[NEW] - bmi088 i2c drivers and crazyflie 2.1 conf

2026-05-23 22:58:10 +08:00 · 2020-12-11 18:48:05 +00:00
parent d7812f83f1
commit 40f971c082
41 changed files with 6686 additions and 0 deletions
@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Crazyflie 2.1
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Shtatov <densht@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x_cw
+set PWM_OUT 1234
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_MC_EST_GROUP 3
+	param set SYS_HAS_MAG 0
+
+	param set BAT_N_CELLS 1
+	param set BAT1_N_CELLS 1
+	param set BAT1_SOURCE 1
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+	param set COM_RC_IN_MODE 1
+
+	param set IMU_GYRO_CUTOFF 100
+	param set IMU_ACCEL_CUTOFF 30
+
+	param set MC_AIRMODE 1
+	param set IMU_DGYRO_CUTOFF 70
+	param set MC_PITCHRATE_D 0.002
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_P 0.07
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3
+
+	param set MPC_THR_HOVER 0.7
+	param set MPC_THR_MAX 1
+	param set MPC_Z_P 1.5
+	param set MPC_Z_VEL_P_ACC 8
+	param set MPC_Z_VEL_I_ACC 6
+	param set MPC_HOLD_MAX_XY 0.1
+	param set MPC_MAX_FLOW_HGT 3
+	#param set IMU_GYRO_NF_FREQ 10
+	#param set IMU_GYRO_NF_BW 20
+
+	param set NAV_RCL_ACT 3
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	# Run the motors at 328.125 kHz (recommended)
+	param set PWM_RATE 3921
+
+	param set SDLOG_PROFILE 1
+
+	param set SENS_FLOW_MINRNG 0.05
+
+
+fi
+
+set PWM_DISARMED none
+set PWM_MAX none
+set PWM_MIN none
+
+syslink start
+mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
@@ -91,6 +91,7 @@ px4_add_romfs_files(
 	4250_teal
 	4500_clover4
 	4900_crazyflie
+	4901_crazyflie21

 	# [5000, 5999] Quadrotor +"
 	5001_quad_+
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 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_subdirectory(syslink)
@@ -0,0 +1,64 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR bitcraze
+	MODEL crazyflie 2.1
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	CONSTRAINED_FLASH
+	DRIVERS
+		distance_sensor/vl53l1x
+		gps
+		optical_flow/pmw3901
+		pwm_out
+		imu/bosch/bmi088/bmi088_i2c
+		barometer/bmp388
+	MODULES
+		attitude_estimator_q
+		#camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		sensors
+		#temperature_compensation
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 14,
+    "magic": "Crazyflie21",
+    "description": "Firmware for the Crazyflie 2.1",
+    "image": "",
+    "build_time": 0,
+    "summary": "CRAZYFLIE 2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board sensors init
+#------------------------------------------------------------------------------
+
+# system_power unavailable
+param set CBRK_SUPPLY_CHK 894281
+
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 4901
+	set AUTOCNF yes
+fi
+
+if [ $AUTOCNF = yes ]
+then
+	# don't probe external I2C
+	param set SENS_EXT_I2C_PRB 0
+fi
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal I2C bus
+bmp388 -I -a 0x77 start
+bmi088_i2c -A -R 0 -I -a 0x18 start
+bmi088_i2c -G -R 0 -I -a 0x69 start
+
+# Optical flow deck
+vl53l1x start -X
@@ -0,0 +1,223 @@
+/************************************************************************************
+ * configs/crazyflie/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012 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 __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H
+#define __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The Crazyflie 2.0 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
+ *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#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/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#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_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_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/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 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_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_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
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ *
+ */
+/* E_TX2 / E_RX2 */
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* E_TX1 / E_RX1 */
+#define GPIO_USART3_RX	GPIO_USART3_RX_2
+#define GPIO_USART3_TX	GPIO_USART3_TX_2
+
+/* NRF51 via syslink */
+#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_TX	GPIO_USART6_TX_1
+
+/* UART DMA configuration for USART6 */
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#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_I2C3_SCL		GPIO_I2C3_SCL_1
+#define GPIO_I2C3_SDA		GPIO_I2C3_SDA_1
+#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
+
+/*
+ * SPI
+ *
+ * E_MISO, E_MOSI, E_SCK exposed on headers
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
+   SPI1 will never run in DMA mode - so we can just give it a random config here.
+   What we really need to do is to make DMA configurable per channel, and always
+   disable it for SPI1. */
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
+#endif  /* __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H */
@@ -0,0 +1,190 @@
+#
+# 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_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_SPI_CALLBACK is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../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_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x0016
+CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
+CONFIG_CDCACM_RXBUFSIZE=300
+CONFIG_CDCACM_TXBUFSIZE=1000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DIRECT_RETRY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MEMINFO=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_AT24XX=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_FATDEVNO=0
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=1
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=196608
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+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_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C3=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=300
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=64
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,152 @@
+/****************************************************************************
+ * configs/crazyflie/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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb 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 CCM 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 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+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)
+		. = 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.*)
+		*(.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
+
+	/*
+	 * 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)
+		. = 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) }
+}
@@ -0,0 +1,47 @@
+############################################################################
+#
+#   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
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		px4_layer
+)
@@ -0,0 +1,233 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ *
+ * PX4-CRAZYFLIE internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* Crazyflie GPIOs **********************************************************************************/
+/* LEDs */
+
+
+/* Radio TX indicator */
+#define GPIO_LED_RED_L       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+			      GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
+/* Radio RX indicator */
+#define GPIO_LED_GREEN_L       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+				GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_LED_GREEN_R       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+				GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_LED_RED_R       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+			      GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
+
+/* PX4: armed state indicator ; Stock FW: Blinking while charging */
+#define GPIO_LED_BLUE_L		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_LED        LED_BLUE
+#define BOARD_ARMED_STATE_LED  LED_GREEN
+
+#define LED_TX 4
+#define LED_RX 5
+
+#define GPIO_FSYNC_MPU9250		(GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
+#define GPIO_DRDY_MPU9250		(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
+
+
+#define GPIO_NRF_TXEN			(GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
+
+#define GPIO_I2C4_DRDY1_BMP388        	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ONBOARD_HZ      400000
+#define PX4_I2C_BUS_EXPANSION_HZ      400000
+
+#define PX4_I2C_BUS_MTD	1
+
+#define BOARD_NUMBER_I2C_BUSES  3
+#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
+
+
+/* Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_MPU9250	0x69
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS 0
+
+/* Tone alarm output : These are only applicable when the buzzer deck is attached */
+#define TONE_ALARM_TIMER	5	/* timer 5 */
+#define TONE_ALARM_CHANNEL 3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+
+/* PWM
+*/
+
+#define DIRECT_PWM_OUTPUT_CHANNELS	4
+
+/* This board overrides the defaults by providing
+ * PX4_PWM_ALTERNATE_RANGES and a replacement set of
+ * constants
+ */
+
+
+/* PWM directly wired to transistor. Duty cycle directly corresponds to power
+ * So we need to override the defaults
+ */
+
+#define PX4_PWM_ALTERNATE_RANGES
+#define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
+#define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *   Called to reset the periferal bus
+ *
+ ****************************************************************************************************/
+
+#define board_peripheral_reset(ms)
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_usbinitialize(void);
+
+/****************************************************************************
+ * Name: board_i2c_initialize
+ *
+ * Description:
+ *   Called to set I2C bus frequencies.
+ *
+ ****************************************************************************/
+
+int board_i2c_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+extern int stm32_spi_bus_initialize(void);
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(3),
+};
@@ -0,0 +1,173 @@
+/****************************************************************************
+ *
+ *   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 crazyflie_init.c
+ *
+ * Crazyflie 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.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#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 <nuttx/board.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/spi/spi.h>
+
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+#include <px4_platform_common/init.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * 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 LEDs */
+
+	board_autoled_initialize();
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+	led_off(LED_TX);
+	led_off(LED_RX);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_SPI
+	int ret = stm32_spi_bus_initialize();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+#endif
+
+	return OK;
+}
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crazyflie_led.c
+ *
+ * Crazyflie LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE_L,  // Indexed by LED_BLUE
+	GPIO_LED_RED_R,   // Indexed by LED_RED, LED_AMBER
+	0,				  // Indexed by LED_SAFETY
+	GPIO_LED_GREEN_R, // Indexed by LED_GREEN
+	GPIO_LED_RED_L,   // Indexed by LED_TX
+	GPIO_LED_GREEN_L  // Indexed by LED_RX
+};
+
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l]) {
+			px4_arch_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+__EXPORT void led_on(int led)
+{
+	/* Pull down to switch on */
+	px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? true : false);
+}
+
+__EXPORT void led_off(int led)
+{
+	/* Pull up to switch off */
+	px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? false : true);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (px4_arch_gpioread(g_ledmap[led])) {
+		px4_arch_gpiowrite(g_ledmap[led], false);
+
+	} else {
+		px4_arch_gpiowrite(g_ledmap[led], true);
+	}
+}
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/gpio.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+#include <systemlib/px4_macros.h>
+#include <nuttx/mmcsd.h>
+
+#include <arm_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include "board_config.h"
+
+
+#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_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI buses on PX4FMU board.
+ *
+ ************************************************************************************/
+static struct spi_dev_s *spi_expansion;
+
+__EXPORT int stm32_spi_bus_initialize(void)
+{
+	/* Configure SPI-based devices */
+
+	/* Get the external SPI port */
+	spi_expansion = stm32_spibus_initialize(1);
+
+	if (!spi_expansion) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
+		return -ENODEV;
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+		return -ENODEV;
+	}
+
+#endif
+
+	return OK;
+}
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 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>
+
+/* IO Timers normally free-run at 1MHz
+ * Here we make adjustments to the Frequency that sets the timer's prescale
+ * so that the prescale is set to 0
+ */
+#define TIMx_CLKIN 1000000
+
+static inline constexpr io_timers_t initIOTimerOverrideClockFreq(Timer::Timer timer)
+{
+	io_timers_t ret = initIOTimer(timer);
+	ret.clock_freq = TIMx_CLKIN;
+	return ret;
+}
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimerOverrideClockFreq(Timer::Timer2),
+	initIOTimerOverrideClockFreq(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   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 crazyflie_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4-STM32F4Discovery board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
+
@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2016 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 modules__syslink
+	MAIN syslink
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		ringbuffer.cpp
+		syslink_main.cpp
+		syslink_bridge.cpp
+		syslink_memory.cpp
+		syslink.c
+	DEPENDS
+		battery
+	)
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 <stdint.h>
+
+#define CRTP_PORT_CONSOLE 0x00
+#define CRTP_PORT_PARAM	0x02
+#define CRTP_PORT_COMMANDER	0x03
+#define CRTP_PORT_MEM 0x04
+#define CRTP_PORT_LOG 0x05
+
+#define CRTP_PORT_MAVLINK 0x08 // Non-standard port for transmitting mavlink messages
+
+#define CRTP_PORT_PLATFORM 0x0D
+#define CRTP_PORT_DEBUG 0x0E
+#define CRTP_PORT_LINK 0x0F
+
+#define CRTP_NULL(x) (((x).header & 0xf3) == 0xf3)
+
+// 1 byte header + 31 bytes data = 32 (max ESB packet size)
+// With the NRF51, this could be increased to ~250, but the Crazyradio PA uses a NRF24 which can't do this
+#define CRTP_MAX_DATA_SIZE 31
+
+typedef struct {
+	uint8_t size; // Total size of this message, including the header (placed here to overlap with syslink length field)
+	union {
+		uint8_t header;
+		struct {
+			uint8_t channel : 2;
+			uint8_t link : 2;
+			uint8_t port : 4;
+		};
+	};
+
+	uint8_t data[CRTP_MAX_DATA_SIZE];
+} __attribute__((packed)) crtp_message_t;
+
+
+typedef struct {
+	float roll; // -20 to 20
+	float pitch;
+	float yaw; // -150 to 150
+	uint16_t thrust;
+} crtp_commander;
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 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.
+ *
+ ****************************************************************************/
+
+/* Definitions for crazyflie related drivers */
+
+#ifndef _DRV_CRAZYFLIE_H
+#define _DRV_CRAZYFLIE_H
+
+#include <px4_platform_common/defines.h>
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+
+#define DECK_DEVICE_PATH	"/dev/deck"
+
+
+
+/* structure of the data stored in deck memory */
+typedef struct {
+	uint8_t header; // Should be 0xEB
+	uint32_t pins;
+	uint8_t vendorId;
+	uint8_t productId;
+	uint8_t crc;
+	uint8_t data[104];
+
+} __attribute__((packed)) deck_descriptor_t;
+
+
+
+/*
+ * ioctl() definitions
+ */
+
+#define _DECKIOCBASE		(0x4100)
+#define _DECKIOC(_n)		(_PX4_IOC(_DECKIOCBASE, _n))
+
+/** get the number of connected deck memory devices */
+#define DECKIOGNUM	_DECKIOC(0)
+
+/** set the index of the current deck memory being accessed */
+#define DECKIOSNUM	_DECKIOC(1)
+
+#define DECKIOID	_DECKIOC(2)
+
+
+
+
+#endif
@@ -0,0 +1,418 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ringbuffer.cpp
+ *
+ * A flexible ringbuffer class.
+ */
+
+#include "ringbuffer.h"
+#include <string.h>
+
+namespace ringbuffer
+{
+
+RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
+	_num_items(num_items),
+	_item_size(item_size),
+	_buf(new char[(_num_items + 1) * item_size]),
+	_head(_num_items),
+	_tail(_num_items)
+{}
+
+RingBuffer::~RingBuffer()
+{
+	delete[] _buf;
+}
+
+unsigned
+RingBuffer::_next(unsigned index)
+{
+	return (0 == index) ? _num_items : (index - 1);
+}
+
+bool
+RingBuffer::empty()
+{
+	return _tail == _head;
+}
+
+bool
+RingBuffer::full()
+{
+	return _next(_head) == _tail;
+}
+
+unsigned
+RingBuffer::size()
+{
+	return (_buf != nullptr) ? _num_items : 0;
+}
+
+void
+RingBuffer::flush()
+{
+	while (!empty()) {
+		get(nullptr);
+	}
+}
+
+bool
+RingBuffer::put(const void *val, size_t val_size)
+{
+	unsigned next = _next(_head);
+
+	if (next != _tail) {
+		if ((val_size == 0) || (val_size > _item_size)) {
+			val_size = _item_size;
+		}
+
+		memcpy(&_buf[_head * _item_size], val, val_size);
+		_head = next;
+		return true;
+
+	} else {
+		return false;
+	}
+}
+
+bool
+RingBuffer::put(int8_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(uint8_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(int16_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(uint16_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(int32_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(uint32_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(int64_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(uint64_t val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(float val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::put(double val)
+{
+	return put(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(const void *val, size_t val_size)
+{
+	bool overwrote = false;
+
+	for (;;) {
+		if (put(val, val_size)) {
+			break;
+		}
+
+		get(nullptr);
+		overwrote = true;
+	}
+
+	return overwrote;
+}
+
+bool
+RingBuffer::force(int8_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(uint8_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(int16_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(uint16_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(int32_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(uint32_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(int64_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(uint64_t val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(float val)
+{
+	return force(&val, sizeof(val));
+}
+
+bool
+RingBuffer::force(double val)
+{
+	return force(&val, sizeof(val));
+}
+
+// FIXME - clang crashes on this get() call
+#ifdef __PX4_QURT
+#define __PX4_SBCAP my_sync_bool_compare_and_swap
+static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
+{
+	if (*a == b) {
+		*a = c;
+		return true;
+	}
+
+	return false;
+}
+
+#else
+#define __PX4_SBCAP __sync_bool_compare_and_swap
+#endif
+bool
+RingBuffer::get(void *val, size_t val_size)
+{
+	if (_tail != _head) {
+		unsigned candidate;
+		unsigned next;
+
+		if ((val_size == 0) || (val_size > _item_size)) {
+			val_size = _item_size;
+		}
+
+		do {
+			/* decide which element we think we're going to read */
+			candidate = _tail;
+
+			/* and what the corresponding next index will be */
+			next = _next(candidate);
+
+			/* go ahead and read from this index */
+			if (val != nullptr) {
+				memcpy(val, &_buf[candidate * _item_size], val_size);
+			}
+
+			/* if the tail pointer didn't change, we got our item */
+		} while (!__PX4_SBCAP(&_tail, candidate, next));
+
+		return true;
+
+	} else {
+		return false;
+	}
+}
+
+bool
+RingBuffer::get(int8_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(uint8_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(int16_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(uint16_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(int32_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(uint32_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(int64_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(uint64_t &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(float &val)
+{
+	return get(&val, sizeof(val));
+}
+
+bool
+RingBuffer::get(double &val)
+{
+	return get(&val, sizeof(val));
+}
+
+unsigned
+RingBuffer::space()
+{
+	unsigned tail, head;
+
+	/*
+	 * Make a copy of the head/tail pointers in a fashion that
+	 * may err on the side of under-estimating the free space
+	 * in the buffer in the case that the buffer is being updated
+	 * asynchronously with our check.
+	 * If the head pointer changes (reducing space) while copying,
+	 * re-try the copy.
+	 */
+	do {
+		head = _head;
+		tail = _tail;
+	} while (head != _head);
+
+	return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
+}
+
+unsigned
+RingBuffer::count()
+{
+	/*
+	 * Note that due to the conservative nature of space(), this may
+	 * over-estimate the number of items in the buffer.
+	 */
+	return _num_items - space();
+}
+
+bool
+RingBuffer::resize(unsigned new_size)
+{
+	char *old_buffer;
+	char *new_buffer = new char [(new_size + 1) * _item_size];
+
+	if (new_buffer == nullptr) {
+		return false;
+	}
+
+	old_buffer = _buf;
+	_buf = new_buffer;
+	_num_items = new_size;
+	_head = new_size;
+	_tail = new_size;
+	delete[] old_buffer;
+	return true;
+}
+
+void
+RingBuffer::print_info(const char *name)
+{
+	printf("%s	%u/%lu (%u/%u @ %p)\n",
+	       name,
+	       _num_items,
+	       (unsigned long)_num_items * _item_size,
+	       _head,
+	       _tail,
+	       _buf);
+}
+
+} // namespace ringbuffer
@@ -0,0 +1,179 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ringbuffer.h
+ *
+ * A flexible ringbuffer class.
+ */
+
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+
+namespace ringbuffer __EXPORT
+{
+
+class RingBuffer
+{
+public:
+	RingBuffer(unsigned num_items, size_t item_size);
+	virtual ~RingBuffer();
+
+	/**
+	 * Put an item into the buffer.
+	 *
+	 * @param val		Item to put
+	 * @return		true if the item was put, false if the buffer is full
+	 */
+	bool			put(const void *val, size_t val_size = 0);
+
+	bool			put(int8_t val);
+	bool			put(uint8_t val);
+	bool			put(int16_t val);
+	bool			put(uint16_t val);
+	bool			put(int32_t val);
+	bool			put(uint32_t val);
+	bool			put(int64_t val);
+	bool			put(uint64_t val);
+	bool			put(float val);
+	bool			put(double val);
+
+	/**
+	 * Force an item into the buffer, discarding an older item if there is not space.
+	 *
+	 * @param val		Item to put
+	 * @return		true if an item was discarded to make space
+	 */
+	bool			force(const void *val, size_t val_size = 0);
+
+	bool			force(int8_t val);
+	bool			force(uint8_t val);
+	bool			force(int16_t val);
+	bool			force(uint16_t val);
+	bool			force(int32_t val);
+	bool			force(uint32_t val);
+	bool			force(int64_t val);
+	bool			force(uint64_t val);
+	bool			force(float val);
+	bool			force(double val);
+
+	/**
+	 * Get an item from the buffer.
+	 *
+	 * @param val		Item that was gotten
+	 * @return		true if an item was got, false if the buffer was empty.
+	 */
+	bool			get(void *val, size_t val_size = 0);
+
+	bool			get(int8_t &val);
+	bool			get(uint8_t &val);
+	bool			get(int16_t &val);
+	bool			get(uint16_t &val);
+	bool			get(int32_t &val);
+	bool			get(uint32_t &val);
+	bool			get(int64_t &val);
+	bool			get(uint64_t &val);
+	bool			get(float &val);
+	bool			get(double &val);
+
+	/*
+	 * Get the number of slots free in the buffer.
+	 *
+	 * @return		The number of items that can be put into the buffer before
+	 *			it becomes full.
+	 */
+	unsigned		space(void);
+
+	/*
+	 * Get the number of items in the buffer.
+	 *
+	 * @return		The number of items that can be got from the buffer before
+	 *			it becomes empty.
+	 */
+	unsigned		count(void);
+
+	/*
+	 * Returns true if the buffer is empty.
+	 */
+	bool			empty();
+
+	/*
+	 * Returns true if the buffer is full.
+	 */
+	bool			full();
+
+	/*
+	 * Returns the capacity of the buffer, or zero if the buffer could
+	 * not be allocated.
+	 */
+	unsigned		size();
+
+	/*
+	 * Empties the buffer.
+	 */
+	void			flush();
+
+	/*
+	 * resize the buffer. This is unsafe to be called while
+	 * a producer or consuming is running. Caller is responsible
+	 * for any locking needed
+	 *
+	 * @param new_size	new size for buffer
+	 * @return		true if the resize succeeds, false if
+	 * 			not (allocation error)
+	 */
+	bool			resize(unsigned new_size);
+
+	/*
+	 * printf() some info on the buffer
+	 */
+	void			print_info(const char *name);
+
+private:
+	unsigned		_num_items;
+	const size_t		_item_size;
+	char			*_buf;
+	volatile unsigned	_head;	/**< insertion point in _item_size units */
+	volatile unsigned	_tail;	/**< removal point in _item_size units */
+
+	unsigned		_next(unsigned index);
+
+	/* we don't want this class to be copied */
+	RingBuffer(const RingBuffer &);
+	RingBuffer operator=(const RingBuffer &);
+};
+
+} // namespace ringbuffer
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 syslink.c
+ *
+ * Crazyflie Syslink protocol implementation
+ *
+ * @author Dennis Shtatnov <densht@gmail.com>
+ */
+
+
+#include <px4_platform_common/defines.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <systemlib/err.h>
+#include <poll.h>
+#include <termios.h>
+
+
+#include "syslink.h"
+
+
+const char *syslink_magic = "\xbc\xcf";
+
+void syslink_parse_init(syslink_parse_state *state)
+{
+	state->state = SYSLINK_STATE_START;
+	state->index = 0;
+}
+
+
+int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg)
+{
+
+	switch (state->state) {
+	case SYSLINK_STATE_START:
+		if (c == syslink_magic[state->index]) {
+			state->index++;
+
+		} else {
+			state->index = 0;
+		}
+
+		if (syslink_magic[state->index] == '\x00') {
+			state->state = SYSLINK_STATE_TYPE;
+		}
+
+		break;
+
+	case SYSLINK_STATE_TYPE:
+		msg->type = c;
+		state->state = SYSLINK_STATE_LENGTH;
+		break;
+
+	case SYSLINK_STATE_LENGTH:
+		msg->length = c;
+
+		if (c > SYSLINK_MAX_DATA_LEN) { // Too long
+			state->state = SYSLINK_STATE_START;
+
+		} else {
+			state->state = c > 0 ? SYSLINK_STATE_DATA : SYSLINK_STATE_CKSUM;
+		}
+
+		state->index = 0;
+		break;
+
+	case SYSLINK_STATE_DATA:
+		msg->data[state->index++] = c;
+
+		if (state->index >= msg->length) {
+			state->state = SYSLINK_STATE_CKSUM;
+			state->index = 0;
+			syslink_compute_cksum(msg);
+		}
+
+		break;
+
+	case SYSLINK_STATE_CKSUM:
+		if (c != msg->cksum[state->index]) {
+			PX4_INFO("Bad checksum");
+			state->state = SYSLINK_STATE_START;
+			state->index = 0;
+			break;
+		}
+
+		state->index++;
+
+		if (state->index >= (int)sizeof(msg->cksum)) {
+			state->state = SYSLINK_STATE_START;
+			state->index = 0;
+			return 1;
+		}
+
+
+		break;
+	}
+
+	return 0;
+
+}
+
+/*
+	Computes Fletcher 8bit checksum per RFC1146
+	A := A + D[i]
+	B := B + A
+*/
+void syslink_compute_cksum(syslink_message_t *msg)
+{
+	uint8_t a = 0, b = 0;
+	uint8_t *Di = (uint8_t *)msg, *end = Di + (2 + msg->length) * sizeof(uint8_t);
+
+	while (Di < end) {
+		a = a + *Di;
+		b = b + a;
+		++Di;
+	}
+
+	msg->cksum[0] = a;
+	msg->cksum[1] = b;
+}
@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 <stdint.h>
+
+
+extern const char *syslink_magic;
+
+#define SYSLINK_GROUP	0xF0
+
+#define SYSLINK_RADIO	0x00
+#define SYSLINK_RADIO_RAW	0x00
+#define SYSLINK_RADIO_CHANNEL	0x01
+#define SYSLINK_RADIO_DATARATE	0x02
+#define SYSLINK_RADIO_CONTWAVE	0x03
+#define SYSLINK_RADIO_RSSI	0x04
+#define SYSLINK_RADIO_ADDRESS	0x05
+
+#define SYSLINK_PM	0x10
+#define SYSLINK_PM_SOURCE	0x10
+#define SYSLINK_PM_ONOFF_SWITCHOFF	0x11
+#define SYSLINK_PM_BATTERY_VOLTAGE	0x12
+#define SYSLINK_PM_BATTERY_STATE	0x13
+#define SYSLINK_PM_BATTERY_AUTOUPDATE	0x14
+
+#define SYSLINK_OW	0x20
+#define SYSLINK_OW_SCAN	0x20
+#define SYSLINK_OW_GETINFO	0x21
+#define SYSLINK_OW_READ	0x22
+#define SYSLINK_OW_WRITE	0x23
+
+// Limited by the CRTP packet which is limited by the ESB protocol used by the NRF
+#define SYSLINK_MAX_DATA_LEN	32
+
+#define SYSLINK_RADIO_RATE_250K 0
+#define SYSLINK_RADIO_RATE_1M 1
+#define SYSLINK_RADIO_RATE_2M 2
+
+
+typedef struct {
+	uint8_t type;
+	uint8_t length;
+	uint8_t data[SYSLINK_MAX_DATA_LEN];
+	uint8_t cksum[2];
+} __attribute__((packed)) syslink_message_t;
+
+
+#define OW_SIZE 112
+#define OW_READ_BLOCK 29
+#define OW_WRITE_BLOCK 26 // TODO: Use even, but can be up to 27
+
+typedef struct {
+	uint8_t nmems;
+} __attribute__((packed)) syslink_ow_scan_t;
+
+typedef struct {
+	uint8_t family; // Should by 0x0D for most chips
+	uint8_t sn[6];
+	uint8_t crc;
+} __attribute__((packed)) syslink_ow_id_t;
+
+typedef struct {
+	uint8_t idx;
+	uint8_t id[8];
+} __attribute__((packed)) syslink_ow_getinfo_t;
+
+typedef struct {
+	uint8_t idx;
+	uint16_t addr;
+	uint8_t data[OW_READ_BLOCK];
+} __attribute__((packed)) syslink_ow_read_t;
+
+typedef struct {
+	uint8_t idx;
+	uint16_t addr;
+	uint16_t length;
+	uint8_t data[OW_WRITE_BLOCK];
+} __attribute__((packed)) syslink_ow_write_t;
+
+
+typedef enum {
+	SYSLINK_STATE_START = 0,
+	SYSLINK_STATE_TYPE,
+	SYSLINK_STATE_LENGTH,
+	SYSLINK_STATE_DATA,
+	SYSLINK_STATE_CKSUM
+} SYSLINK_STATE;
+
+typedef struct  {
+	SYSLINK_STATE state;
+	int index;
+
+} syslink_parse_state;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void syslink_parse_init(syslink_parse_state *state);
+
+// Returns true if a full message was parsed
+extern int syslink_parse_char(syslink_parse_state *state, char c, syslink_message_t *msg);
+
+extern void syslink_compute_cksum(syslink_message_t *msg);
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 syslink_bridge.cpp
+ *
+ * Character device for talking to the radio as a plain serial port
+ */
+
+#include "syslink_main.h"
+#include <cstring>
+
+
+
+SyslinkBridge::SyslinkBridge(Syslink *link) :
+	CDev("/dev/bridge0"),
+	_link(link),
+	_readbuffer(16, sizeof(crtp_message_t))
+{
+	_msg_to_send.header = 0;
+	_msg_to_send.size = sizeof(_msg_to_send.header);
+	_msg_to_send.port = CRTP_PORT_MAVLINK;
+	_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1; // to send 30 bytes of data
+	//ideally _msg_to_send.data size should be CRTP_MAX_DATA_SIZE but cfbridge does not receive 31 bytes of data due to a bug somewhere
+}
+
+int
+SyslinkBridge::init()
+{
+	int ret = CDev::init();
+
+	/* if init failed, bail now */
+	if (ret != OK) {
+		PX4_DEBUG("CDev init failed");
+		return ret;
+	}
+
+
+	return ret;
+}
+
+pollevent_t
+SyslinkBridge::poll_state(struct file *filp)
+{
+	pollevent_t state = 0;
+
+	if (!_readbuffer.empty()) {
+		state |= POLLIN;
+	}
+
+	if (_link->_writebuffer.space() > 0) {
+		state |= POLLOUT;
+	}
+
+	return state;
+}
+
+ssize_t
+SyslinkBridge::read(struct file *filp, char *buffer, size_t buflen)
+{
+	int nread = 0;
+	crtp_message_t msg;
+
+	while (!_readbuffer.empty() && buflen >= sizeof(CRTP_MAX_DATA_SIZE)) {
+		_readbuffer.get(&msg, sizeof(msg));
+		int size = msg.size - sizeof(msg.header);
+		memcpy(buffer, &msg.data, size);
+
+		nread += size;
+		buffer += size;
+		buflen -= size;
+	}
+
+	return nread;
+}
+
+ssize_t
+SyslinkBridge::write(struct file *filp, const char *buffer, size_t buflen)
+{
+	int buflen_rem = buflen;
+
+	while (buflen_rem > 0) {
+
+		int datasize = MIN(_msg_to_send_size_remaining, buflen_rem);
+		_msg_to_send.size += datasize;
+		memcpy(&_msg_to_send.data[CRTP_MAX_DATA_SIZE - 1 - _msg_to_send_size_remaining], buffer, datasize);
+
+		buffer += datasize;
+		_msg_to_send_size_remaining -= datasize;
+		buflen_rem -= datasize;
+
+
+		if (_msg_to_send_size_remaining == 0) {
+
+			if (_link->_writebuffer.force(&_msg_to_send, sizeof(crtp_message_t))) {
+				PX4_WARN("write buffer overflow");
+			}
+
+			_msg_to_send.size = sizeof(_msg_to_send.header);
+			_msg_to_send_size_remaining = CRTP_MAX_DATA_SIZE - 1;
+		}
+	}
+
+	return buflen;
+}
+
+int
+SyslinkBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	// All termios commands should be silently ignored as they are handled
+
+	switch (cmd) {
+
+	case FIONSPACE:
+		*((int *) arg) = _link->_writebuffer.space() * CRTP_MAX_DATA_SIZE;
+		return 0;
+
+	default:
+		/* give it to the superclass */
+		CDev::ioctl(filp, cmd, arg);
+		return 0;
+	}
+}
+
+
+void
+SyslinkBridge::pipe_message(crtp_message_t *msg)
+{
+	_readbuffer.force(msg, sizeof(msg->size) + msg->size);
+	poll_notify(POLLIN);
+}
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 <stdint.h>
+
+#include <battery/battery.h>
+
+#include <drivers/device/device.h>
+#include "ringbuffer.h"
+
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/input_rc.h>
+
+#include "syslink.h"
+#include "crtp.h"
+
+using namespace time_literals;
+
+#define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
+
+typedef enum {
+	BAT_DISCHARGING = 0,
+	BAT_CHARGING = 1,
+	BAT_CHARGED = 2
+} battery_state;
+
+
+class SyslinkBridge;
+class SyslinkMemory;
+
+class Syslink
+{
+public:
+	Syslink();
+
+	int start();
+
+	int set_datarate(uint8_t datarate);
+	int set_channel(uint8_t channel);
+	int set_address(uint64_t addr);
+
+	int is_good(int i) { return _params_ack[i] != 0; }
+
+	int pktrate;
+	int nullrate;
+	int rxrate;
+	int txrate;
+
+private:
+	friend class SyslinkBridge;
+	friend class SyslinkMemory;
+
+	int open_serial(const char *dev);
+
+	void handle_message(syslink_message_t *msg);
+	void handle_raw(syslink_message_t *sys);
+	void handle_radio(syslink_message_t *sys);
+	void handle_bootloader(syslink_message_t *sys);
+
+	// Handles other types of messages that we don't really care about, but
+	// will be maintained with the bare minimum implementation for supporting
+	// other crazyflie libraries
+	void handle_raw_other(syslink_message_t *sys);
+
+	int send_bytes(const void *data, size_t len);
+
+	// Checksums and transmits a syslink message
+	int send_message(syslink_message_t *msg);
+
+	int send_queued_raw_message();
+
+	void update_params(bool force_set);
+
+	int _syslink_task;
+	bool _task_running;
+	bool _bootloader_mode;
+
+	int _count;
+	int _null_count;
+	int _count_in;
+	int _count_out;
+	hrt_abstime _lasttime;
+	hrt_abstime _lasttxtime; // Last time a radio message was sent
+	hrt_abstime _lastrxtime; // Last time a radio message was recieved
+
+	int _fd;
+
+	// For receiving raw syslink messages to send from other processes
+	ringbuffer::RingBuffer _queue;
+
+	// Stores data that was needs to be written as a raw message
+	ringbuffer::RingBuffer _writebuffer;
+	SyslinkBridge *_bridge;
+	SyslinkMemory *_memory;
+
+	int _params_sub;
+
+	// Current parameter values
+	int32_t _channel, _rate;
+	uint64_t _addr;
+	hrt_abstime _params_update[3]; // Time at which the parameters were updated
+	hrt_abstime _params_ack[3]; // Time at which the parameters were acknowledged by the nrf module
+
+	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
+
+	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
+	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
+
+	int32_t _rssi;
+	battery_state _bstate;
+
+	px4_sem_t memory_sem;
+
+	syslink_message_t memory_msg;
+
+	static int task_main_trampoline(int argc, char *argv[]);
+
+	void task_main();
+};
+
+
+class SyslinkBridge : public cdev::CDev
+{
+
+public:
+	SyslinkBridge(Syslink *link);
+	virtual ~SyslinkBridge() = default;
+
+	virtual int	init();
+
+	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
+	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	// Makes the message available for reading to processes reading from the bridge
+	void pipe_message(crtp_message_t *msg);
+
+protected:
+	virtual pollevent_t poll_state(struct file *filp);
+
+private:
+	Syslink *_link;
+
+	// Stores data that was received from syslink but not yet read by another driver
+	ringbuffer::RingBuffer _readbuffer;
+
+	crtp_message_t _msg_to_send;
+	int _msg_to_send_size_remaining;
+};
+
+
+class SyslinkMemory : public cdev::CDev
+{
+
+public:
+	SyslinkMemory(Syslink *link);
+	virtual ~SyslinkMemory() = default;
+
+	virtual int	init();
+
+	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
+	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+	friend class Syslink;
+
+	Syslink *_link;
+
+	int _activeI;
+
+	syslink_message_t msgbuf;
+
+	uint8_t scan();
+	void getinfo(int i);
+
+	int read(int i, uint16_t addr, char *buf, int length);
+	int write(int i, uint16_t addr, const char *buf, int length);
+
+	void sendAndWait();
+};
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 "syslink_main.h"
+
+#include "drv_deck.h"
+
+#include <cstring>
+
+
+SyslinkMemory::SyslinkMemory(Syslink *link) :
+	CDev(DECK_DEVICE_PATH),
+	_link(link),
+	_activeI(0)
+{
+}
+
+
+int
+SyslinkMemory::init()
+{
+	int ret = CDev::init();
+
+	/* if init failed, bail now */
+	if (ret != OK) {
+		PX4_DEBUG("CDev init failed");
+		return ret;
+	}
+
+
+	return ret;
+}
+
+ssize_t
+SyslinkMemory::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return read(_activeI, 0, buffer, buflen);
+}
+
+ssize_t
+SyslinkMemory::write(struct file *filp, const char *buffer, size_t buflen)
+{
+	// For now, unsupported
+	return -1;
+//	return buflen;
+}
+
+int
+SyslinkMemory::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case DECKIOGNUM:
+		*((int *) arg) = scan();
+		return 0;
+
+	case DECKIOSNUM:
+		_activeI = *((int *) arg);
+		return 0;
+
+	case DECKIOID: {
+			syslink_ow_getinfo_t *data = (syslink_ow_getinfo_t *) &msgbuf.data;
+			getinfo(_activeI);
+			*((uint8_t **)arg) = data->id;
+			return 8;
+		}
+
+	default:
+		CDev::ioctl(filp, cmd, arg);
+		return 0;
+	}
+}
+
+
+uint8_t
+SyslinkMemory::scan()
+{
+	syslink_ow_scan_t *data = (syslink_ow_scan_t *) &msgbuf.data;
+	msgbuf.type = SYSLINK_OW_SCAN;
+	msgbuf.length = 0;
+	sendAndWait();
+
+	return data->nmems;
+}
+
+void
+SyslinkMemory::getinfo(int i)
+{
+	syslink_ow_getinfo_t *data = (syslink_ow_getinfo_t *) &msgbuf.data;
+	msgbuf.type = SYSLINK_OW_GETINFO;
+	msgbuf.length = 1;
+	data->idx = i;
+	sendAndWait();
+}
+
+int
+SyslinkMemory::read(int i, uint16_t addr, char *buf, int length)
+{
+	syslink_ow_read_t *data = (syslink_ow_read_t *) &msgbuf.data;
+	msgbuf.type = SYSLINK_OW_READ;
+
+	int nread = 0;
+
+	while (nread < length) {
+
+		msgbuf.length = 3;
+		data->idx = i;
+		data->addr = addr;
+		sendAndWait();
+
+		// Number of bytes actually read
+		int n = MIN(length - nread, msgbuf.length - 3);
+
+		if (n == 0) {
+			break;
+		}
+
+		memcpy(buf, data->data, n);
+		nread += n;
+		buf += n;
+		addr += n;
+	}
+
+	return nread;
+}
+
+int
+SyslinkMemory::write(int i, uint16_t addr, const char *buf, int length)
+{
+	// TODO: Unimplemented
+	return -1;
+}
+
+void
+SyslinkMemory::sendAndWait()
+{
+	// TODO: Force the syslink thread to wake up
+	_link->_queue.force(&msgbuf, sizeof(msgbuf));
+	px4_sem_wait(&_link->memory_sem);
+}
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 syslink_params.c
+ *
+ * Parameters defined by the syslink module and the exposed NRF51 radio
+ *
+ * @author Dennis Shtatnov <densht@gmail.com>
+ */
+
+/**
+ * Operating channel of the NRF51
+ *
+ * @min 0
+ * @max 125
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_CHAN, 80);
+
+/**
+ * Operating datarate of the NRF51
+ *
+ * @min 0
+ * @max 2
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_RATE, 2);
+
+/**
+ * Operating address of the NRF51 (most significant byte)
+ *
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_ADDR1, 231); // 0xE7
+
+/**
+ * Operating address of the NRF51 (least significant 4 bytes)
+ *
+ * @group Syslink
+ */
+PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "BMI088.hpp"
+
+#include "BMI088_Accelerometer.hpp"
+#include "BMI088_Gyroscope.hpp"
+
+I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				      int runtime_instance)
+{
+	BMI088 *instance = nullptr;
+
+	if (cli.type == DRV_ACC_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
+				cli.i2c_address, cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+
+	} else if (cli.type == DRV_GYR_DEVTYPE_BMI088) {
+		instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
+				cli.i2c_address, cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+	}
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (OK != instance->init()) {
+		delete instance;
+		return nullptr;
+	}
+
+	return instance;
+}
+
+BMI088::BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device,
+	       enum spi_mode_e mode, uint32_t frequency, spi_drdy_gpio_t drdy_gpio) :
+	I2C(devtype, name, bus, device, frequency),
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
+	_drdy_gpio(drdy_gpio)
+{
+}
+
+int BMI088::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+	int res = Reset() ? 0 : -1;
+	_state = STATE::SELFTEST;
+
+	return res;
+}
+
+bool BMI088::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
+
+class BMI088 : public device::I2C, public I2CSPIDriver<BMI088>
+{
+public:
+	BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device, enum spi_mode_e mode,
+	       uint32_t frequency, spi_drdy_gpio_t drdy_gpio);
+
+	virtual ~BMI088() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	virtual void RunImpl() = 0;
+
+	int init() override;
+	virtual void print_status() = 0;
+
+protected:
+
+	bool Reset();
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+	int _failure_count{0};
+	int _overflow_data_size_count{0};
+	int _overflow_fifo_max_samples_count{0};
+	int _fifo_read_error_count{0};
+	int _empty_count{0};
+	int _total_failure_count{0};
+
+
+	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	bool _data_ready_interrupt_enabled{false};
+
+	enum class STATE : uint8_t {
+		SELFTEST,
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_READ,
+	};
+
+	STATE _state{STATE::SELFTEST};
+
+	uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
+
+};
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "BMI088.hpp"
+
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+
+#include "Bosch_BMI088_Accelerometer_Registers.hpp"
+
+namespace Bosch::BMI088::Accelerometer
+{
+
+class BMI088_Accelerometer : public BMI088
+{
+public:
+	BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+			     spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	~BMI088_Accelerometer() override;
+
+	void RunImpl() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	// static constexpr uint32_t RATE{1600}; // 1600 Hz
+	static constexpr uint32_t RATE{1600}; // 1600 Hz
+	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
+
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_LENGTH_0)};
+		uint8_t dummy{0};
+		uint8_t FIFO_LENGTH_0{0};
+		uint8_t FIFO_LENGTH_1{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// Transfer data without length
+	struct FIFOTransferBufferWithoutLength {
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Configure();
+	void ConfigureAccel();
+	void ConfigureSampleRate(int sample_rate = 0);
+	void ConfigureFIFOWatermark(uint8_t samples);
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	bool RegisterCheck(const register_config_t &reg_cfg);
+
+	uint8_t RegisterRead(Register reg);
+	uint8_t RegisterWrite(Register reg, uint8_t value);
+	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
+	void FIFOReset();
+
+	void UpdateTemperature();
+	void UnpackSensorData(struct FIFO::bmi08x_sensor_data *sens_data, uint8_t *buffer);
+	bool SelfTest();
+	float* ReadAccelData();
+	float* ReadAccelDataFIFO();
+	float* SensorDataTomg(float* data);
+	uint8_t CheckSensorErrReg();
+	bool SimpleFIFORead(const hrt_abstime &timestamp_sample);
+	bool NormalRead(const hrt_abstime &timestamp_sample);
+	bool FIFOReadTest(const hrt_abstime &timestamp_sample);
+
+	PX4Accelerometer _px4_accel;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	uint8_t _fifo_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / RATE))};
+
+	uint8_t _checked_register{0};
+	static constexpr uint8_t size_register_cfg{10};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register                        | Set bits, Clear bits
+		{ Register::ACC_PWR_CONF,          0, ACC_PWR_CONF_BIT::acc_pwr_save }, //
+		{ Register::ACC_PWR_CTRL,          ACC_PWR_CTRL_BIT::acc_enable, 0 },
+		{ Register::ACC_CONF,              ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
+		{ Register::ACC_RANGE,             ACC_RANGE_BIT::acc_range_24g, 0 },
+		{ Register::FIFO_WTM_0,            0, 0 },
+		{ Register::FIFO_WTM_1,            0, 0 },
+		{ Register::FIFO_CONFIG_0,         FIFO_CONFIG_0_BIT::BIT1_ALWAYS | FIFO_CONFIG_0_BIT::FIFO_mode, 0 },
+		{ Register::FIFO_CONFIG_1,         FIFO_CONFIG_1_BIT::BIT4_ALWAYS | FIFO_CONFIG_1_BIT::Acc_en, 0 },
+		{ Register::INT1_IO_CONF,          INT1_IO_CONF_BIT::int1_out, 0 },
+		{ Register::INT1_INT2_MAP_DATA,    INT1_INT2_MAP_DATA_BIT::int1_fwm, 0},
+	};
+};
+
+} // namespace Bosch::BMI088::Accelerometer
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "BMI088.hpp"
+
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+
+#include "Bosch_BMI088_Gyroscope_Registers.hpp"
+
+namespace Bosch::BMI088::Gyroscope
+{
+
+class BMI088_Gyroscope : public BMI088
+{
+public:
+	BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+			 spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	~BMI088_Gyroscope() override;
+
+	void RunImpl() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr uint32_t RATE{400}; // 2000 Hz
+	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
+
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_DATA) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Configure();
+	void ConfigureGyro();
+	void ConfigureSampleRate(int sample_rate = 0);
+	void ConfigureFIFOWatermark(uint8_t samples);
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	bool RegisterCheck(const register_config_t &reg_cfg);
+
+	uint8_t RegisterRead(Register reg);
+	void RegisterWrite(Register reg, uint8_t value);
+	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
+
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
+	void FIFOReset();
+
+	bool SelfTest();
+	bool NormalRead(const hrt_abstime &timestamp_sample);
+	bool FIFOReadTest(const hrt_abstime &timestamp_sample);
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	uint8_t _fifo_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / RATE))};
+
+	uint8_t _checked_register{0};
+	static constexpr uint8_t size_register_cfg{8};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register                         | Set bits, Clear bits
+		{ Register::GYRO_RANGE,             GYRO_RANGE_BIT::gyro_range_2000_dps, 0 },
+		{ Register::GYRO_BANDWIDTH,         0, GYRO_BANDWIDTH_BIT::gyro_bw_2000_Hz},
+		{ Register::GYRO_INT_CTRL,          GYRO_INT_CTRL_BIT::fifo_en, 0 },
+		{ Register::INT3_INT4_IO_CONF,      0, INT3_INT4_IO_CONF_BIT::Int3_od | INT3_INT4_IO_CONF_BIT::Int3_lvl },
+		{ Register::INT3_INT4_IO_MAP,       INT3_INT4_IO_MAP_BIT::Int3_fifo, 0 },
+		{ Register::FIFO_WM_ENABLE,         FIFO_WM_ENABLE_BIT::fifo_wm_enable, 0 },
+		{ Register::FIFO_CONFIG_0,          0, 0 }, // fifo_water_mark_level_trigger_retain<6:0>
+		{ Register::FIFO_CONFIG_1,          FIFO_CONFIG_1_BIT::FIFO_MODE_STREAM, 0 },
+	};
+};
+
+} // namespace Bosch::BMI088::Gyroscope
@@ -0,0 +1,202 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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
+
+namespace Bosch::BMI088::Accelerometer
+{
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
+
+static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
+static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
+static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
+
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t ID = 0x1E;
+
+static constexpr uint8_t ACC_I2C_ADDR_PRIMARY = 0x18;
+static constexpr uint8_t ACC_I2C_ADDR_SECONDARY = 0x19;
+
+enum class Register : uint8_t {
+	ACC_CHIP_ID        = 0x00,
+	ACC_ERR_REG        = 0x02,
+
+	TEMP_MSB           = 0x22,
+	TEMP_LSB           = 0x23,
+
+	FIFO_LENGTH_0      = 0x24,
+	FIFO_LENGTH_1      = 0x25,
+
+	FIFO_DATA          = 0x26,
+
+	ACC_CONF           = 0x40,
+	ACC_RANGE          = 0x41,
+
+	FIFO_DOWN_SAMPLING = 0x45,
+	FIFO_WTM_0         = 0x46,
+	FIFO_WTM_1         = 0x47,
+	FIFO_CONFIG_0      = 0x48,
+	FIFO_CONFIG_1      = 0x49,
+
+	INT1_IO_CONF       = 0x53,
+
+	INT1_INT2_MAP_DATA = 0x58,
+
+	ACC_PWR_CONF       = 0x7C,
+	ACC_PWR_CTRL       = 0x7D,
+	ACC_SOFTRESET      = 0x7E,
+	ACC_SELF_TEST      = 0x6D,
+	ACC_I2C_ADDR_PRIMARY_REG = 0x6D,
+	ACC_I2C_ADDR_SECONDARY_REG = 0x19,
+	ACC_READ = 0x12
+};
+
+// ACC_CONF
+enum ACC_CONF_BIT : uint8_t {
+	// [7:4] acc_bwp
+	acc_bwp_Normal = Bit7 | Bit5,        // Filter setting normal
+	// [7:4] acc_bwp
+	acc_bwp_osr_4 = Bit7,        // OSR4
+	// [3:0] acc_odr
+	acc_odr_1600   = Bit3 | Bit2,        // ODR 1600 Hz
+	// [3:0] acc_odr
+	acc_odr_12_5   = Bit2 | Bit0,        // ODR 12.5 Hz
+	// [3:0] acc_odr
+	acc_odr_100   = Bit3,        	     // ODR 100 Hz
+};
+
+// ACC_RANGE
+enum ACC_RANGE_BIT : uint8_t {
+	acc_range_3g  = 0,           // ±3g
+	acc_range_6g  = Bit0,        // ±6g
+	acc_range_12g = Bit1,        // ±12g
+	acc_range_24g = Bit1 | Bit0, // ±24g
+};
+
+// FIFO_CONFIG_0
+enum FIFO_CONFIG_0_BIT : uint8_t {
+	BIT1_ALWAYS = Bit1, // This bit must always be ‘1’.
+	FIFO_mode   = Bit0,
+};
+
+// FIFO_CONFIG_1
+enum FIFO_CONFIG_1_BIT : uint8_t {
+	Acc_en      = Bit6,
+	BIT4_ALWAYS = Bit4, // This bit must always be ‘1’.
+};
+
+// INT1_IO_CONF
+enum INT1_IO_CONF_BIT : uint8_t {
+	int1_in  = Bit4,
+	int1_out = Bit3,
+
+	int1_lvl = Bit1,
+};
+
+// INT1_INT2_MAP_DATA
+enum INT1_INT2_MAP_DATA_BIT : uint8_t {
+	int2_drdy  = Bit6,
+	int2_fwm   = Bit5,
+	int2_ffull = Bit4,
+
+	int1_drdy  = Bit2,
+	int1_fwm   = Bit1,
+	int1_ffull = Bit0,
+};
+
+// ACC_PWR_CONF
+enum ACC_PWR_CONF_BIT : uint8_t {
+	acc_pwr_save = 0x03
+};
+
+// ACC_PWR_CTRL
+enum ACC_PWR_CTRL_BIT : uint8_t {
+	acc_enable = 0x04
+};
+
+namespace FIFO
+{
+
+
+// 1. Acceleration sensor data frame   - Frame length: 7 bytes (1 byte header + 6 bytes payload)
+// Payload: the next bytes contain the sensor data in the same order as defined in the register map (addresses 0x12 – 0x17).
+// 2. Skip Frame                       - Frame length: 2 bytes (1 byte header + 1 byte payload)
+// Payload: one byte containing the number of skipped frames. When more than 0xFF frames have been skipped, 0xFF is returned.
+// 3. Sensortime Frame                 - Frame length: 4 bytes (1 byte header + 3 bytes payload)
+// Payload: Sensortime (content of registers 0x18 – 0x1A), taken when the last byte of the last frame is read.
+
+struct DATA {
+	uint8_t Header;
+	uint8_t ACC_X_LSB;
+	uint8_t ACC_X_MSB;
+	uint8_t ACC_Y_LSB;
+	uint8_t ACC_Y_MSB;
+	uint8_t ACC_Z_LSB;
+	uint8_t ACC_Z_MSB;
+};
+static constexpr size_t SIZE = 1024;
+//static constexpr size_t SIZE = sizeof(DATA) * 10;
+static_assert(sizeof(DATA) == 7);
+
+enum header : uint8_t {
+	sensor_data_frame       = 0b10000100,
+	skip_frame              = 0b01000000,
+	sensor_time_frame       = 0b01000100,
+	FIFO_input_config_frame = 0b01001000,
+	sample_drop_frame       = 0b01010000,
+};
+struct bmi08x_sensor_data
+{
+    /*! X-axis sensor data */
+    int16_t x;
+
+    /*! Y-axis sensor data */
+    int16_t y;
+
+    /*! Z-axis sensor data */
+    int16_t z;
+};
+} // namespace FIFO
+} // namespace Bosch::BMI088::Accelerometer
@@ -0,0 +1,154 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+namespace Bosch::BMI088::Gyroscope
+{
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
+
+static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
+static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
+static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
+
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t ID = 0x0F;
+
+static constexpr uint8_t GYRO_I2C_ADDR_PRIMARY = 0x68;
+static constexpr uint8_t GYRO_I2C_ADDR_SECONDARY = 0x69;
+
+enum class Register : uint8_t {
+	GYRO_CHIP_ID      = 0x00,
+
+	FIFO_STATUS       = 0x0E,
+	GYRO_RANGE        = 0x0F,
+	GYRO_BANDWIDTH    = 0x10,
+
+	GYRO_SOFTRESET    = 0x14,
+	GYRO_INT_CTRL     = 0x15,
+	INT3_INT4_IO_CONF = 0x16,
+	INT3_INT4_IO_MAP  = 0x18,
+
+	FIFO_WM_ENABLE    = 0x1E,
+
+	FIFO_CONFIG_0     = 0x3D,
+	FIFO_CONFIG_1     = 0x3E,
+	FIFO_DATA         = 0x3F,
+	SELF_TEST         = 0x3C,
+	READ_GYRO         = 0x02,
+};
+
+// FIFO_STATUS
+enum FIFO_STATUS_BIT : uint8_t {
+	Fifo_overrun       = Bit7,
+	Fifo_frame_counter = Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+// GYRO_RANGE
+enum GYRO_RANGE_BIT : uint8_t {
+	gyro_range_2000_dps = 0x00, // ±2000
+	gyro_range_1000_dps = 0x01, // ±1000
+	gyro_range_500_dps  = 0x02, // ±500
+	gyro_range_250_dps  = 0x04, // ±250
+	gyro_range_125_dps  = 0x05, // ±125
+};
+
+// GYRO_BANDWIDTH
+enum GYRO_BANDWIDTH_BIT : uint8_t {
+	gyro_bw_100_Hz = Bit2 | Bit1 | Bit0,
+	gyro_bw_200_Hz = Bit4,
+	gyro_bw_2000_Hz = 0x00,
+};
+
+// GYRO_INT_CTRL
+enum GYRO_INT_CTRL_BIT : uint8_t {
+	data_en = Bit7,
+	fifo_en = Bit6,
+};
+
+// INT3_INT4_IO_CONF
+enum INT3_INT4_IO_CONF_BIT : uint8_t {
+	Int3_od  = Bit1, // ‘0’ Push-pull
+	Int3_lvl = Bit0, // ‘0’ Active low
+};
+
+// INT3_INT4_IO_MAP
+enum INT3_INT4_IO_MAP_BIT : uint8_t {
+	Int4_data = Bit7,
+	Int4_fifo = Bit5,
+	Int3_fifo = Bit2,
+	Int3_data = Bit0,
+};
+
+// FIFO_WM_ENABLE
+enum FIFO_WM_ENABLE_BIT : uint8_t {
+	fifo_wm_enable  = Bit7 | Bit3,
+	fifo_wm_disable = Bit3,
+};
+
+// FIFO_CONFIG_1
+enum FIFO_CONFIG_1_BIT : uint8_t {
+	FIFO_MODE = Bit6,
+	FIFO_MODE_STREAM = Bit7,
+};
+
+
+namespace FIFO
+{
+struct DATA {
+	uint8_t RATE_X_LSB;
+	uint8_t RATE_X_MSB;
+	uint8_t RATE_Y_LSB;
+	uint8_t RATE_Y_MSB;
+	uint8_t RATE_Z_LSB;
+	uint8_t RATE_Z_MSB;
+};
+static_assert(sizeof(DATA) == 6);
+
+// 100 frames of data in FIFO mode
+static constexpr size_t SIZE = sizeof(DATA) * 100;
+
+} // namespace FIFO
+} // namespace Bosch::BMI088::Gyroscope
@@ -0,0 +1,54 @@
+############################################################################
+#
+#   Copyright (c) 2019-2020 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__imu__bosch__bmi088_i2c
+	MAIN bmi088_i2c
+	COMPILE_FLAGS
+	SRCS
+		Bosch_BMI088_Accelerometer_Registers.hpp
+		Bosch_BMI088_Gyroscope_Registers.hpp
+
+		BMI088.cpp
+		BMI088.hpp
+		BMI088_Accelerometer.cpp
+		BMI088_Accelerometer.hpp
+		BMI088_Gyroscope.cpp
+		BMI088_Gyroscope.hpp
+
+		bmi088_i2c_main.cpp
+	DEPENDS
+		drivers_accelerometer
+		drivers_gyroscope
+		px4_work_queue
+	)
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#include "BMI088.hpp"
+
+void BMI088::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("bmi088_i2c", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_FLAG('A', "Accel", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('G', "Gyro", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int bmi088_i2c_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = BMI088;
+	BusCLIArguments cli{true, true};
+	cli.i2c_address = 0x18;
+	cli.default_i2c_frequency = 400 * 1000;
+	cli.default_spi_frequency = 400 * 1000;
+
+
+	while ((ch = cli.getopt(argc, argv, "AGR:")) != EOF) {
+		switch (ch) {
+		case 'A':
+			cli.type = DRV_ACC_DEVTYPE_BMI088;
+			cli.i2c_address = 0x18;
+			break;
+
+		case 'G':
+			cli.type = DRV_GYR_DEVTYPE_BMI088;
+			cli.i2c_address = 0x69;
+			break;
+
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optarg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optarg();
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+	BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	PX4_WARN("print_usage1");
+	ThisDriver::print_usage();
+	return -1;
+}