px4fmu-v2_upstream/src/Makefile
+#
+#   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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS += -I$(TOPDIR)/sched
+
+ASRCS =
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+
+CSRCS = empty.c
+COBJS = $(CSRCS:.c=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep

nuttx-configs/px4-same70xplained-v1/src/empty.c

+/*
+ * There are no source files here, but libboard.a can't be empty, so
+ * we have this empty source file to keep it company.
+ */

src/drivers/boards/common/samv7/board_identity.c

+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_identity.c
+ * Implementation of SamV7 based Board identity API
+ */
+
+#include <px4_config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <chip/sam_memorymap.h>
+#include <chip/sam_eefc.h>
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+const uint32_t DUMMY_SIM_UIDH[4] = {0x12345678, 0x12345678, 0x12345678, 0x12345678 };
+
+void board_get_uuid(uuid_byte_t uuid_bytes)
+{
+	uint32_t *chip_uuid = (uint32_t *) DUMMY_SIM_UIDH;
+	uint32_t  *uuid_words = (uint32_t *) uuid_bytes;
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		*uuid_words++ = SWAP_UINT32(chip_uuid[i]);
+	}
+}
+
+void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	board_get_uuid(*(uuid_byte_t *) uuid_words);
+}
+
+int board_get_uuid32_formated(char *format_buffer, int size,
+			      const char *format,
+			      const char *seperator)
+{
+	uuid_uint32_t uuid;
+	board_get_uuid32(uuid);
+
+	int offset = 0;
+	int sep_size = seperator ? strlen(seperator) : 0;
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - ((i * 2 * sizeof(uint32_t)) + 1), format, uuid[i]);
+
+		if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
+			strcat(&format_buffer[offset], seperator);
+			offset += sep_size;
+		}
+	}
+
+	return 0;
+}
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	board_get_uuid(* (uuid_byte_t *) mfgid);
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
+
+int board_get_mfguid_formated(char *format_buffer, int size)
+{
+	mfguid_t mfguid;
+
+	board_get_mfguid(mfguid);
+	int offset  = 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
+	}
+
+	return offset;
+}

src/drivers/boards/common/samv7/board_mcu_version.c

+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_mcu_version.c
+ * Implementation of SamV7 based SoC version API
+ */
+
+#include <px4_config.h>
+#include <px4_defines.h>
+
+/* Define any issues with the Silicon as lines separated by \n
+ * omitting the last \n
+ */
+#define ERRATA "This code is not finished yet!"
+
+
+int board_mcu_version(char *rev, const char **revstr, const char **errata)
+{
+	*rev = '?';
+	*revstr = "SAM V??";
+
+	if (errata) {
+		*errata = ERRATA;
+	}
+
+	return 0;
+}