Nucleo F401RE: Remove PX4 cruft that can in with the port

16 files changed, 140 insertions, 640 deletions

diff --git a/nuttx/arch/arm/src/stm32/stm32_sdio.c b/nuttx/arch/arm/src/stm32/stm32_sdio.c
index 156d233d8..206d4751c 100644
--- a/nuttx/arch/arm/src/stm32/stm32_sdio.c
+++ b/nuttx/arch/arm/src/stm32/stm32_sdio.c
@@ -454,7 +454,7 @@ static int  stm32_registercallback(FAR struct sdio_dev_s *dev,
 #ifdef CONFIG_SDIO_DMA
 static bool stm32_dmasupported(FAR struct sdio_dev_s *dev);
 static int  stm32_dmapreflight(FAR struct sdio_dev_s *dev,
-              FAR uint8_t *buffer, size_t buflen);
+              FAR const uint8_t *buffer, size_t buflen);
 static int  stm32_dmarecvsetup(FAR struct sdio_dev_s *dev,
               FAR uint8_t *buffer, size_t buflen);
 static int  stm32_dmasendsetup(FAR struct sdio_dev_s *dev,
@@ -2469,8 +2469,8 @@ static bool stm32_dmasupported(FAR struct sdio_dev_s *dev)
  ****************************************************************************/
 
 #ifdef CONFIG_SDIO_DMA
-static int stm32_dmapreflight(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
-                              size_t buflen)
+static int stm32_dmapreflight(FAR struct sdio_dev_s *dev,
+                              FAR const uint8_t *buffer, size_t buflen)
 {
   struct stm32_dev_s *priv = (struct stm32_dev_s *)dev;
 
diff --git a/nuttx/configs/nucleo-f401re/nsh/Make.defs b/nuttx/configs/nucleo-f401re/nsh/Make.defs
index bb9c50405..a723ed09d 100644
--- a/nuttx/configs/nucleo-f401re/nsh/Make.defs
+++ b/nuttx/configs/nucleo-f401re/nsh/Make.defs
@@ -37,28 +37,6 @@ include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
-CC = $(CROSSDEV)gcc
-CXX = $(CROSSDEV)g++
-CPP = $(CROSSDEV)gcc -E
-LD = $(CROSSDEV)ld
-AR = $(CROSSDEV)ar rcs
-NM = $(CROSSDEV)nm
-OBJCOPY = $(CROSSDEV)objcopy
-OBJDUMP = $(CROSSDEV)objdump
-
-ARCHCPUFLAGS = -mcpu=cortex-m4 \
-    -mthumb \
-    -march=armv7e-m \
-    -mfpu=fpv4-sp-d16 \
-    -mfloat-abi=hard
-
-# Pull in *just* libm from the toolchain ... this is grody
-
-LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS += $(LIBM)
-
-# Use our linker script
-
 LDSCRIPT = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -70,98 +48,61 @@ ifeq ($(WINTOOL),y)
   ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
   ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
 else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK = $(TOPDIR)/tools/unlink.sh
-    MKDEP = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain 
-    MKDEP = $(TOPDIR)/tools/mkdeps.sh
-    ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-  endif
+  # Linux/Cygwin-native toolchain
+  MKDEP = $(TOPDIR)/tools/mkdeps.sh
+  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
 endif
 
-# Tool versions
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(ARCROSSDEV)ar rcs
+NM = $(ARCROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
 
 ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
 ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
 
-# Optimization flags
-
-ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-    -fno-strict-aliasing \
-    -fno-strength-reduce \
-    -fomit-frame-pointer \
-    -funsafe-math-optimizations \
-    -fno-builtin-printf \
-    -ffunction-sections \
-    -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION += -g
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  ARCHOPTIMIZATION = -g
 endif
 
-ARCHCFLAGS = -std=gnu99
-ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS = -Wall \
-    -Wextra \
-    -Wdouble-promotion \
-    -Wshadow \
-    -Wfloat-equal \
-    -Wframe-larger-than=1024 \
-    -Wpointer-arith \
-    -Wlogical-op \
-    -Wmissing-declarations \
-    -Wpacked \
-    -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+ifneq ($(CONFIG_DEBUG_NOOPT),y)
+  ARCHOPTIMIZATION += $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
+endif
 
-ARCHCWARNINGS = $(ARCHWARNINGS) \
-    -Wbad-function-cast \
-    -Wstrict-prototypes \
-    -Wold-style-declaration \
-    -Wmissing-parameter-type \
-    -Wmissing-prototypes \
-    -Wnested-externs
-ARCHWARNINGSXX = $(ARCHWARNINGS) \
-    -Wno-psabi
+ARCHCFLAGS = -fno-builtin
+ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti
+ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
+ARCHWARNINGSXX = -Wall -Wshadow
 ARCHDEFINES =
 ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
 
-# This seems to be the only way to add linker flags
-
-EXTRA_LIBS += --warn-common \
-    --gc-sections
-
-CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
 CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
 CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
 AFLAGS = $(CFLAGS) -D__ASSEMBLY__
 
 NXFLATLDFLAGS1 = -r -d -warn-common
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
 LDNXFLATFLAGS = -e main -s 2048
 
 OBJEXT = .o
 LIBEXT = .a
 EXEEXT =
 
-# Produce partially-linked $1 from files in $2
-
-define PRELINK
- @echo "PRELINK: $1"
- $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
+ifneq ($(CROSSDEV),arm-nuttx-elf-)
+  LDFLAGS += -nostartfiles -nodefaultlibs
+endif
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  LDFLAGS += -g
+endif
 
 HOSTCC = gcc
 HOSTINCLUDES = -I.
diff --git a/nuttx/configs/nucleo-f401re/src/board_config.h b/nuttx/configs/nucleo-f401re/src/board_config.h
deleted file mode 100644
index 44262e7e5..000000000
--- a/nuttx/configs/nucleo-f401re/src/board_config.h
+++ /dev/null
@@ -1,265 +0,0 @@
-/****************************************************************************
- * configs/px4fmu-v2_upstream/src/board_config.h
- *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#ifndef __CONFIGS_NUCLEO_F401RE_SRC_NUCLEO_F401RE_H
-#define __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#ifdef __cplusplus
-__BEGIN_DECLS
-#endif
-
-/* These headers are not C++ safe */
-
-#include <stm32.h>
-#include <arch/board/board.h>
-
-#define UDID_START        0x1FFF7A10
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-/* Configuration ************************************************************/
-
-/* PX4IO connection configuration */
-
-#define PX4IO_SERIAL_DEVICE    "/dev/ttyS4"
-#define PX4IO_SERIAL_TX_GPIO    GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO    GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE       STM32_USART6_BASE    /* hardwired on the board */
-#define PX4IO_SERIAL_VECTOR     STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_USART6_TX_2
-#define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_USART6_RX_2
-#define PX4IO_SERIAL_CLOCK      STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE    1500000              /* 1.5Mbps -> max rate for IO */
-
-/* PX4FMU GPIOs *************************************************************/
-/* LEDs */
-
-#define GPIO_LED1 \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
-
-/* External interrupts */
-
-#define GPIO_EXTI_GYRO_DRDY     (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_EXTI_MAG_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_EXTI_ACCEL_DRDY    (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_EXTI_MPU_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
-
-/* Data ready pins off */
-
-#define GPIO_GYRO_DRDY_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_MAG_DRDY_OFF       (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ACCEL_DRDY_OFF     (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_EXTI_MPU_DRDY_OFF  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
-
-/* SPI1 off */
-
-#define GPIO_SPI1_SCK_OFF       (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_SPI1_MISO_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_SPI1_MOSI_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
-
-/* SPI1 chip selects off */
-
-#define GPIO_SPI_CS_GYRO_OFF \
-  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF \
-  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO_OFF \
-  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU_OFF \
-  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
-
-/* SPI chip selects */
-
-#define GPIO_SPI_CS_GYRO \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_FRAM \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_SPI_CS_MPU \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
-
-/* Use these in place of the spi_dev_e enumeration to select a specific SPI
- * device on SPI1
- */
-
-#define PX4_SPIDEV_GYRO         1
-#define PX4_SPIDEV_ACCEL_MAG    2
-#define PX4_SPIDEV_BARO         3
-#define PX4_SPIDEV_MPU          4
-
-/* I2C busses */
-
-#define PX4_I2C_BUS_EXPANSION   1
-#define PX4_I2C_BUS_LED         2
-
-/* Devices on the onboard bus.
- *
- * Note that these are unshifted addresses.
- */
-
-#define PX4_I2C_OBDEV_LED       0x55
-#define PX4_I2C_OBDEV_HMC5883   0x1e
-
-/* User GPIOs
- *
- * GPIO0-5 are the PWM servo outputs.
- */
-
-#define GPIO_GPIO0_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO1_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO2_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO3_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO4_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO5_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_GPIO0_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO1_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO2_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO3_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO4_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO5_OUTPUT \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
-
-/* Power supply control and monitoring GPIOs */
-
-#define GPIO_VDD_5V_PERIPH_EN \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define GPIO_VDD_BRICK_VALID    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_VDD_SERVO_VALID    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-#define GPIO_VDD_3V3_SENSORS_EN \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#define GPIO_VDD_5V_HIPOWER_OC  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
-#define GPIO_VDD_5V_PERIPH_OC   (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        2    /* timer 2 */
-#define TONE_ALARM_CHANNEL      1    /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE \
-  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TONE_ALARM \
-  (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
-
-/* PWM
- *
- * Six PWM outputs are configured.
- *
- * Pins:
- *
- * CH1 : PE14 : TIM1_CH4
- * CH2 : PE13 : TIM1_CH3
- * CH3 : PE11 : TIM1_CH2
- * CH4 : PE9  : TIM1_CH1
- * CH5 : PD13 : TIM4_CH2
- * CH6 : PD14 : TIM4_CH3
- */
-
-#define GPIO_TIM1_CH1OUT        GPIO_TIM1_CH1OUT_2
-#define GPIO_TIM1_CH2OUT        GPIO_TIM1_CH2OUT_2
-#define GPIO_TIM1_CH3OUT        GPIO_TIM1_CH3OUT_2
-#define GPIO_TIM1_CH4OUT        GPIO_TIM1_CH4OUT_2
-#define GPIO_TIM4_CH2OUT        GPIO_TIM4_CH2OUT_2
-#define GPIO_TIM4_CH3OUT        GPIO_TIM4_CH3OUT_2
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
- */
-
-#define GPIO_OTGFS_VBUS \
-  (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-
-#define HRT_TIMER               8    /* Use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       1    /* Use capture/compare channel */
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/****************************************************************************
- * Public data
- ****************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************/
-
-void stm32_spiinitialize(void);
-
-/* Ideally we'd be able to get these from up_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.
- */
-
-void led_init(void);
-void led_on(int led);
-void led_off(int led);
-void led_toggle(int led);
-
-#endif /* __ASSEMBLY__ */
-
-#ifdef __cplusplus
-__END_DECLS
-#endif
-
-#endif  /* __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H */
diff --git a/nuttx/configs/nucleo-f401re/src/nucleo-f401re.h b/nuttx/configs/nucleo-f401re/src/nucleo-f401re.h
index 1d05bdb9d..fc6935fe2 100644
--- a/nuttx/configs/nucleo-f401re/src/nucleo-f401re.h
+++ b/nuttx/configs/nucleo-f401re/src/nucleo-f401re.h
@@ -14,42 +14,48 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-/*
- The shield uses the following pins:
-
-    +5V
-    GND
-    Digital pin  3: IRQ for WiFi
-    Digital pin  4: Card Select for SD card
-    Digital pin  5: WiFi enable
-    Digital pin 10: Chip Select for WiFi
-    Digital pins 11, 12, 13 for SPI communication (both WiFi and SD). 
-    Digital pin 11:
-    Digital pin 12:
-    Digital pin 13:
-    Even if optional 6-pin SPI header is used, these pins are unavailable for other use.
+/* The shield uses the following pins:
+ *
+ *   +5V
+ *   GND
+ *   Digital pin  3: IRQ for WiFi
+ *   Digital pin  4: Card Select for SD card
+ *   Digital pin  5: WiFi enable
+ *   Digital pin 10: Chip Select for WiFi
+ *   Digital pins 11, 12, 13 for SPI communication (both WiFi and SD). 
+ *   Digital pin 11:
+ *   Digital pin 12:
+ *   Digital pin 13:
+ *   Even if optional 6-pin SPI header is used, these pins are unavailable for other use.
+ *
+ * LED.  User LD2: the green LED is a user LED connected to Arduino signal D13
+ * corresponding to MCU I/O PA5 (pin 21) or PB13 (pin 34) depending on the STM32
+ * target.
+ *
+ * - When the I/O is HIGH value, the LED is on.
+ * - When the I/O is LOW, the LED is off.
  */
 
 #define GPIO_WIFI_INT (GPIO_PORTB | GPIO_PIN3  | GPIO_INPUT        | GPIO_PULLUP | GPIO_EXTI)
 #define GPIO_WIFI_EN  (GPIO_PORTB | GPIO_PIN4  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 #define GPIO_WIFI_CS  (GPIO_PORTB | GPIO_PIN6  | GPIO_OUTPUT_SET   | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 
-#define GPIO_LED1     (GPIO_PORTA | GPIO_PIN13 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#define GPIO_LD2      (GPIO_PORTA | GPIO_PIN13 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 
 #if defined(CONFIG_CC3000_PROBES)
-#define GPIO_D0       (GPIO_PORTB | GPIO_PIN7  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
-#define GPIO_D1       (GPIO_PORTB | GPIO_PIN6  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_D0     (GPIO_PORTB | GPIO_PIN7  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_D1     (GPIO_PORTB | GPIO_PIN6  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 #else
-#define GPIO_D0       (GPIO_PORTA | GPIO_PIN3  | GPIO_INPUT        | GPIO_PULLUP | GPIO_EXTI)
-#define GPIO_D1       (GPIO_PORTA | GPIO_PIN2  | GPIO_INPUT        | GPIO_PULLUP | GPIO_EXTI)
-#define GPIO_D2       (GPIO_PORTA | GPIO_PIN10 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_D0     (GPIO_PORTA | GPIO_PIN3  | GPIO_INPUT        | GPIO_PULLUP | GPIO_EXTI)
+#  define GPIO_D1     (GPIO_PORTA | GPIO_PIN2  | GPIO_INPUT        | GPIO_PULLUP | GPIO_EXTI)
+#  define GPIO_D2     (GPIO_PORTA | GPIO_PIN10 | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 
-#define GPIO_D8       (GPIO_PORTA | GPIO_PIN9  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_D8     (GPIO_PORTA | GPIO_PIN9  | GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
 
-#define GPIO_A0       (GPIO_PORTA | GPIO_PIN0  | GPIO_OUTPUT_SET   | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
-#define GPIO_A1       (GPIO_PORTA | GPIO_PIN1  | GPIO_OUTPUT_SET   | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
-#define GPIO_A2       (GPIO_PORTA | GPIO_PIN4  | GPIO_INPUT        | GPIO_PULLUP )
-#define GPIO_A3       (GPIO_PORTB | GPIO_PIN0  | GPIO_INPUT        | GPIO_PULLUP )
+#  define GPIO_A0     (GPIO_PORTA | GPIO_PIN0  | GPIO_OUTPUT_SET   | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_A1     (GPIO_PORTA | GPIO_PIN1  | GPIO_OUTPUT_SET   | GPIO_OUTPUT | GPIO_PULLUP | GPIO_SPEED_50MHz)
+#  define GPIO_A2     (GPIO_PORTA | GPIO_PIN4  | GPIO_INPUT        | GPIO_PULLUP )
+#  define GPIO_A3     (GPIO_PORTB | GPIO_PIN0  | GPIO_INPUT        | GPIO_PULLUP )
 #endif
 
 #ifndef __ASSEMBLY__
@@ -80,4 +86,3 @@ void stm32_usbinitialize(void);
 
 #endif /* __ASSEMBLY__ */
 #endif /* __CONFIGS_NUCLEO_F401RE_SRC_NUCLEO_F401RE_H */
-
diff --git a/nuttx/configs/nucleo-f401re/src/stm32_boot.c b/nuttx/configs/nucleo-f401re/src/stm32_boot.c
index 8a09263cf..ca22088fe 100644
--- a/nuttx/configs/nucleo-f401re/src/stm32_boot.c
+++ b/nuttx/configs/nucleo-f401re/src/stm32_boot.c
@@ -92,7 +92,6 @@ void stm32_boardinitialize(void)
   stm32_spiinitialize();
 #endif
 
-
   /* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
    * disabled, and 3) the weak function stm32_usbinitialize() has been brought
    * into the build.
@@ -125,8 +124,8 @@ void board_initialize(void)
    */
 
 #if defined(CONFIG_NSH_LIBRARY) && !defined(CONFIG_NSH_ARCHINIT)
-      nsh_archinitialize();
-      wireless_archinitialize(0);
+  nsh_archinitialize();
+  wireless_archinitialize(0);
 #endif
 }
 #endif
diff --git a/nuttx/configs/nucleo-f401re/src/stm32_init.c b/nuttx/configs/nucleo-f401re/src/stm32_init.c
index 27a8b91bc..196cb133a 100644
--- a/nuttx/configs/nucleo-f401re/src/stm32_init.c
+++ b/nuttx/configs/nucleo-f401re/src/stm32_init.c
@@ -1,13 +1,8 @@
 /****************************************************************************
  * configs/nucleo-f401re/src/stm32_init.c
  *
- * PX4FMU-specific early startup code.  This file implements the
- * nsh_archinitialize() 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 initialisation.
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2014 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
@@ -19,7 +14,7 @@
  *    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
+ * 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.
  *
@@ -59,7 +54,6 @@
 #include <nuttx/gran.h>
 
 #include <stm32.h>
-#include "board_config.h"
 #include <stm32_uart.h>
 
 #include <arch/board/board.h>
@@ -71,18 +65,11 @@
 /* Configuration ************************************************************/
 
 #ifdef CONFIG_FAT_DMAMEMORY
-# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
-#  error microSD DMA support requires CONFIG_GRAN
-# endif
+#  if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
+#    error microSD DMA support requires CONFIG_GRAN
+#  endif
 #endif
 
-/* PX4 LED colour codes */
-
-#define LED_AMBER      1
-#define LED_RED        1  /* Some boards have red rather than amber */
-#define LED_BLUE       0
-#define LED_SAFETY     2
-
 /* Debug ********************************************************************/
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
@@ -109,7 +96,7 @@ static GRAN_HANDLE dma_allocator;
 /* The DMA heap size constrains the total number of things that can be
  * ready to do DMA at a time.
  *
- * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
+ * For example, FAT DMA depends on one sector-sized buffer per file system plus
  * one sector-sized buffer per file.
  *
  * We use a fundamental alignment / granule size of 64B; this is sufficient
@@ -120,7 +107,6 @@ static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
 #endif
 
 static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi2;
 static struct sdio_dev_s *sdio;
 
 /****************************************************************************
@@ -149,21 +135,6 @@ static void dma_alloc_init(void)
  * Public Functions
  ****************************************************************************/
 
-#ifdef CONFIG_FAT_DMAMEMORY
-/* DMA-aware allocator stubs for the FAT filesystem. */
-
-void *fat_dma_alloc(size_t size)
-{
-  return gran_alloc(dma_allocator, size);
-}
-
-void fat_dma_free(FAR void *memory, size_t size)
-{
-  gran_free(dma_allocator, memory, size);
-}
-
-#endif
-
 void up_netinitialize(void)
 {
 }
@@ -182,41 +153,12 @@ int nsh_archinitialize(void)
   int ret;
 #endif
 
-  /* Configure ADC pins */
-
-  stm32_configgpio(GPIO_ADC1_IN2);   /* BATT_VOLTAGE_SENS */
-  stm32_configgpio(GPIO_ADC1_IN3);   /* BATT_CURRENT_SENS */
-  stm32_configgpio(GPIO_ADC1_IN4);   /* VDD_5V_SENS */
-//stm32_configgpio(GPIO_ADC1_IN10);  /* used by VBUS valid */
-//stm32_configgpio(GPIO_ADC1_IN11);  /* unused */
-//stm32_configgpio(GPIO_ADC1_IN12);  /* used by MPU6000 CS */
-  stm32_configgpio(GPIO_ADC1_IN13);  /* FMU_AUX_ADC_1 */
-  stm32_configgpio(GPIO_ADC1_IN14);  /* FMU_AUX_ADC_2 */
-  stm32_configgpio(GPIO_ADC1_IN15);  /* PRESSURE_SENS */
-
-  /* Configure power supply control/sense pins */
-
-  stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
-  stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-  stm32_configgpio(GPIO_VDD_BRICK_VALID);
-  stm32_configgpio(GPIO_VDD_SERVO_VALID);
-  stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
-  stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
-
-  /* Configure the DMA allocator */
-
-  dma_alloc_init();
-
   /* Configure CPU load estimation */
 
 #ifdef CONFIG_SCHED_INSTRUMENTATION
   cpuload_initialize_once();
 #endif
 
-  /* Initial LED state */
-
-  led_off(LED_AMBER);
-
   /* Configure SPI-based devices */
 
   spi1 = up_spiinitialize(1);
@@ -227,42 +169,6 @@ int nsh_archinitialize(void)
       return -ENODEV;
     }
 
-  /* Default SPI1 to 1MHz and de-assert the known chip selects. */
-
-  SPI_SETFREQUENCY(spi1, 10000000);
-  SPI_SETBITS(spi1, 8);
-  SPI_SETMODE(spi1, SPIDEV_MODE3);
-  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-  up_udelay(20);
-
-  message("[boot] Initialized SPI port 1 (SENSORS)\n");
-
-  /* Get the SPI port for the FRAM */
-
-  spi2 = up_spiinitialize(2);
-  if (!spi2)
-    {
-      message("[boot] FAILED to initialize SPI port 2\n");
-      board_led_on(LED_AMBER);
-      return -ENODEV;
-    }
-
-  /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-   * and de-assert the known chip selects.
-   */
-
-  // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
-
-  SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
-  SPI_SETBITS(spi2, 8);
-  SPI_SETMODE(spi2, SPIDEV_MODE3);
-  SPI_SELECT(spi2, SPIDEV_FLASH, false);
-
-  message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
-
 #ifdef CONFIG_MMCSD
   /* First, get an instance of the SDIO interface */
 
@@ -279,7 +185,7 @@ int nsh_archinitialize(void)
   ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
   if (ret != OK)
     {
-      message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+      message("ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
       return ret;
     }
 
diff --git a/nuttx/configs/nucleo-f401re/src/stm32_led.c b/nuttx/configs/nucleo-f401re/src/stm32_led.c
index 8c890d593..2ac49740d 100644
--- a/nuttx/configs/nucleo-f401re/src/stm32_led.c
+++ b/nuttx/configs/nucleo-f401re/src/stm32_led.c
@@ -1,7 +1,8 @@
 /****************************************************************************
  * configs/nucleo-f401re/src/stm32_led.c
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2014 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
@@ -13,7 +14,7 @@
  *    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
+ * 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.
  *
@@ -40,20 +41,20 @@
 
 #include <stdbool.h>
 
-#include "stm32.h"
-#include "board_config.h"
-
 #include <arch/board/board.h>
 
+#include "stm32.h"
+#include "nucleo-f401re.h"
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
 
-void led_init()
+void led_init(void)
 {
   /* Configure LED1 GPIO for output */
 
-  stm32_configgpio(GPIO_LED1);
+  stm32_configgpio(GPIO_LD2);
 }
 
 void led_on(int led)
@@ -62,7 +63,7 @@ void led_on(int led)
     {
       /* Pull down to switch on */
 
-      stm32_gpiowrite(GPIO_LED1, false);
+      stm32_gpiowrite(GPIO_LD2, true);
     }
 }
 
@@ -72,7 +73,7 @@ void led_off(int led)
     {
       /* Pull up to switch off */
 
-      stm32_gpiowrite(GPIO_LED1, true);
+      stm32_gpiowrite(GPIO_LD2, false);
     }
 }
 
@@ -80,13 +81,13 @@ void led_toggle(int led)
 {
   if (led == 1)
     {
-      if (stm32_gpioread(GPIO_LED1))
+      if (stm32_gpioread(GPIO_LD2))
         {
-          stm32_gpiowrite(GPIO_LED1, false);
+          stm32_gpiowrite(GPIO_LD2, false);
         }
       else
         {
-          stm32_gpiowrite(GPIO_LED1, true);
+          stm32_gpiowrite(GPIO_LD2, true);
         }
     }
 }
diff --git a/nuttx/configs/nucleo-f401re/src/stm32_spi.c b/nuttx/configs/nucleo-f401re/src/stm32_spi.c
index 05001aa47..6118b81d0 100644
--- a/nuttx/configs/nucleo-f401re/src/stm32_spi.c
+++ b/nuttx/configs/nucleo-f401re/src/stm32_spi.c
@@ -1,7 +1,8 @@
 /****************************************************************************
  * configs/nucleo-f401re/src/stm32_spi.c
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2014 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
@@ -13,7 +14,7 @@
  *    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
+ * 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.
  *
@@ -49,7 +50,6 @@
 #include <chip.h>
 #include <stm32.h>
 
-#include "board_config.h"
 #include "nucleo-f401re.h"
 
 #if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
@@ -85,35 +85,16 @@
  * Name: stm32_spiinitialize
  *
  * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *   Called to configure SPI chip select GPIO pins for the Nucleo-F401RE  board.
  *
  ************************************************************************************/
 
 void weak_function stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-  stm32_configgpio(GPIO_SPI_CS_GYRO);
-  stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-  stm32_configgpio(GPIO_SPI_CS_BARO);
-  stm32_configgpio(GPIO_SPI_CS_MPU);
-
-  /* De-activate all peripherals, required for some peripheral state machines */
-
-  stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-  stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-  stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-  stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-
-  stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
-  stm32_configgpio(GPIO_EXTI_MAG_DRDY);
-  stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
-  stm32_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-  stm32_configgpio(GPIO_SPI_CS_FRAM);
-  stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
-
   /* Setup CS, EN & IRQ line IOs */
 
 #ifdef CONFIG_WL_CC3000
@@ -121,10 +102,6 @@ void weak_function stm32_spiinitialize(void)
   stm32_configgpio(GPIO_WIFI_EN);
   stm32_configgpio(GPIO_WIFI_INT);
 #endif
-
-#ifdef CONFIG_MTD_SST25
-  stm32_configgpio(GPIO_MEM_CS);    /* FLASH chip select */
-#endif
 #endif
 }
 
@@ -157,50 +134,6 @@ void weak_function stm32_spiinitialize(void)
 void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
   spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
-
-  /* SPI select is active low, so write !selected to select the device */
-
-  switch (devid)
-    {
-    case PX4_SPIDEV_GYRO:
-      /* Making sure the other peripherals are not selected */
-
-      stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-      break;
-
-    case PX4_SPIDEV_ACCEL_MAG:
-      /* Making sure the other peripherals are not selected */
-
-      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-      break;
-
-    case PX4_SPIDEV_BARO:
-      /* Making sure the other peripherals are not selected */
-
-      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
-      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-      break;
-
-    case PX4_SPIDEV_MPU:
-      /* Making sure the other peripherals are not selected */
-
-      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-      stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
-      break;
-
-    default:
-      break;
-    }
 }
 
 uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -214,27 +147,12 @@ void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool sele
 {
   spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
 
-#if defined(CONFIG_MTD_SST25)
-
-  if (devid == SPIDEV_FLASH)
-    {
-      stm32_gpiowrite(GPIO_MEM_CS, !selected);
-    }
-  else
-#endif
-
 #if defined(CONFIG_WL_CC3000)
   if (devid == SPIDEV_WIRELESS)
     {
       stm32_gpiowrite(GPIO_WIFI_CS, !selected);
     }
-  else
 #endif
-    {
-      /* There can only be one device on this bus, so always select it */
-
-      stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
-    }
 }
 
 uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -282,7 +200,7 @@ uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
 #ifdef CONFIG_STM32_SPI1
 int stm32_spi1cmddata(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool cmd)
 {
-  return -ENODEV;
+  return OK;
 }
 #endif
 
diff --git a/nuttx/configs/nucleo-f401re/src/stm32_wireless.c b/nuttx/configs/nucleo-f401re/src/stm32_wireless.c
index 7b83bc0ba..139b60e52 100644
--- a/nuttx/configs/nucleo-f401re/src/stm32_wireless.c
+++ b/nuttx/configs/nucleo-f401re/src/stm32_wireless.c
@@ -268,7 +268,6 @@ static bool probe(FAR struct cc3000_config_s *state,int n, bool s)
  *   configure the wireless device.  This function will register the driver
  *   as /dev/wirelessN where N is the minor device number.
  *
- *
  * Returned Value:
  *   Zero is returned on success.  Otherwise, a negated errno value is
  *   returned to indicate the nature of the failure.
diff --git a/nuttx/drivers/wireless/cc3000/cc3000.c b/nuttx/drivers/wireless/cc3000/cc3000.c
index 86ac378ab..40394aad2 100644
--- a/nuttx/drivers/wireless/cc3000/cc3000.c
+++ b/nuttx/drivers/wireless/cc3000/cc3000.c
@@ -610,18 +610,10 @@ static void * select_thread_func(FAR void *arg)
 
 static void * cc3000_worker(FAR void *arg)
 {
-  FAR struct cc3000_dev_s    *priv = (FAR struct cc3000_dev_s *)arg;
-  FAR struct cc3000_config_s *config;
-  int                         ret;
-
-  ASSERT(priv != NULL);
-
-  /* Get a pointer the callbacks for convenience (and so the code is not so
-   * ugly).
-   */
+  FAR struct cc3000_dev_s *priv = (FAR struct cc3000_dev_s *)arg;
+  int ret;
 
-  config = priv->config;
-  DEBUGASSERT(config != NULL);
+  ASSERT(priv != NULL && priv->config != NULL);
 
   /* We have started  release our creator*/
 
@@ -705,7 +697,8 @@ static void * cc3000_worker(FAR void *arg)
                     priv->rx_buffer.len = data_to_recv;
 
                     ret = mq_send(priv->queue, &priv->rx_buffer, sizeof(priv->rx_buffer), 1);
-                    DEBUGASSERT(ret>=0);
+                    DEBUGASSERT(ret >= 0);
+                    UNUSED(ret);
 
                     /* Notify any waiters that new CC3000 data is available */
 
@@ -714,9 +707,11 @@ static void * cc3000_worker(FAR void *arg)
                     /* Give up driver */
 
                     cc3000_devgive(priv);
+
                     nllvdbg("Wait On Completion\n");
                     sem_wait(priv->wrkwaitsem);
-                    nllvdbg("Completed S:%d irq :%d\n",priv->state,priv->config->irq_read(priv->config));
+                    nllvdbg("Completed S:%d irq :%d\n",
+                            priv->state, priv->config->irq_read(priv->config));
 
                     sem_getvalue(&priv->irqsem, &count);
                     if (priv->config->irq_read(priv->config) && count==0)
@@ -731,17 +726,17 @@ static void * cc3000_worker(FAR void *arg)
 
                     continue;
                   }
-              } /* eSPI_STATE_WRITE_DONE or eSPI_STATE_IDLE */
+              }
               break;
 
             default:
               nllvdbg("default: State%d\n",priv->state);
               break;
-            } /* end switch */
-        } /* end if */
+            }
+        }
 
       cc3000_devgive(priv);
-    } /* while (1) */
+    }
 
   return OK;
 }
diff --git a/nuttx/drivers/wireless/cc3000/cc3000.h b/nuttx/drivers/wireless/cc3000/cc3000.h
index 703dc435b..630f21794 100644
--- a/nuttx/drivers/wireless/cc3000/cc3000.h
+++ b/nuttx/drivers/wireless/cc3000/cc3000.h
@@ -92,7 +92,9 @@
 
 #ifdef CONFIG_CC3000_MT
 /* lock to serialze access to driver (spi protocol is window size 1) */
+
 extern pthread_mutex_t g_cc3000_mut;
+
 /* This structure describes the state of one CC3000 driver instance */
 
 typedef struct cc3000_socket_ent
@@ -185,6 +187,7 @@ static inline void cc3000_lib_lock(void)
 #ifdef CONFIG_CC3000_MT
   int status = pthread_mutex_lock(&g_cc3000_mut);
   DEBUGASSERT(status == 0);
+  UNUSED(status);
 #endif
 }
 
@@ -193,6 +196,7 @@ static inline void cc3000_lib_unlock(void)
 #ifdef CONFIG_CC3000_MT
   int status = pthread_mutex_unlock(&g_cc3000_mut);
   DEBUGASSERT(status == 0);
+  UNUSED(status);
 #endif
 }
 
diff --git a/nuttx/drivers/wireless/cc3000/cc3000drv.c b/nuttx/drivers/wireless/cc3000/cc3000drv.c
index f0ade37d1..d8921fdad 100644
--- a/nuttx/drivers/wireless/cc3000/cc3000drv.c
+++ b/nuttx/drivers/wireless/cc3000/cc3000drv.c
@@ -264,6 +264,7 @@ void cc3000_open(gcSpiHandleRx pfRxHandler)
       status = pthread_create(&spiconf.unsoliced_thread, &attr,
                               unsoliced_thread_func, NULL);
       DEBUGASSERT(status == 0)
+      UNUSED(status);
    }
 
   DEBUGASSERT(spiconf.cc3000fd);
diff --git a/nuttx/drivers/wireless/cc3000/evnt_handler.c b/nuttx/drivers/wireless/cc3000/evnt_handler.c
index 82c2f85d3..28901e3c3 100644
--- a/nuttx/drivers/wireless/cc3000/evnt_handler.c
+++ b/nuttx/drivers/wireless/cc3000/evnt_handler.c
@@ -895,7 +895,7 @@ void update_socket_active_status(char *resp_params)
  *   opcode in a global variable.
  *
  * Input Parameters:
- *   usOpcode      command operation code
+ *   opcode        command operation code
  *   pRetParams    command return parameters
  *
  * Returned Value:
@@ -903,14 +903,14 @@ void update_socket_active_status(char *resp_params)
  *
  *****************************************************************************/
 
-void SimpleLinkWaitEvent(uint16_t usOpcode, void *pRetParams)
+void SimpleLinkWaitEvent(uint16_t opcode, void *pRetParams)
 {
   /* In the blocking implementation the control to caller will be returned only
    * after the end of current transaction
    */
 
-  tSLInformation.usRxEventOpcode = usOpcode;
-  nllvdbg("Looking for usOpcode 0x%x\n",usOpcode);
+  tSLInformation.usRxEventOpcode = opcode;
+  nllvdbg("Looking for opcode 0x%x\n",opcode);
   uint16_t event_type;
 
   do
@@ -925,22 +925,22 @@ void SimpleLinkWaitEvent(uint16_t usOpcode, void *pRetParams)
           nllvdbg("Evtn:0x%x\n",event_type);
         }
 
-      if (event_type != usOpcode)
+      if (event_type != opcode)
         {
           if (hci_unsolicited_event_handler() == 1)
             {
-              nllvdbg("Processed Event  0x%x want 0x%x\n",event_type, usOpcode);
+              nllvdbg("Processed Event  0x%x want 0x%x\n",event_type, opcode);
             }
         }
       else
         {
-          nllvdbg("Processing usOpcode 0x%x\n",usOpcode);
+          nllvdbg("Processing opcode 0x%x\n",opcode);
           hci_event_handler(pRetParams, 0, 0);
         }
     }
   while (tSLInformation.usRxEventOpcode != 0);
 
-  nllvdbg("Done for usOpcode 0x%x\n",usOpcode);
+  nllvdbg("Done for opcode 0x%x\n",opcode);
 }
 
 /*****************************************************************************
@@ -968,7 +968,7 @@ void SimpleLinkWaitData(uint8_t *pBuf, uint8_t *from, uint8_t *fromlen)
 
   nllvdbg("Looking for Data\n");
   uint16_t event_type;
-  uint16_t usOpcode = tSLInformation.usRxEventOpcode;
+  uint16_t opcode = tSLInformation.usRxEventOpcode;
 
   do
     {
@@ -983,20 +983,23 @@ void SimpleLinkWaitData(uint8_t *pBuf, uint8_t *from, uint8_t *fromlen)
         }
       else
         {
-          STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET,event_type);
-          nllvdbg("Evtn:0x%x\n",event_type);
+          STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET, event_type);
+          nllvdbg("Evtn:0x%x\n", event_type);
 
           if (hci_unsolicited_event_handler() == 1)
             {
-              nllvdbg("Processed Event  0x%x want Data! Opcode 0x%x\n",event_type, usOpcode);
+              nllvdbg("Processed Event  0x%x want Data! Opcode 0x%x\n", event_type, opcode);
             }
           else
             {
-              nllvdbg("!!!!!usOpcode 0x%x\n",usOpcode);
+              nllvdbg("!!!!!opcode 0x%x\n",opcode);
             }
+
+          UNUSED(event_type);
         }
     }
   while (*tSLInformation.pucReceivedData == HCI_TYPE_EVNT);
 
-  nllvdbg("Done for Data 0x%x\n",usOpcode);
+  nllvdbg("Done for Data 0x%x\n", opcode);
+  UNUSED(opcode);
 }
diff --git a/nuttx/drivers/wireless/cc3000/wlan.c b/nuttx/drivers/wireless/cc3000/wlan.c
index 08356d322..dd41b67a4 100644
--- a/nuttx/drivers/wireless/cc3000/wlan.c
+++ b/nuttx/drivers/wireless/cc3000/wlan.c
@@ -236,12 +236,16 @@ void wlan_init(size_t max_tx_len,
 
 void SpiReceiveHandler(void *pvBuffer)
 {
+  uint16_t event_type;
+
   tSLInformation.pucReceivedData = (uint8_t *)pvBuffer;
   tSLInformation.usEventOrDataReceived = 1;
 
-  uint16_t event_type;
-  STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData, HCI_EVENT_OPCODE_OFFSET,event_type);
-  nllvdbg("Evtn:0x%x\n", event_type);
+  STREAM_TO_UINT16((char *)tSLInformation.pucReceivedData,
+                   HCI_EVENT_OPCODE_OFFSET, event_type);
+
+  nllvdbg("Evnt:0x%x\n", event_type);
+  UNUSED(event_type);
 
   hci_unsolicited_event_handler();
 }
diff --git a/nuttx/include/nuttx/sdio.h b/nuttx/include/nuttx/sdio.h
index 5c823f3a1..fd74eecc3 100644
--- a/nuttx/include/nuttx/sdio.h
+++ b/nuttx/include/nuttx/sdio.h
@@ -872,13 +872,13 @@ struct sdio_dev_s
 #ifdef CONFIG_SDIO_DMA
   bool  (*dmasupported)(FAR struct sdio_dev_s *dev);
 #ifdef CONFIG_SDIO_PREFLIGHT
-  int   (*dmapreflight)(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
-          size_t buflen);
+  int   (*dmapreflight)(FAR struct sdio_dev_s *dev,
+          FAR const uint8_t *buffer, size_t buflen);
 #endif
   int   (*dmarecvsetup)(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer,
           size_t buflen);
-  int   (*dmasendsetup)(FAR struct sdio_dev_s *dev, FAR const uint8_t *buffer,
-          size_t buflen);
+  int   (*dmasendsetup)(FAR struct sdio_dev_s *dev,
+          FAR const uint8_t *buffer, size_t buflen);
 #endif
 };
 
diff --git a/nuttx/libc/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c
index 7fc8369bc..a2edecf6b 100644
--- a/nuttx/libc/stdio/lib_libdtoa.c
+++ b/nuttx/libc/stdio/lib_libdtoa.c
@@ -150,7 +150,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
                      uint8_t flags, double value)
 {
   FAR char *digits;     /* String returned by __dtoa */
-  FAR char *digalloc;   /* Copy of digits to be freed after usage */
   FAR char *rve;        /* Points to the end of the return value */
   int  expt;            /* Integer value of exponent */
   int  numlen;          /* Actual number of digits returned by cvt */
@@ -188,7 +187,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
   /* Perform the conversion */
 
   digits   = __dtoa(value, 3, prec, &expt, &dsgn, &rve);
-  digalloc = digits;
   numlen   = rve - digits;
 
   if (IS_NEGATE(flags))
@@ -318,7 +316,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
           digits++;
         }
 
-      /* Decremnt to get the number of trailing zeroes to print */
+      /* Decrement to get the number of trailing zeroes to print */
 
       prec -= nchars;
     }
@@ -326,15 +324,6 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
   /* Finally, print any trailing zeroes */
 
   zeroes(obj, prec);
-
-  /* Is this memory supposed to be freed or not? */
-
-#if 0
-  if (digalloc)
-    {
-      lib_free(digalloc);
-    }
-#endif
 }
 
 /****************************************************************************