Moved last libs, drivers and headers, cleaned up IO build

9 files changed, 0 insertions, 1800 deletions

diff --git a/apps/drivers/device/Makefile b/apps/drivers/device/Makefile
deleted file mode 100644
index f7b1fff88..000000000
--- a/apps/drivers/device/Makefile
+++ /dev/null
@@ -1,38 +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.
-#
-############################################################################
-
-#
-# Build the device driver framework.
-#
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/device/cdev.cpp b/apps/drivers/device/cdev.cpp
deleted file mode 100644
index 422321850..000000000
--- a/apps/drivers/device/cdev.cpp
+++ /dev/null
@@ -1,398 +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.
- *
- ****************************************************************************/
-
-/**
- * @file cdev.cpp
- *
- * Character device base class.
- */
-
-#include "device.h"
-
-#include <sys/ioctl.h>
-#include <arch/irq.h>
-
-#include <stdlib.h>
-#include <stdio.h>
-
-#ifdef CONFIG_DISABLE_POLL
-# error This driver is not compatible with CONFIG_DISABLE_POLL
-#endif
-
-namespace device
-{
-
-/* how much to grow the poll waiter set each time it has to be increased */
-static const unsigned pollset_increment = 0;
-
-/*
- * The standard NuttX operation dispatch table can't call C++ member functions
- * directly, so we have to bounce them through this dispatch table.
- */
-static int	cdev_open(struct file *filp);
-static int	cdev_close(struct file *filp);
-static ssize_t	cdev_read(struct file *filp, char *buffer, size_t buflen);
-static ssize_t	cdev_write(struct file *filp, const char *buffer, size_t buflen);
-static off_t	cdev_seek(struct file *filp, off_t offset, int whence);
-static int	cdev_ioctl(struct file *filp, int cmd, unsigned long arg);
-static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
-
-/**
- * Character device indirection table.
- *
- * Every cdev we register gets the same function table; we use the private data
- * field in the inode to store the instance pointer.
- *
- * Note that we use the GNU extension syntax here because we don't get designated
- * initialisers in gcc 4.6.
- */
-const struct file_operations CDev::fops = {
-open	: cdev_open,
-close	: cdev_close,
-read	: cdev_read,
-write	: cdev_write,
-seek	: cdev_seek,
-ioctl	: cdev_ioctl,
-poll	: cdev_poll,
-};
-
-CDev::CDev(const char *name,
-	   const char *devname,
-	   int irq) :
-	// base class
-	Device(name, irq),
-	// public
-	// protected
-	// private
-	_devname(devname),
-	_registered(false),
-	_open_count(0)
-{
-	for (unsigned i = 0; i < _max_pollwaiters; i++)
-		_pollset[i] = nullptr;
-}
-
-CDev::~CDev()
-{
-	if (_registered)
-		unregister_driver(_devname);
-}
-
-int
-CDev::init()
-{
-	int ret = OK;
-
-	// base class init first
-	ret = Device::init();
-
-	if (ret != OK)
-		goto out;
-
-	// now register the driver
-	ret = register_driver(_devname, &fops, 0666, (void *)this);
-
-	if (ret != OK)
-		goto out;
-
-	_registered = true;
-
-out:
-	return ret;
-}
-
-/*
- * Default implementations of the character device interface
- */
-int
-CDev::open(struct file *filp)
-{
-	int ret = OK;
-
-	lock();
-	/* increment the open count */
-	_open_count++;
-
-	if (_open_count == 1) {
-
-		/* first-open callback may decline the open */
-		ret = open_first(filp);
-
-		if (ret != OK)
-			_open_count--;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-int
-CDev::open_first(struct file *filp)
-{
-	return OK;
-}
-
-int
-CDev::close(struct file *filp)
-{
-	int ret = OK;
-
-	lock();
-
-	if (_open_count > 0) {
-		/* decrement the open count */
-		_open_count--;
-
-		/* callback cannot decline the close */
-		if (_open_count == 0)
-			ret = close_last(filp);
-
-	} else {
-		ret = -EBADF;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-int
-CDev::close_last(struct file *filp)
-{
-	return OK;
-}
-
-ssize_t
-CDev::read(struct file *filp, char *buffer, size_t buflen)
-{
-	return -ENOSYS;
-}
-
-ssize_t
-CDev::write(struct file *filp, const char *buffer, size_t buflen)
-{
-	return -ENOSYS;
-}
-
-off_t
-CDev::seek(struct file *filp, off_t offset, int whence)
-{
-	return -ENOSYS;
-}
-
-int
-CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-
-		/* fetch a pointer to the driver's private data */
-	case DIOC_GETPRIV:
-		*(void **)(uintptr_t)arg = (void *)this;
-		return OK;
-	}
-
-	return -ENOTTY;
-}
-
-int
-CDev::poll(struct file *filp, struct pollfd *fds, bool setup)
-{
-	int ret = OK;
-
-	/*
-	 * Lock against pollnotify() (and possibly other callers)
-	 */
-	lock();
-
-	if (setup) {
-		/*
-		 * Save the file pointer in the pollfd for the subclass'
-		 * benefit.
-		 */
-		fds->priv = (void *)filp;
-
-		/*
-		 * Handle setup requests.
-		 */
-		ret = store_poll_waiter(fds);
-
-		if (ret == OK) {
-
-			/*
-			 * Check to see whether we should send a poll notification
-			 * immediately.
-			 */
-			fds->revents |= fds->events & poll_state(filp);
-
-			/* yes? post the notification */
-			if (fds->revents != 0)
-				sem_post(fds->sem);
-		}
-
-	} else {
-		/*
-		 * Handle a teardown request.
-		 */
-		ret = remove_poll_waiter(fds);
-	}
-
-	unlock();
-
-	return ret;
-}
-
-void
-CDev::poll_notify(pollevent_t events)
-{
-	/* lock against poll() as well as other wakeups */
-	irqstate_t state = irqsave();
-
-	for (unsigned i = 0; i < _max_pollwaiters; i++)
-		if (nullptr != _pollset[i])
-			poll_notify_one(_pollset[i], events);
-
-	irqrestore(state);
-}
-
-void
-CDev::poll_notify_one(struct pollfd *fds, pollevent_t events)
-{
-	/* update the reported event set */
-	fds->revents |= fds->events & events;
-
-	/* if the state is now interesting, wake the waiter if it's still asleep */
-	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
-	if ((fds->revents != 0) && (fds->sem->semcount <= 0))
-		sem_post(fds->sem);
-}
-
-pollevent_t
-CDev::poll_state(struct file *filp)
-{
-	/* by default, no poll events to report */
-	return 0;
-}
-
-int
-CDev::store_poll_waiter(struct pollfd *fds)
-{
-	/*
-	 * Look for a free slot.
-	 */
-	for (unsigned i = 0; i < _max_pollwaiters; i++) {
-		if (nullptr == _pollset[i]) {
-
-			/* save the pollfd */
-			_pollset[i] = fds;
-
-			return OK;
-		}
-	}
-
-	return ENOMEM;
-}
-
-int
-CDev::remove_poll_waiter(struct pollfd *fds)
-{
-	for (unsigned i = 0; i < _max_pollwaiters; i++) {
-		if (fds == _pollset[i]) {
-
-			_pollset[i] = nullptr;
-			return OK;
-
-		}
-	}
-
-	puts("poll: bad fd state");
-	return -EINVAL;
-}
-
-static int
-cdev_open(struct file *filp)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->open(filp);
-}
-
-static int
-cdev_close(struct file *filp)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->close(filp);
-}
-
-static ssize_t
-cdev_read(struct file *filp, char *buffer, size_t buflen)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->read(filp, buffer, buflen);
-}
-
-static ssize_t
-cdev_write(struct file *filp, const char *buffer, size_t buflen)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->write(filp, buffer, buflen);
-}
-
-static off_t
-cdev_seek(struct file *filp, off_t offset, int whence)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->seek(filp, offset, whence);
-}
-
-static int
-cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->ioctl(filp, cmd, arg);
-}
-
-static int
-cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
-{
-	CDev *cdev = (CDev *)(filp->f_inode->i_private);
-
-	return cdev->poll(filp, fds, setup);
-}
-
-} // namespace device
\ No newline at end of file
diff --git a/apps/drivers/device/device.cpp b/apps/drivers/device/device.cpp
deleted file mode 100644
index 04a5222c3..000000000
--- a/apps/drivers/device/device.cpp
+++ /dev/null
@@ -1,227 +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.
- *
- ****************************************************************************/
-
-/**
- * @file device.cpp
- *
- * Fundamental driver base class for the device framework.
- */
-
-#include "device.h"
-
-#include <nuttx/arch.h>
-#include <stdio.h>
-#include <unistd.h>
-
-namespace device
-{
-
-/**
- * Interrupt dispatch table entry.
- */
-struct irq_entry {
-	int	irq;
-	Device	*owner;
-};
-
-static const unsigned	irq_nentries = 8;		/**< size of the interrupt dispatch table */
-static irq_entry	irq_entries[irq_nentries];	/**< interrupt dispatch table (XXX should be a vector) */
-
-/**
- * Register an interrupt to a specific device.
- *
- * @param irq		The interrupt number to register.
- * @param owner		The device receiving the interrupt.
- * @return		OK if the interrupt was registered.
- */
-static int	register_interrupt(int irq, Device *owner);
-
-/**
- * Unregister an interrupt.
- *
- * @param irq		The previously-registered interrupt to be de-registered.
- */
-static void	unregister_interrupt(int irq);
-
-/**
- * Handle an interrupt.
- *
- * @param irq		The interrupt being invoked.
- * @param context	The interrupt register context.
- * @return		Always returns OK.
- */
-static int	interrupt(int irq, void *context);
-
-Device::Device(const char *name,
-	       int irq) :
-	// public
-	// protected
-	_name(name),
-	_debug_enabled(false),
-	// private
-	_irq(irq),
-	_irq_attached(false)
-{
-	sem_init(&_lock, 0, 1);
-}
-
-Device::~Device()
-{
-	sem_destroy(&_lock);
-
-	if (_irq_attached)
-		unregister_interrupt(_irq);
-}
-
-int
-Device::init()
-{
-	int ret = OK;
-
-	// If assigned an interrupt, connect it
-	if (_irq) {
-		/* ensure it's disabled */
-		up_disable_irq(_irq);
-
-		/* register */
-		ret = register_interrupt(_irq, this);
-
-		if (ret != OK)
-			goto out;
-
-		_irq_attached = true;
-	}
-
-out:
-	return ret;
-}
-
-void
-Device::interrupt_enable()
-{
-	if (_irq_attached)
-		up_enable_irq(_irq);
-}
-
-void
-Device::interrupt_disable()
-{
-	if (_irq_attached)
-		up_disable_irq(_irq);
-}
-
-void
-Device::interrupt(void *context)
-{
-	// default action is to disable the interrupt so we don't get called again
-	interrupt_disable();
-}
-
-void
-Device::log(const char *fmt, ...)
-{
-	va_list	ap;
-
-	printf("[%s] ", _name);
-	va_start(ap, fmt);
-	vprintf(fmt, ap);
-	va_end(ap);
-	printf("\n");
-	fflush(stdout);
-}
-
-void
-Device::debug(const char *fmt, ...)
-{
-	va_list	ap;
-
-	if (_debug_enabled) {
-		printf("<%s> ", _name);
-		va_start(ap, fmt);
-		vprintf(fmt, ap);
-		va_end(ap);
-		printf("\n");
-		fflush(stdout);
-	}
-}
-
-static int
-register_interrupt(int irq, Device *owner)
-{
-	int ret = -ENOMEM;
-
-	// look for a slot where we can register the interrupt
-	for (unsigned i = 0; i < irq_nentries; i++) {
-		if (irq_entries[i].irq == 0) {
-
-			// great, we could put it here; try attaching it
-			ret = irq_attach(irq, &interrupt);
-
-			if (ret == OK) {
-				irq_entries[i].irq = irq;
-				irq_entries[i].owner = owner;
-			}
-
-			break;
-		}
-	}
-
-	return ret;
-}
-
-static void
-unregister_interrupt(int irq)
-{
-	for (unsigned i = 0; i < irq_nentries; i++) {
-		if (irq_entries[i].irq == irq) {
-			irq_entries[i].irq = 0;
-			irq_entries[i].owner = nullptr;
-		}
-	}
-}
-
-static int
-interrupt(int irq, void *context)
-{
-	for (unsigned i = 0; i < irq_nentries; i++) {
-		if (irq_entries[i].irq == irq) {
-			irq_entries[i].owner->interrupt(context);
-			break;
-		}
-	}
-
-	return OK;
-}
-
-
-} // namespace device
\ No newline at end of file
diff --git a/apps/drivers/device/device.h b/apps/drivers/device/device.h
deleted file mode 100644
index 7d375aab9..000000000
--- a/apps/drivers/device/device.h
+++ /dev/null
@@ -1,447 +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.
- *
- ****************************************************************************/
-
-/**
- * @file device.h
- *
- * Definitions for the generic base classes in the device framework.
- */
-
-#ifndef _DEVICE_DEVICE_H
-#define _DEVICE_DEVICE_H
-
-/*
- * Includes here should only cover the needs of the framework definitions.
- */
-#include <nuttx/config.h>
-
-#include <errno.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-#include <poll.h>
-
-#include <nuttx/fs/fs.h>
-
-/**
- * Namespace encapsulating all device framework classes, functions and data.
- */
-namespace device __EXPORT
-{
-
-/**
- * Fundamental base class for all device drivers.
- *
- * This class handles the basic "being a driver" things, including
- * interrupt registration and dispatch.
- */
-class __EXPORT Device
-{
-public:
-	/**
-	 * Interrupt handler.
-	 */
-	virtual void	interrupt(void *ctx);	/**< interrupt handler */
-
-protected:
-	const char	*_name;			/**< driver name */
-	bool		_debug_enabled;		/**< if true, debug messages are printed */
-
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param irq		Interrupt assigned to the device.
-	 */
-	Device(const char *name,
-	       int irq = 0);
-	~Device();
-
-	/**
-	 * Initialise the driver and make it ready for use.
-	 *
-	 * @return	OK if the driver initialised OK.
-	 */
-	virtual int	init();
-
-	/**
-	 * Enable the device interrupt
-	 */
-	void		interrupt_enable();
-
-	/**
-	 * Disable the device interrupt
-	 */
-	void		interrupt_disable();
-
-	/**
-	 * Take the driver lock.
-	 *
-	 * Each driver instance has its own lock/semaphore.
-	 *
-	 * Note that we must loop as the wait may be interrupted by a signal.
-	 */
-	void		lock() {
-		do {} while (sem_wait(&_lock) != 0);
-	}
-
-	/**
-	 * Release the driver lock.
-	 */
-	void		unlock() {
-		sem_post(&_lock);
-	}
-
-	/**
-	 * Log a message.
-	 *
-	 * The message is prefixed with the driver name, and followed
-	 * by a newline.
-	 */
-	void		log(const char *fmt, ...);
-
-	/**
-	 * Print a debug message.
-	 *
-	 * The message is prefixed with the driver name, and followed
-	 * by a newline.
-	 */
-	void		debug(const char *fmt, ...);
-
-private:
-	int		_irq;
-	bool		_irq_attached;
-	sem_t		_lock;
-
-	/** disable copy construction for this and all subclasses */
-	Device(const Device &);
-
-	/** disable assignment for this and all subclasses */
-	Device &operator = (const Device &);
-
-	/**
-	 * Register ourselves as a handler for an interrupt
-	 *
-	 * @param irq		The interrupt to claim
-	 * @return		OK if the interrupt was registered
-	 */
-	int		dev_register_interrupt(int irq);
-
-	/**
-	 * Unregister ourselves as a handler for any interrupt
-	 */
-	void		dev_unregister_interrupt();
-
-	/**
-	 * Interrupt dispatcher
-	 *
-	 * @param irq		The interrupt that has been triggered.
-	 * @param context	Pointer to the interrupted context.
-	 */
-	static void	dev_interrupt(int irq, void *context);
-};
-
-/**
- * Abstract class for any character device
- */
-class __EXPORT CDev : public Device
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param irq		Interrupt assigned to the device
-	 */
-	CDev(const char *name, const char *devname, int irq = 0);
-
-	/**
-	 * Destructor
-	 */
-	~CDev();
-
-	virtual int	init();
-
-	/**
-	 * Handle an open of the device.
-	 *
-	 * This function is called for every open of the device. The default
-	 * implementation maintains _open_count and always returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open is allowed, -errno otherwise.
-	 */
-	virtual int	open(struct file *filp);
-
-	/**
-	 * Handle a close of the device.
-	 *
-	 * This function is called for every close of the device. The default
-	 * implementation maintains _open_count and returns OK as long as it is not zero.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the close was successful, -errno otherwise.
-	 */
-	virtual int	close(struct file *filp);
-
-	/**
-	 * Perform a read from the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer into which data should be placed.
-	 * @param buflen	The number of bytes to be read.
-	 * @return		The number of bytes read or -errno otherwise.
-	 */
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-
-	/**
-	 * Perform a write to the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param buffer	Pointer to the buffer from which data should be read.
-	 * @param buflen	The number of bytes to be written.
-	 * @return		The number of bytes written or -errno otherwise.
-	 */
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
-
-	/**
-	 * Perform a logical seek operation on the device.
-	 *
-	 * The default implementation returns -ENOSYS.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param offset	The new file position relative to whence.
-	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
-	 * @return		The previous offset, or -errno otherwise.
-	 */
-	virtual off_t	seek(struct file *filp, off_t offset, int whence);
-
-	/**
-	 * Perform an ioctl operation on the device.
-	 *
-	 * The default implementation handles DIOC_GETPRIV, and otherwise
-	 * returns -ENOTTY. Subclasses should call the default implementation
-	 * for any command they do not handle themselves.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param cmd		The ioctl command value.
-	 * @param arg		The ioctl argument value.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Perform a poll setup/teardown operation.
-	 *
-	 * This is handled internally and should not normally be overridden.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @param fds		Poll descriptor being waited on.
-	 * @param arg		True if this is establishing a request, false if
-	 *			it is being torn down.
-	 * @return		OK on success, or -errno otherwise.
-	 */
-	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
-
-	/**
-	 * Test whether the device is currently open.
-	 *
-	 * This can be used to avoid tearing down a device that is still active.
-	 *
-	 * @return              True if the device is currently open.
-	 */
-	bool            is_open() { return _open_count > 0; }
-
-protected:
-	/**
-	 * Pointer to the default cdev file operations table; useful for
-	 * registering clone devices etc.
-	 */
-	static const struct file_operations	fops;
-
-	/**
-	 * Check the current state of the device for poll events from the
-	 * perspective of the file.
-	 *
-	 * This function is called by the default poll() implementation when
-	 * a poll is set up to determine whether the poll should return immediately.
-	 *
-	 * The default implementation returns no events.
-	 *
-	 * @param filp		The file that's interested.
-	 * @return		The current set of poll events.
-	 */
-	virtual pollevent_t poll_state(struct file *filp);
-
-	/**
-	 * Report new poll events.
-	 *
-	 * This function should be called anytime the state of the device changes
-	 * in a fashion that might be interesting to a poll waiter.
-	 *
-	 * @param events	The new event(s) being announced.
-	 */
-	virtual void	poll_notify(pollevent_t events);
-
-	/**
-	 * Internal implementation of poll_notify.
-	 *
-	 * @param fds		A poll waiter to notify.
-	 * @param events	The event(s) to send to the waiter.
-	 */
-	virtual void	poll_notify_one(struct pollfd *fds, pollevent_t events);
-
-	/**
-	 * Notification of the first open.
-	 *
-	 * This function is called when the device open count transitions from zero
-	 * to one.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open should proceed, -errno otherwise.
-	 */
-	virtual int	open_first(struct file *filp);
-
-	/**
-	 * Notification of the last close.
-	 *
-	 * This function is called when the device open count transitions from
-	 * one to zero.  The driver lock is held for the duration of the call.
-	 *
-	 * The default implementation returns OK.
-	 *
-	 * @param filp		Pointer to the NuttX file structure.
-	 * @return		OK if the open should return OK, -errno otherwise.
-	 */
-	virtual int	close_last(struct file *filp);
-
-private:
-	static const unsigned _max_pollwaiters = 8;
-
-	const char	*_devname;		/**< device node name */
-	bool		_registered;		/**< true if device name was registered */
-	unsigned	_open_count;		/**< number of successful opens */
-
-	struct pollfd	*_pollset[_max_pollwaiters];
-
-	/**
-	 * Store a pollwaiter in a slot where we can find it later.
-	 *
-	 * Expands the pollset as required.  Must be called with the driver locked.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		store_poll_waiter(struct pollfd *fds);
-
-	/**
-	 * Remove a poll waiter.
-	 *
-	 * @return		OK, or -errno on error.
-	 */
-	int		remove_poll_waiter(struct pollfd *fds);
-};
-
-/**
- * Abstract class for character device accessed via PIO
- */
-class __EXPORT PIO : public CDev
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param base		Base address of the device PIO area
-	 * @param irq		Interrupt assigned to the device (or zero if none)
-	 */
-	PIO(const char *name,
-	    const char *devname,
-	    uint32_t base,
-	    int irq = 0);
-	~PIO();
-
-	int		init();
-
-protected:
-
-	/**
-	 * Read a register
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 */
-	uint32_t reg(uint32_t offset) {
-		return *(volatile uint32_t *)(_base + offset);
-	}
-
-	/**
-	 * Write a register
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 * @param value	Value to write.
-	 */
-	void		reg(uint32_t offset, uint32_t value) {
-		*(volatile uint32_t *)(_base + offset) = value;
-	}
-
-	/**
-	 * Modify a register
-	 *
-	 * Note that there is a risk of a race during the read/modify/write cycle
-	 * that must be taken care of by the caller.
-	 *
-	 * @param offset	Register offset in bytes from the base address.
-	 * @param clearbits	Bits to clear in the register
-	 * @param setbits	Bits to set in the register
-	 */
-	void		modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
-		uint32_t val = reg(offset);
-		val &= ~clearbits;
-		val |= setbits;
-		reg(offset, val);
-	}
-
-private:
-	uint32_t	_base;
-};
-
-} // namespace device
-
-#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file
diff --git a/apps/drivers/device/i2c.cpp b/apps/drivers/device/i2c.cpp
deleted file mode 100644
index a416801eb..000000000
--- a/apps/drivers/device/i2c.cpp
+++ /dev/null
@@ -1,204 +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.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.cpp
- *
- * Base class for devices attached via the I2C bus.
- *
- * @todo Bus frequency changes; currently we do nothing with the value
- *       that is supplied.  Should we just depend on the bus knowing?
- */
-
-#include "i2c.h"
-
-namespace device
-{
-
-I2C::I2C(const char *name,
-	 const char *devname,
-	 int bus,
-	 uint16_t address,
-	 uint32_t frequency,
-	 int irq) :
-	// base class
-	CDev(name, devname, irq),
-	// public
-	// protected
-	_retries(0),
-	// private
-	_bus(bus),
-	_address(address),
-	_frequency(frequency),
-	_dev(nullptr)
-{
-}
-
-I2C::~I2C()
-{
-	if (_dev)
-		up_i2cuninitialize(_dev);
-}
-
-int
-I2C::init()
-{
-	int ret = OK;
-
-	/* attach to the i2c bus */
-	_dev = up_i2cinitialize(_bus);
-
-	if (_dev == nullptr) {
-		debug("failed to init I2C");
-		ret = -ENOENT;
-		goto out;
-	}
-
-	// call the probe function to check whether the device is present
-	ret = probe();
-
-	if (ret != OK) {
-		debug("probe failed");
-		goto out;
-	}
-
-	// do base class init, which will create device node, etc
-	ret = CDev::init();
-
-	if (ret != OK) {
-		debug("cdev init failed");
-		goto out;
-	}
-
-	// tell the world where we are
-	log("on I2C bus %d at 0x%02x", _bus, _address);
-
-out:
-	return ret;
-}
-
-int
-I2C::probe()
-{
-	// Assume the device is too stupid to be discoverable.
-	return OK;
-}
-
-int
-I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
-{
-	struct i2c_msg_s msgv[2];
-	unsigned msgs;
-	int ret;
-	unsigned retry_count = 0;
-
-	do {
-		//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
-
-		msgs = 0;
-
-		if (send_len > 0) {
-			msgv[msgs].addr = _address;
-			msgv[msgs].flags = 0;
-			msgv[msgs].buffer = const_cast<uint8_t *>(send);
-			msgv[msgs].length = send_len;
-			msgs++;
-		}
-
-		if (recv_len > 0) {
-			msgv[msgs].addr = _address;
-			msgv[msgs].flags = I2C_M_READ;
-			msgv[msgs].buffer = recv;
-			msgv[msgs].length = recv_len;
-			msgs++;
-		}
-
-		if (msgs == 0)
-			return -EINVAL;
-
-		/*
-		 * I2C architecture means there is an unavoidable race here
-		 * if there are any devices on the bus with a different frequency
-		 * preference.  Really, this is pointless.
-		 */
-		I2C_SETFREQUENCY(_dev, _frequency);
-		ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
-
-		/* success */
-		if (ret == OK)
-			break;
-
-		/* if we have already retried once, or we are going to give up, then reset the bus */
-		if ((retry_count >= 1) || (retry_count >= _retries))
-			up_i2creset(_dev);
-
-	} while (retry_count++ < _retries);
-
-	return ret;
-
-}
-
-int
-I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
-{
-	int ret;
-	unsigned retry_count = 0;
-
-	/* force the device address into the message vector */
-	for (unsigned i = 0; i < msgs; i++)
-		msgv[i].addr = _address;
-
-
-	do {
-		/*
-		 * I2C architecture means there is an unavoidable race here
-		 * if there are any devices on the bus with a different frequency
-		 * preference.  Really, this is pointless.
-		 */
-		I2C_SETFREQUENCY(_dev, _frequency);
-		ret = I2C_TRANSFER(_dev, msgv, msgs);
-
-		/* success */
-		if (ret == OK)
-			break;
-
-		/* if we have already retried once, or we are going to give up, then reset the bus */
-		if ((retry_count >= 1) || (retry_count >= _retries))
-			up_i2creset(_dev);
-
-	} while (retry_count++ < _retries);
-
-	return ret;
-}
-
-} // namespace device
\ No newline at end of file
diff --git a/apps/drivers/device/i2c.h b/apps/drivers/device/i2c.h
deleted file mode 100644
index 7daba31be..000000000
--- a/apps/drivers/device/i2c.h
+++ /dev/null
@@ -1,138 +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.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.h
- *
- * Base class for devices connected via I2C.
- */
-
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
-#include "device.h"
-
-#include <nuttx/i2c.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on I2C
- */
-class __EXPORT I2C : public CDev
-{
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	unsigned		_retries;
-
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		I2C bus on which the device lives
-	 * @param address	I2C bus address, or zero if set_address will be used
-	 * @param frequency	I2C bus frequency for the device (currently not used)
-	 * @param irq		Interrupt assigned to the device (or zero if none)
-	 */
-	I2C(const char *name,
-	    const char *devname,
-	    int bus,
-	    uint16_t address,
-	    uint32_t frequency,
-	    int irq = 0);
-	~I2C();
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe();
-
-	/**
-	 * Perform an I2C transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
-				 uint8_t *recv, unsigned recv_len);
-
-	/**
-	 * Perform a multi-part I2C transaction to the device.
-	 *
-	 * @param msgv		An I2C message vector.
-	 * @param msgs		The number of entries in the message vector.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(i2c_msg_s *msgv, unsigned msgs);
-
-	/**
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address) {
-		_address = address;
-	}
-
-private:
-	uint16_t		_address;
-	uint32_t		_frequency;
-	struct i2c_dev_s	*_dev;
-};
-
-} // namespace device
-
-#endif /* _DEVICE_I2C_H */
diff --git a/apps/drivers/device/pio.cpp b/apps/drivers/device/pio.cpp
deleted file mode 100644
index f3a805a5e..000000000
--- a/apps/drivers/device/pio.cpp
+++ /dev/null
@@ -1,74 +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.
- *
- ****************************************************************************/
-
-/**
- * @file pio.cpp
- *
- * Base class for devices accessed via PIO to registers.
- */
-
-#include "device.h"
-
-namespace device
-{
-
-PIO::PIO(const char *name,
-	 const char *devname,
-	 uint32_t base,
-	 int irq) :
-	// base class
-	CDev(name, devname, irq),
-	// public
-	// protected
-	// private
-	_base(base)
-{
-}
-
-PIO::~PIO()
-{
-	// nothing to do here...
-}
-
-int
-PIO::init()
-{
-	int ret = OK;
-
-	// base class init first
-	ret = CDev::init();
-
-	return ret;
-}
-
-} // namespace device
\ No newline at end of file
diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp
deleted file mode 100644
index 8fffd60cb..000000000
--- a/apps/drivers/device/spi.cpp
+++ /dev/null
@@ -1,160 +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.
- *
- ****************************************************************************/
-
-/**
- * @file spi.cpp
- *
- * Base class for devices connected via SPI.
- *
- * @todo Work out if caching the mode/frequency would save any time.
- *
- * @todo A separate bus/device abstraction would allow for mixed interrupt-mode
- * and non-interrupt-mode clients to arbitrate for the bus.  As things stand,
- * a bus shared between clients of both kinds is vulnerable to races between
- * the two, where an interrupt-mode client will ignore the lock held by the
- * non-interrupt-mode client.
- */
-
-#include <nuttx/arch.h>
-
-#include "spi.h"
-
-#ifndef CONFIG_SPI_EXCHANGE
-# error This driver requires CONFIG_SPI_EXCHANGE
-#endif
-
-namespace device
-{
-
-SPI::SPI(const char *name,
-	 const char *devname,
-	 int bus,
-	 enum spi_dev_e device,
-	 enum spi_mode_e mode,
-	 uint32_t frequency,
-	 int irq) :
-	// base class
-	CDev(name, devname, irq),
-	// public
-	// protected
-	// private
-	_bus(bus),
-	_device(device),
-	_mode(mode),
-	_frequency(frequency),
-	_dev(nullptr)
-{
-}
-
-SPI::~SPI()
-{
-	// XXX no way to let go of the bus...
-}
-
-int
-SPI::init()
-{
-	int ret = OK;
-
-	/* attach to the spi bus */
-	if (_dev == nullptr)
-		_dev = up_spiinitialize(_bus);
-
-	if (_dev == nullptr) {
-		debug("failed to init SPI");
-		ret = -ENOENT;
-		goto out;
-	}
-
-	/* deselect device to ensure high to low transition of pin select */
-	SPI_SELECT(_dev, _device, false);
-
-	/* call the probe function to check whether the device is present */
-	ret = probe();
-
-	if (ret != OK) {
-		debug("probe failed");
-		goto out;
-	}
-
-	/* do base class init, which will create the device node, etc. */
-	ret = CDev::init();
-
-	if (ret != OK) {
-		debug("cdev init failed");
-		goto out;
-	}
-
-	/* tell the workd where we are */
-	log("on SPI bus %d at %d", _bus, _device);
-
-out:
-	return ret;
-}
-
-int
-SPI::probe()
-{
-	// assume the device is too stupid to be discoverable
-	return OK;
-}
-
-int
-SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
-{
-
-	if ((send == nullptr) && (recv == nullptr))
-		return -EINVAL;
-
-	/* do common setup */
-	if (!up_interrupt_context())
-		SPI_LOCK(_dev, true);
-
-	SPI_SETFREQUENCY(_dev, _frequency);
-	SPI_SETMODE(_dev, _mode);
-	SPI_SETBITS(_dev, 8);
-	SPI_SELECT(_dev, _device, true);
-
-	/* do the transfer */
-	SPI_EXCHANGE(_dev, send, recv, len);
-
-	/* and clean up */
-	SPI_SELECT(_dev, _device, false);
-
-	if (!up_interrupt_context())
-		SPI_LOCK(_dev, false);
-
-	return OK;
-}
-
-} // namespace device
diff --git a/apps/drivers/device/spi.h b/apps/drivers/device/spi.h
deleted file mode 100644
index d2d01efb3..000000000
--- a/apps/drivers/device/spi.h
+++ /dev/null
@@ -1,114 +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.
- *
- ****************************************************************************/
-
-/**
- * @file spi.h
- *
- * Base class for devices connected via SPI.
- */
-
-#ifndef _DEVICE_SPI_H
-#define _DEVICE_SPI_H
-
-#include "device.h"
-
-#include <nuttx/spi.h>
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on SPI
- */
-class __EXPORT SPI : public CDev
-{
-protected:
-	/**
-	 * Constructor
-	 *
-	 * @param name		Driver name
-	 * @param devname	Device node name
-	 * @param bus		SPI bus on which the device lives
-	 * @param device	Device handle (used by SPI_SELECT)
-	 * @param mode		SPI clock/data mode
-	 * @param frequency	SPI clock frequency
-	 * @param irq		Interrupt assigned to the device (or zero if none)
-	 */
-	SPI(const char *name,
-	    const char *devname,
-	    int bus,
-	    enum spi_dev_e device,
-	    enum spi_mode_e mode,
-	    uint32_t frequency,
-	    int irq = 0);
-	~SPI();
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe();
-
-	/**
-	 * Perform a SPI transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Bytes to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Buffer for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of bytes to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-private:
-	int			_bus;
-	enum spi_dev_e		_device;
-	enum spi_mode_e		_mode;
-	uint32_t		_frequency;
-	struct spi_dev_s	*_dev;
-};
-
-} // namespace device
-
-#endif /* _DEVICE_SPI_H */