Tease the PWM driver out and fix some build issues after cleaning up behind the cpuload pieces.

12 files changed, 114 insertions, 533 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index b53b675df..a7550b54b 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -95,7 +95,7 @@
 PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0);	/**< Go into low-level failsafe after 0 ms */
 //PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0);	/**< Go into high-level failsafe after 0 ms */
 
-#include <arch/board/up_cpuload.h>
+#include <systemlib/cpuload.h>
 extern struct system_load_s system_load;
 
 /* Decouple update interval and hysteris counters, all depends on intervals */
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
index c35290589..bb30087e0 100644
--- a/apps/drivers/boards/px4fmu/px4fmu_init.c
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -63,7 +63,6 @@
 #include "px4fmu_internal.h"
 #include "stm32_uart.h"
 
-#include <arch/board/up_cpuload.h>
 #include <arch/board/up_adc.h>
 #include <arch/board/board.h>
 #include <arch/board/drv_led.h>
@@ -71,6 +70,8 @@
 
 #include <drivers/drv_hrt.h>
 
+#include <systemlib/cpuload.h>
+
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
index 340175a4b..fc458e9b0 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/apps/drivers/drv_pwm_output.h
@@ -41,14 +41,15 @@
  * channel.
  */
 
-#ifndef _DRV_PWM_OUTPUT_H
-#define _DRV_PWM_OUTPUT_H
+#pragma once
 
 #include <stdint.h>
 #include <sys/ioctl.h>
 
 #include "drv_orb_dev.h"
 
+__BEGIN_DECLS
+
 /**
  * Path for the default PWM output device.
  *
@@ -109,4 +110,63 @@ ORB_DECLARE(output_pwm);
 #define PWM_SERVO_GET(_servo)	_IOC(_PWM_SERVO_BASE, 0x40 + _servo)
 
 
-#endif /* _DRV_PWM_OUTPUT_H */
+/*
+ * Low-level PWM output interface.
+ *
+ * This is the low-level API to the platform-specific PWM driver.
+ */
+
+/**
+ * Intialise the PWM servo outputs using the specified configuration.
+ *
+ * @param channel_mask	Bitmask of channels (LSB = channel 0) to enable.
+ *			This allows some of the channels to remain configured
+ *			as GPIOs or as another function.
+ * @return		OK on success.
+ */
+__EXPORT extern int	up_pwm_servo_init(uint32_t channel_mask);
+
+/**
+ * De-initialise the PWM servo outputs.
+ */
+__EXPORT extern void	up_pwm_servo_deinit(void);
+
+/**
+ * Arm or disarm servo outputs.
+ *
+ * When disarmed, servos output no pulse.
+ *
+ * @bug This function should, but does not, guarantee that any pulse 
+ *      currently in progress is cleanly completed.
+ *
+ * @param armed		If true, outputs are armed; if false they
+ *			are disarmed.
+ */
+__EXPORT extern void	up_pwm_servo_arm(bool armed);
+
+/**
+ * Set the servo update rate
+ *
+ * @param rate		The update rate in Hz to set.
+ * @return		OK on success, -ERANGE if an unsupported update rate is set.
+ */
+__EXPORT extern int	up_pwm_servo_set_rate(unsigned rate);
+
+/**
+ * Set the current output value for a channel.
+ *
+ * @param channel	The channel to set.
+ * @param value		The output pulse width in microseconds.
+ */
+__EXPORT extern int	up_pwm_servo_set(unsigned channel, servo_position_t value);
+
+/**
+ * Get the current output value for a channel.
+ *
+ * @param channel	The channel to read.
+ * @return		The output pulse width in microseconds, or zero if
+ *			outputs are not armed or not configured.
+ */
+__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
+
+__END_DECLS
diff --git a/apps/drivers/stm32/Makefile b/apps/drivers/stm32/Makefile
new file mode 100644
index 000000000..4ad57f413
--- /dev/null
+++ b/apps/drivers/stm32/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# STM32 driver support code
+#
+# Modules in this directory are compiled for all STM32 targets.
+#
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/boards/px4fmu/drv_hrt.c b/apps/drivers/stm32/drv_hrt.c
index 11b98fd1b..11b98fd1b 100644
--- a/apps/drivers/boards/px4fmu/drv_hrt.c
+++ b/apps/drivers/stm32/drv_hrt.c
diff --git a/nuttx/configs/px4fmu/src/up_pwm_servo.c b/apps/drivers/stm32/up_pwm_servo.c
index d278da55c..708aa8884 100644
--- a/nuttx/configs/px4fmu/src/up_pwm_servo.c
+++ b/apps/drivers/stm32/up_pwm_servo.c
@@ -32,6 +32,8 @@
  ****************************************************************************/
 
 /*
+ * @file drv_pwm_servo.c
+ *
  * Servo driver supporting PWM servos connected to STM32 timer blocks.
  *
  * Works with any of the 'generic' or 'advanced' STM32 timers that
@@ -54,7 +56,7 @@
 #include <stdio.h>
 
 #include <arch/board/board.h>
-#include <arch/board/up_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
 
 #include "chip.h"
 #include "up_internal.h"
diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c
index b373d9ae7..7a2a993c2 100644
--- a/apps/systemcmds/top/top.c
+++ b/apps/systemcmds/top/top.c
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <poll.h>
 
-#include <arch/board/up_cpuload.h>
+#include <systemlib/cpuload.h>
 #include <drivers/drv_hrt.h>
 
 /**
diff --git a/nuttx/configs/px4fmu/include/up_cpuload.h b/nuttx/configs/px4fmu/include/up_cpuload.h
deleted file mode 100644
index b61c5c550..000000000
--- a/nuttx/configs/px4fmu/include/up_cpuload.h
+++ /dev/null
@@ -1,62 +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.
- *
- ****************************************************************************/
-
-#ifndef UP_CPULOAD_H_
-#define UP_CPULOAD_H_
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-#include <nuttx/sched.h>
-
-struct system_load_taskinfo_s {
-	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
-	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
-	uint64_t start_time;         ///< FIRST start time of task
-	FAR struct _TCB *tcb;               ///<
-	bool valid;                  ///< Task is currently active / valid
-};
-
-struct system_load_s {
-	uint64_t start_time;         ///< Global start time of measurements
-	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
-	uint8_t initialized;
-	int total_count;
-	int running_count;
-	int sleeping_count;
-};
-
-void cpuload_initialize_once(void);
-
-#endif
-
-#endif
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index b587b3386..cfd86aac1 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -95,6 +95,7 @@ CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
+CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += px4/fmu
 
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 0768a9d60..f6140fb93 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -43,7 +43,7 @@ AOBJS		= $(ASRCS:.S=$(OBJEXT))
 CSRCS		= up_boot.c up_leds.c up_spi.c \
 		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
-		  up_pwm_servo.c up_usbdev.c
+		  up_usbdev.c
 
 ifeq ($(CONFIG_ADC),y)
 CSRCS		+= up_adc.c
diff --git a/nuttx/configs/px4fmu/src/up_cpuload.c b/nuttx/configs/px4fmu/src/up_cpuload.c
deleted file mode 100644
index bf867ae8b..000000000
--- a/nuttx/configs/px4fmu/src/up_cpuload.c
+++ /dev/null
@@ -1,183 +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 <sys/time.h>
-#include <sched.h>
-
-#include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
-#include <arch/board/up_cpuload.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name:
- ****************************************************************************/
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-struct system_load_s system_load;
-
-extern FAR _TCB *sched_gettcb(pid_t pid);
-
-void cpuload_initialize_once(void);
-
-void cpuload_initialize_once()
-{
-//	if (!system_load.initialized)
-//	{
-		system_load.start_time = hrt_absolute_time();
-		int i;
-		for (i = 0; i < CONFIG_MAX_TASKS; i++)
-		{
-			system_load.tasks[i].valid = false;
-		}
-		system_load.total_count = 0;
-
-		uint64_t now = hrt_absolute_time();
-
-		/* initialize idle thread statically */
-		system_load.tasks[0].start_time = now;
-		system_load.tasks[0].total_runtime = 0;
-		system_load.tasks[0].curr_start_time = 0;
-		system_load.tasks[0].tcb = sched_gettcb(0);
-		system_load.tasks[0].valid = true;
-		system_load.total_count++;
-
-		/* initialize init thread statically */
-		system_load.tasks[1].start_time = now;
-		system_load.tasks[1].total_runtime = 0;
-		system_load.tasks[1].curr_start_time = 0;
-		system_load.tasks[1].tcb = sched_gettcb(1);
-		system_load.tasks[1].valid = true;
-		/* count init thread */
-		system_load.total_count++;
-		//	}
-}
-
-void sched_note_start(FAR _TCB *tcb )
-{
-	/* search first free slot */
-	int i;
-	for (i = 1; i < CONFIG_MAX_TASKS; i++)
-	{
-		if (!system_load.tasks[i].valid)
-		{
-			/* slot is available */
-			system_load.tasks[i].start_time = hrt_absolute_time();
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = tcb;
-			system_load.tasks[i].valid = true;
-			system_load.total_count++;
-			break;
-		}
-	}
-}
-
-void sched_note_stop(FAR _TCB *tcb )
-{
-	int i;
-	for (i = 1; i < CONFIG_MAX_TASKS; i++)
-	{
-		if (system_load.tasks[i].tcb->pid == tcb->pid)
-		{
-			/* mark slot as fee */
-			system_load.tasks[i].valid = false;
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = NULL;
-			system_load.total_count--;
-			break;
-		}
-	}
-}
-
-void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
-{
-	uint64_t new_time = hrt_absolute_time();
-
-	/* Kind of inefficient: find both tasks and update times */
-	uint8_t both_found = 0;
-	for (int i = 0; i < CONFIG_MAX_TASKS; i++)
-	{
-		/* Task ending its current scheduling run */
-		if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
-		{
-			//if (system_load.tasks[i].curr_start_time != 0)
-			{
-				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
-			}
-			both_found++;
-		}
-		else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
-		{
-			system_load.tasks[i].curr_start_time = new_time;
-			both_found++;
-		}
-
-		/* Do only iterate as long as needed */
-		if (both_found == 2)
-		{
-			break;
-		}
-	}
-}
-
-#endif /* CONFIG_SCHED_INSTRUMENTATION */
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c
deleted file mode 100644
index 763207d3a..000000000
--- a/nuttx/configs/px4fmu/src/up_nsh.c
+++ /dev/null
@@ -1,280 +0,0 @@
-/****************************************************************************
- * config/px4fmu/src/up_nsh.c
- * arch/arm/src/board/up_nsh.c
- *
- *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
- *
- * 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 <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/spi.h>
-#include <nuttx/i2c.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/arch.h>
-
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-#include "stm32_uart.h"
-
-#include <arch/board/up_hrt.h>
-#include <arch/board/up_cpuload.h>
-#include <arch/board/up_adc.h>
-#include <arch/board/board.h>
-#include <arch/board/drv_led.h>
-#include <arch/board/drv_eeprom.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/* Debug ********************************************************************/
-
-#ifdef CONFIG_CPP_HAVE_VARARGS
-#  ifdef CONFIG_DEBUG
-#    define message(...) lib_lowprintf(__VA_ARGS__)
-#  else
-#    define message(...) printf(__VA_ARGS__)
-#  endif
-#else
-#  ifdef CONFIG_DEBUG
-#    define message lib_lowprintf
-#  else
-#    define message printf
-#  endif
-#endif
-
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization
- *
- ****************************************************************************/
-
-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>
-
-#ifdef __cplusplus
-int matherr(struct __exception *e) {
-  return 1;
-}
-#else
-int matherr(struct exception *e) {
-  return 1;
-}
-#endif
-
-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();
-#endif
-
-  /* configure CPU load estimation */
-  #ifdef CONFIG_SCHED_INSTRUMENTATION
-  cpuload_initialize_once();
-  #endif
-
-  /* set up the serial DMA polling */
-#ifdef SERIAL_HAVE_DMA
-  {
-    static struct hrt_call serial_dma_call;
-    struct timespec ts;
-
-    /* 
-     * Poll at 1ms intervals for received bytes that have not triggered
-     * a DMA event.
-     */
-    ts.tv_sec = 0;
-    ts.tv_nsec = 1000000;
-
-    hrt_call_every(&serial_dma_call, 
-                   ts_to_abstime(&ts),
-                   ts_to_abstime(&ts),
-                   (hrt_callout)stm32_serial_dma_poll,
-                   NULL);
-  }
-#endif
-
-  message("\r\n");
-
-  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);
-  if (!spi1)
-  {
-	  message("[boot] FAILED to initialize SPI port 1\r\n");
-	  up_ledon(LED_AMBER);
-	  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, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-  up_udelay(20);
-
-  message("[boot] Successfully initialized SPI port 1\r\n");
-
-  /* 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);
-
-#if defined(CONFIG_STM32_SPI3)
-  /* Get the SPI port */
-
-  message("[boot] Initializing SPI port 3\n");
-  spi3 = up_spiinitialize(3);
-  if (!spi3)
-    {
-      message("[boot] FAILED to initialize SPI port 3\n");
-      up_ledon(LED_AMBER);
-      return -ENODEV;
-    }
-  message("[boot] Successfully initialized SPI port 3\n");
-
-  /* Now bind the SPI interface to the MMCSD driver */
-  result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-  if (result != OK)
-  {
-	  message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-  message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
-#endif /* SPI3 */
-
-  /* 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 */
-
-  /* Initialize the user GPIOs */
-  px4fmu_gpio_init();
-
-#ifdef CONFIG_ADC
-  int adc_state = adc_devinit();
-  if (adc_state != OK)
-  {
-    /* Try again */
-    adc_state = adc_devinit();
-    if (adc_state != OK)
-    {
-      /* Give up */
-      message("[boot] FAILED adc_devinit: %d\n", adc_state);
-      return -ENODEV;
-    }
-  }
-#endif
-
-  return OK;
-}