Move the last of the board-specific code for PX4FMU out of the NuttX tree. Now it's just configuration.

22 files changed, 189 insertions, 666 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index e00dc13d2..bf9d07c9b 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -61,7 +61,7 @@
 #include <sys/prctl.h>
 #include <v1.0/common/mavlink.h>
 #include <string.h>
-#include <arch/board/drv_led.h>
+#include <drivers/drv_led.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
@@ -194,7 +194,7 @@ static void buzzer_deinit()
 
 static int led_init()
 {
-	leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
+	leds = open(LED_DEVICE_PATH, 0);
 
 	if (leds < 0) {
 		fprintf(stderr, "[commander] LED: open fail\n");
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index 38a284017..568d861c9 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -64,9 +64,9 @@
 #include "stm32_uart.h"
 
 #include <arch/board/board.h>
-#include <arch/board/drv_led.h>
 
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
 
 #include <systemlib/cpuload.h>
 
@@ -131,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void)
 
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi3;
-static struct i2c_dev_s *i2c1;
-static struct i2c_dev_s *i2c2;
-static struct i2c_dev_s *i2c3;
 
 #include <math.h>
 
@@ -153,10 +150,6 @@ __EXPORT int nsh_archinitialize(void)
 {
 	int result;
 
-	/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
-
-	/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
-
 	/* configure the high-resolution time/callout interface */
 #ifdef CONFIG_HRT_TIMER
 	hrt_init();
@@ -190,14 +183,12 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("\r\n");
 
+	// initial LED state
+	drv_led_start();
 	up_ledoff(LED_BLUE);
 	up_ledoff(LED_AMBER);
-
 	up_ledon(LED_BLUE);
 
-	/* Configure user-space led driver */
-	px4fmu_led_init();
-
 	/* Configure SPI-based devices */
 
 	spi1 = up_spiinitialize(1);
@@ -219,38 +210,6 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully initialized SPI port 1\r\n");
 
-#if 0
-	/* initialize I2C2 bus */
-
-	i2c2 = up_i2cinitialize(2);
-
-	if (!i2c2) {
-		message("[boot] FAILED to initialize I2C bus 2\n");
-		up_ledon(LED_AMBER);
-		return -ENODEV;
-	}
-
-	/* set I2C2 speed */
-	I2C_SETFREQUENCY(i2c2, 400000);
-
-
-	i2c3 = up_i2cinitialize(3);
-
-	if (!i2c3) {
-		message("[boot] FAILED to initialize I2C bus 3\n");
-		up_ledon(LED_AMBER);
-		return -ENODEV;
-	}
-
-	/* set I2C3 speed */
-	I2C_SETFREQUENCY(i2c3, 400000);
-
-	/* try to attach, don't fail if device is not responding */
-	(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
-			    FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
-			    FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
-			    FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
-#endif
 #if defined(CONFIG_STM32_SPI3)
 	/* Get the SPI port */
 
@@ -276,24 +235,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
 #endif /* SPI3 */
-#if 0
-	/* initialize I2C1 bus */
-
-	i2c1 = up_i2cinitialize(1);
 
-	if (!i2c1) {
-		message("[boot] FAILED to initialize I2C bus 1\n");
-		up_ledon(LED_AMBER);
-		return -ENODEV;
-	}
-
-	/* set I2C1 speed */
-	I2C_SETFREQUENCY(i2c1, 400000);
-
-	/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
-
-	/* Get board information if available */
-#endif
 #ifdef CONFIG_ADC
 	int adc_state = adc_devinit();
 
diff --git a/nuttx/configs/px4fmu/src/drv_led.c b/apps/drivers/boards/px4fmu/px4fmu_led.c
index 13d8eb22a..fd1e159aa 100644
--- a/nuttx/configs/px4fmu/src/drv_led.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_led.c
@@ -31,10 +31,10 @@
  *
  ****************************************************************************/
 
-/*
- * led driver for PX4FMU
+/**
+ * @file px4fmu_led.c
  *
- * This is something of an experiment currently (ha, get it?)
+ * PX4FMU LED backend.
  */
 
 #include <nuttx/config.h>
@@ -43,71 +43,46 @@
 #include <stdbool.h>
 #include <debug.h>
 
-#include <nuttx/spi.h>
 #include <arch/board/board.h>
 
-#include "up_arch.h"
 #include "chip.h"
+#include "up_arch.h"
+#include "up_internal.h"
 #include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_led.h>
-
-static int	px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg);
-static ssize_t	px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen);
+#include "px4fmu_internal.h"
 
-static const struct file_operations px4fmu_led_fops = {
-	.read  = px4fmu_led_pseudoread,
-	.ioctl = px4fmu_led_ioctl,
-};
-
-int
-px4fmu_led_init(void)
+__EXPORT void up_ledinit()
 {
-	/* register the driver */
-	return register_driver("/dev/led", &px4fmu_led_fops, 0666, NULL);
+	/* Configure LED1-2 GPIOs for output */
+
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
 }
 
-static ssize_t
-px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen)
+__EXPORT void up_ledon(int led)
 {
-	return 0;
+	if (led == 0)
+	{
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+	if (led == 1)
+	{
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED2, false);
+	}
 }
 
-static int
-px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg)
+__EXPORT void up_ledoff(int led)
 {
-	int	result = 0;
-
-	switch (cmd) {
-
-	case LED_ON:
-		switch (arg) {
-		case 0:
-		case 1:
-			up_ledon(arg);
-			break;
-		default:
-			result = -1;
-			break;
-		}
-		break;
-
-	case LED_OFF:
-		switch (arg) {
-		case 0:
-		case 1:
-			up_ledoff(arg);
-			break;
-		default:
-			result = -1;
-			break;
-		}
-		break;
-		default:
-			result = -1;
-			break;
+	if (led == 0)
+	{
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+	if (led == 1)
+	{
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED2, true);
 	}
-	return result;
 }
-
diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index d1ff8c112..cb8918306 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
@@ -46,13 +46,9 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include "chip.h"
-#include "up_internal.h"
-#include "up_arch.h"
-
-#include "stm32_internal.h"
-#include "stm32_gpio.h"
-#include "stm32_tim.h"
+#include <stm32_internal.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
 
 __EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
 	{
diff --git a/nuttx/configs/px4fmu/include/drv_led.h b/apps/drivers/drv_led.h
index 4b7093346..bf21787f2 100644
--- a/nuttx/configs/px4fmu/include/drv_led.h
+++ b/apps/drivers/drv_led.h
@@ -31,21 +31,34 @@
  *
  ****************************************************************************/
 
+/**
+ * @file drv_led.h
+ *
+ * LED driver API
+ */
+
+#pragma once
+
+#include <stdint.h>
 #include <sys/ioctl.h>
 
-#define _LEDCBASE	0x6800
-#define LEDC(_x)	_IOC(_LEDCBASE, _x)
+#define LED_DEVICE_PATH		"/dev/led"
+
+#define _LED_BASE		0x2800
 
-/* set the LED identified by the argument */
-#define LED_ON	LEDC(1)
+/* PX4 LED colour codes */
+#define LED_AMBER		0
+#define LED_RED			0	/* some boards have red rather than amber */
+#define LED_BLUE		1
 
-/* clear the LED identified by the argument */
-#define LED_OFF	LEDC(2)
+#define LED_ON			_IOC(_LED_BASE, 0)
+#define LED_OFF			_IOC(_LED_BASE, 1)
 
-///* toggle the LED identified by the argument */
-//#define LED_TOGGLE	LEDC(3)
+__BEGIN_DECLS
 
-#define LED_BLUE		  0  /* Led on first port */
-#define LED_AMBER		  1  /* Led on second port */
+/*
+ * Initialise the LED driver.
+ */
+__EXPORT extern void drv_led_start();
 
-extern int	px4fmu_led_init(void);
+__END_DECLS
diff --git a/apps/systemcmds/led/Makefile b/apps/drivers/led/Makefile
index eb9d8f909..7de188259 100644
--- a/apps/systemcmds/led/Makefile
+++ b/apps/drivers/led/Makefile
@@ -32,11 +32,7 @@
 ############################################################################
 
 #
-# Makefile to build ardrone interface
+# Makefile to build the LED driver.
 #
 
-APPNAME		 = led
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
-
 include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/led/led.cpp b/apps/drivers/led/led.cpp
new file mode 100644
index 000000000..12d864be2
--- /dev/null
+++ b/apps/drivers/led/led.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   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 led.cpp
+ *
+ * LED driver.
+ */
+
+#include <nuttx/config.h>
+#include <drivers/device/device.h>
+#include <drivers/drv_led.h>
+
+/* Ideally we'd be able to get these from up_internal.h */
+//#include <up_internal.h>
+__BEGIN_DECLS
+extern void up_ledinit();
+extern void up_ledon(int led);
+extern void up_ledoff(int led);
+__END_DECLS
+
+class LED : device::CDev
+{
+public:
+	LED();
+	~LED();
+
+	virtual int		init();
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+};
+
+LED::LED() :
+	CDev("led", LED_DEVICE_PATH)
+{
+	// force immediate init/device registration
+	init();
+}
+
+LED::~LED()
+{
+}
+
+int
+LED::init()
+{
+	CDev::init();
+	up_ledinit();
+
+	return 0;
+}
+
+int
+LED::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int result = OK;
+
+	switch (cmd) {
+	case LED_ON:
+		up_ledon(arg);
+		break;
+
+	case LED_OFF:
+		up_ledoff(arg);
+		break;
+
+	default:
+		result = CDev::ioctl(filp, cmd, arg);
+	}
+	return result;
+}
+
+namespace
+{
+LED	*gLED;
+}
+
+void
+drv_led_start()
+{
+	if (gLED == nullptr) {
+		gLED = new LED;
+		if (gLED != nullptr)
+			gLED->init();
+	}
+}
\ No newline at end of file
diff --git a/apps/px4/tests/test_float.c b/apps/px4/tests/test_float.c
index 8c70b720b..4921c9bbb 100644
--- a/apps/px4/tests/test_float.c
+++ b/apps/px4/tests/test_float.c
@@ -45,8 +45,6 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <debug.h>
-#include <arch/board/board.h>
-#include <arch/board/drv_led.h>
 #include "tests.h"
 #include <math.h>
 #include <float.h>
diff --git a/apps/px4/tests/test_int.c b/apps/px4/tests/test_int.c
index 40e030641..c59cee7b7 100644
--- a/apps/px4/tests/test_int.c
+++ b/apps/px4/tests/test_int.c
@@ -49,8 +49,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 #include <math.h>
diff --git a/apps/px4/tests/test_led.c b/apps/px4/tests/test_led.c
index 53615ccd8..6e3efc668 100644
--- a/apps/px4/tests/test_led.c
+++ b/apps/px4/tests/test_led.c
@@ -49,7 +49,7 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
+#include <drivers/drv_led.h>
 
 #include "tests.h"
 
@@ -91,7 +91,7 @@ int test_led(int argc, char *argv[])
 	int		fd;
 	int		ret = 0;
 
-	fd = open("/dev/led", O_RDONLY | O_NONBLOCK);
+	fd = open(LED_DEVICE_PATH, 0);
 
 	if (fd < 0) {
 		printf("\tLED: open fail\n");
diff --git a/apps/px4/tests/test_sleep.c b/apps/px4/tests/test_sleep.c
index 911a9c2e1..c7b9d2833 100644
--- a/apps/px4/tests/test_sleep.c
+++ b/apps/px4/tests/test_sleep.c
@@ -49,8 +49,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 /****************************************************************************
diff --git a/apps/px4/tests/test_uart_baudchange.c b/apps/px4/tests/test_uart_baudchange.c
index 06965bd3d..609a65c62 100644
--- a/apps/px4/tests/test_uart_baudchange.c
+++ b/apps/px4/tests/test_uart_baudchange.c
@@ -52,8 +52,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 #include <math.h>
diff --git a/apps/px4/tests/test_uart_console.c b/apps/px4/tests/test_uart_console.c
index fc5b03036..f8582b52f 100644
--- a/apps/px4/tests/test_uart_console.c
+++ b/apps/px4/tests/test_uart_console.c
@@ -50,8 +50,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 #include <math.h>
diff --git a/apps/px4/tests/test_uart_loopback.c b/apps/px4/tests/test_uart_loopback.c
index b2e07df1c..3be152004 100644
--- a/apps/px4/tests/test_uart_loopback.c
+++ b/apps/px4/tests/test_uart_loopback.c
@@ -50,8 +50,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 #include <math.h>
diff --git a/apps/px4/tests/test_uart_send.c b/apps/px4/tests/test_uart_send.c
index f5c26e9f3..7e1e8d307 100644
--- a/apps/px4/tests/test_uart_send.c
+++ b/apps/px4/tests/test_uart_send.c
@@ -50,8 +50,6 @@
 
 #include <arch/board/board.h>
 
-#include <arch/board/drv_led.h>
-
 #include "tests.h"
 
 #include <math.h>
diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h
index 1023f5f51..46450d10b 100644
--- a/apps/px4/tests/tests.h
+++ b/apps/px4/tests/tests.h
@@ -84,7 +84,6 @@ extern int	test_led(int argc, char *argv[]);
 extern int	test_adc(int argc, char *argv[]);
 extern int	test_int(int argc, char *argv[]);
 extern int	test_float(int argc, char *argv[]);
-extern int	test_eeproms(int argc, char *argv[]);
 extern int	test_ppm(int argc, char *argv[]);
 extern int	test_servo(int argc, char *argv[]);
 extern int	test_uart_loopback(int argc, char *argv[]);
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c
deleted file mode 100644
index 15d448118..000000000
--- a/apps/systemcmds/led/led.c
+++ /dev/null
@@ -1,209 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 led.c
- * Plain, stupid led outputs
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <math.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <termios.h>
-#include <time.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/drv_led.h>
-
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-__EXPORT int led_main(int argc, char *argv[]);
-
-
-static bool thread_should_exit = false;	/**< Deamon exit flag */
-static bool thread_running = false;	/**< Deamon status flag */
-static int led_task;			/**< Handle of deamon task / thread */
-static int leds;
-
-static int led_init(void)
-{
-	leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
-
-	if (leds < 0) {
-		errx(1, "[led] LED: open fail\n");
-	}
-
-	if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
-		errx(1, "[led] LED: ioctl fail\n");
-	}
-
-	return 0;
-}
-
-static void led_deinit(void)
-{
-	close(leds);
-}
-
-static int led_toggle(int led)
-{
-	static int last_blue = LED_ON;
-	static int last_amber = LED_ON;
-
-	if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
-
-	if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
-
-	return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
-}
-
-static int led_on(int led)
-{
-	return ioctl(leds, LED_ON, led);
-}
-
-static int led_off(int led)
-{
-	return ioctl(leds, LED_OFF, led);
-}
-
-/**
- * Mainloop of led.
- */
-int led_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int led_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("led already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		led_task = task_spawn("led",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX - 15,
-				      4096,
-				      led_thread_main,
-				      (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tled is running\n");
-
-		} else {
-			printf("\tled not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int led_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	printf("[led] Control started, taking over motors\n");
-
-	/* open leds */
-	led_init();
-
-	unsigned int rate = 200;
-
-	while (!thread_should_exit) {
-		/* swell blue led */
-
-
-		/* 200 Hz base loop */
-		usleep(1000000 / rate);
-	}
-
-	/* close leds */
-	led_deinit();
-
-	printf("[led] ending now...\n\n");
-	fflush(stdout);
-
-	thread_running = false;
-
-	return OK;
-}
-
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 4da9065df..5b2546911 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -52,7 +52,6 @@ CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
 CONFIGURED_APPS += systemcmds/eeprom
-CONFIGURED_APPS += systemcmds/led
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/bl_update
 #CONFIGURED_APPS += systemcmds/calibration
@@ -94,6 +93,7 @@ CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
+CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/px4fmu
 
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 42c931112..c3d6bf543 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -40,9 +40,7 @@ CFLAGS		+= -I$(TOPDIR)/sched
 ASRCS		= 
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
-CSRCS		= up_leds.c \
-		  drv_led.c
-
+CSRCS		= empty.c
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 
 SRCS		= $(ASRCS) $(CSRCS)
@@ -69,6 +67,7 @@ libboard$(LIBEXT): $(OBJS)
 	@( for obj in $(OBJS) ; do \
 		$(call ARCHIVE, $@, $${obj}); \
 	done ; )
+	touch $@
 
 .depend: Makefile $(SRCS)
 	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
diff --git a/nuttx/configs/px4fmu/src/empty.c b/nuttx/configs/px4fmu/src/empty.c
new file mode 100644
index 000000000..ace900866
--- /dev/null
+++ b/nuttx/configs/px4fmu/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */
diff --git a/nuttx/configs/px4fmu/src/px4fmu-internal.h b/nuttx/configs/px4fmu/src/px4fmu-internal.h
deleted file mode 100644
index f48b1bf5e..000000000
--- a/nuttx/configs/px4fmu/src/px4fmu-internal.h
+++ /dev/null
@@ -1,166 +0,0 @@
-/****************************************************************************************************
- * configs/px4fmu/src/px4fmu_internal.h
- * arch/arm/src/board/px4fmu_internal.n
- *
- *   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.
- *
- ****************************************************************************************************/
-
-#ifndef __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
-#define __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-#ifdef CONFIG_STM32_SPI2
-#  error "SPI2 is not supported on this board"
-#endif
-
-#if defined(CONFIG_STM32_CAN1)
-#  warning "CAN1 is not supported on this board"
-#endif
-
-/* PX4FMU GPIOs ***********************************************************************************/
-/* LEDs */
-
-#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-
-/* External interrupts */
-#define GPIO_EXTI_COMPASS	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
-// XXX MPU6000 DRDY?
-
-/* SPI chip selects */
-#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
-
-/* User GPIOs
- *
- * GPIO0-1 are the buffered high-power GPIOs.
- * GPIO2-5 are the USART2 pins.
- * GPIO6-7 are the CAN2 pins.
- */
-#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_GPIO6_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_GPIO7_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
-#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
-#define GPIO_GPIO_DIR		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-/* 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)
-
-/* PWM
- *
- * The PX4FMU has five PWM outputs, of which only the output on
- * pin PC8 is fixed assigned to this function. The other four possible
- * pwm sources are the TX, RX, RTS and CTS pins of USART2
- *
- * Alternate function mapping:
- * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
- */
-
-#ifdef CONFIG_PWM
-#  if defined(CONFIG_STM32_TIM3_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#	 define BUZZER_PWMTIMER 3
-#  elif defined(CONFIG_STM32_TIM8_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#    define BUZZER_PWMTIMER 8
-#  endif
-#endif
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-/****************************************************************************************************
- * Name: px4fmu_gpio_init
- *
- * Description:
- *   Called to configure the PX4FMU user GPIOs
- *
- ****************************************************************************************************/
-
-extern void px4fmu_gpio_init(void);
-
-
-// XXX additional SPI chipselect functions required?
-
-#endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H */
-
diff --git a/nuttx/configs/px4fmu/src/up_leds.c b/nuttx/configs/px4fmu/src/up_leds.c
deleted file mode 100644
index f7b76aa58..000000000
--- a/nuttx/configs/px4fmu/src/up_leds.c
+++ /dev/null
@@ -1,127 +0,0 @@
-/****************************************************************************
- * configs/px4fmu/src/up_leds.c
- * arch/arm/src/board/up_leds.c
- *
- *   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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* Enables debug output from this file (needs CONFIG_DEBUG with
- * CONFIG_DEBUG_VERBOSE too)
- */
-
-#undef LED_DEBUG  /* Define to enable debug */
-
-#ifdef LED_DEBUG
-#  define leddbg  lldbg
-#  define ledvdbg llvdbg
-#else
-#  define leddbg(x...)
-#  define ledvdbg(x...)
-#endif
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_ledinit
- ****************************************************************************/
-
-#ifdef CONFIG_ARCH_LEDS
-void up_ledinit(void)
-{
-   /* Configure LED1-2 GPIOs for output */
-
-   stm32_configgpio(GPIO_LED1);
-   stm32_configgpio(GPIO_LED2);
-}
-
-/****************************************************************************
- * Name: up_ledon
- ****************************************************************************/
-
-void up_ledon(int led)
-{
-	if (led == 0)
-	{
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
-	if (led == 1)
-	{
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED2, false);
-	}
-}
-
-/****************************************************************************
- * Name: up_ledoff
- ****************************************************************************/
-
-void up_ledoff(int led)
-{
-	if (led == 0)
-	{
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
-	if (led == 1)
-	{
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED2, true);
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */