Moved the bulk of sensor drivers to the new world

29 files changed, 133 insertions, 148 deletions

diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile
deleted file mode 100644
index 32df1bdae..000000000
--- a/apps/drivers/mpu6000/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Makefile to build the BMA180 driver.
-#
-
-APPNAME		 = mpu6000
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile
deleted file mode 100644
index 8d5faa3b7..000000000
--- a/apps/hott_telemetry/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Graupner HoTT Telemetry application.
-#
-
-# The following line is required for accessing UARTs directly.
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-APPNAME		 = hott_telemetry
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 57d949258..00aec3f8a 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -15,6 +15,15 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
+MODULES		+= drivers/bma180
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott_telemetry
+MODULES		+= drivers/blinkm
 MODULES		+= modules/sensors
 
 #
@@ -66,19 +75,11 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, blinkm,                 ,                          2048,  blinkm_main                ) \
-	$(call _B, bma180,                 ,                          2048,  bma180_main                ) \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
-	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
-	$(call _B, hmc5883,                ,                          4096,  hmc5883_main               ) \
-	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
-	$(call _B, mpu6000,                ,                          4096,  mpu6000_main               ) \
-	$(call _B, ms5611,                 ,                          2048,  ms5611_main                ) \
 	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
 	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
diff --git a/apps/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 3fabfd9a5..3fabfd9a5 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
diff --git a/apps/drivers/blinkm/Makefile b/src/drivers/blinkm/module.mk
index 5a623693d..b48b90f3f 100644
--- a/apps/drivers/blinkm/Makefile
+++ b/src/drivers/blinkm/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -35,8 +35,6 @@
 # BlinkM I2C LED driver
 #
 
-APPNAME		 = blinkm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= blinkm
 
-include $(APPDIR)/mk/app.mk
+SRCS		= blinkm.cpp
diff --git a/apps/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index 4409a8a9c..4409a8a9c 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
diff --git a/apps/drivers/bma180/Makefile b/src/drivers/bma180/module.mk
index cc01b629e..4c60ee082 100644
--- a/apps/drivers/bma180/Makefile
+++ b/src/drivers/bma180/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -35,8 +35,6 @@
 # Makefile to build the BMA180 driver.
 #
 
-APPNAME		 = bma180
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= bma180
 
-include $(APPDIR)/mk/app.mk
+SRCS		= bma180.cpp
diff --git a/apps/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index e35bdb944..e35bdb944 100644
--- a/apps/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
diff --git a/apps/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp
index 9c1fad569..9c1fad569 100644
--- a/apps/drivers/gps/gps_helper.cpp
+++ b/src/drivers/gps/gps_helper.cpp
diff --git a/apps/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h
index f3d3bc40b..f3d3bc40b 100644
--- a/apps/drivers/gps/gps_helper.h
+++ b/src/drivers/gps/gps_helper.h
diff --git a/apps/drivers/gps/Makefile b/src/drivers/gps/module.mk
index 3859a88a5..097db2abf 100644
--- a/apps/drivers/gps/Makefile
+++ b/src/drivers/gps/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -35,8 +35,9 @@
 # GPS driver
 #
 
-APPNAME		 = gps
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= gps
 
-include $(APPDIR)/mk/app.mk
+SRCS		= gps.cpp \
+		  gps_helper.cpp \
+		  mtk.cpp \
+		  ubx.cpp
diff --git a/apps/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index 4762bd503..4762bd503 100644
--- a/apps/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
diff --git a/apps/drivers/gps/mtk.h b/src/drivers/gps/mtk.h
index d4e390b01..d4e390b01 100644
--- a/apps/drivers/gps/mtk.h
+++ b/src/drivers/gps/mtk.h
diff --git a/apps/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index c150f5271..c150f5271 100644
--- a/apps/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
diff --git a/apps/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index e3dd1c7ea..e3dd1c7ea 100644
--- a/apps/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
diff --git a/apps/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index d9aa772d4..d9aa772d4 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
diff --git a/apps/drivers/hmc5883/Makefile b/src/drivers/hil/module.mk
index 4d7cb4e7b..f8895f5d5 100644
--- a/apps/drivers/hmc5883/Makefile
+++ b/src/drivers/hil/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# HMC5883 driver
+# Hardware in the Loop (HIL) simulation actuator output bank
 #
 
-APPNAME		 = hmc5883
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	= hil
 
-include $(APPDIR)/mk/app.mk
+SRCS		= hil.cpp
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 8ab568282..8ab568282 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
diff --git a/apps/drivers/hil/Makefile b/src/drivers/hmc5883/module.mk
index 1fb6e37bc..07377556d 100644
--- a/apps/drivers/hil/Makefile
+++ b/src/drivers/hmc5883/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -32,11 +32,12 @@
 ############################################################################
 
 #
-# Interface driver for the PX4FMU board
+# HMC5883 driver
 #
 
-APPNAME		 = hil
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= hmc5883
 
-include $(APPDIR)/mk/app.mk
+# XXX seems excessive, check if 2048 is sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS		= hmc5883.cpp
diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
index 31c9247aa..a13a6ef58 100644
--- a/apps/hott_telemetry/hott_telemetry_main.c
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file hott_telemetry_main.c
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry implementation.
  *
@@ -41,7 +42,6 @@
  * a data packet can be returned if necessary.
  *
  * TODO: Add support for at least the vario and GPS sensor data.
- *
  */
 
 #include <fcntl.h>
@@ -57,12 +57,6 @@
 
 #include "messages.h"
 
-/* The following are equired for UART direct manipulation. */
-#include <arch/board/board.h>
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
diff --git a/apps/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c
index 8bfb99773..5fbee16ce 100644
--- a/apps/hott_telemetry/messages.c
+++ b/src/drivers/hott_telemetry/messages.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
 
 /**
  * @file messages.c
- *
+ * @author Simon Wilks <sjwilks@gmail.com>
  */
 
 #include "messages.h"
diff --git a/apps/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h
index 44001e04f..dd38075fa 100644
--- a/apps/hott_telemetry/messages.h
+++ b/src/drivers/hott_telemetry/messages.h
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file messages.h
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry message generation.
  *
diff --git a/src/drivers/hott_telemetry/module.mk b/src/drivers/hott_telemetry/module.mk
new file mode 100644
index 000000000..def1d59e9
--- /dev/null
+++ b/src/drivers/hott_telemetry/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 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.
+#
+############################################################################
+
+#
+# Graupner HoTT Telemetry application.
+#
+
+MODULE_COMMAND	= hott_telemetry
+
+SRCS		= hott_telemetry_main.c \
+		  messages.c
diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index 9d0f6bddc..397686e8b 100644
--- a/apps/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   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
diff --git a/apps/drivers/mb12xx/Makefile b/src/drivers/mb12xx/module.mk
index 0d2405787..4e00ada02 100644
--- a/apps/drivers/mb12xx/Makefile
+++ b/src/drivers/mb12xx/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   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
@@ -35,8 +35,6 @@
 # Makefile to build the Maxbotix Sonar driver.
 #
 
-APPNAME		= mb12xx
-PRIORITY	= SCHED_PRIORITY_DEFAULT
-STACKSIZE	= 2048
+MODULE_COMMAND	= mb12xx
 
-include $(APPDIR)/mk/app.mk
+SRCS		= mb12xx.cpp
diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk
new file mode 100644
index 000000000..c7d9cd3ef
--- /dev/null
+++ b/src/drivers/mpu6000/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 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.
+#
+############################################################################
+
+#
+# Makefile to build the MPU6000 driver.
+#
+
+MODULE_COMMAND	= mpu6000
+
+# XXX seems excessive, check if 2048 is not sufficient
+MODULE_STACKSIZE	 = 4096
+
+SRCS		= mpu6000.cpp
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index ce7062046..df1958186 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 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
diff --git a/apps/drivers/ms5611/Makefile b/src/drivers/ms5611/module.mk
index d8e67cba2..3c4b0f093 100644
--- a/apps/drivers/ms5611/Makefile
+++ b/src/drivers/ms5611/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 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
@@ -35,8 +35,6 @@
 # MS5611 driver
 #
 
-APPNAME		 = ms5611
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND	= ms5611
 
-include $(APPDIR)/mk/app.mk
+SRCS		= ms5611.cpp
diff --git a/apps/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 59ab5936e..59ab5936e 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp