Moved all drivers to new world, PX4IO completely in new world

12 files changed, 0 insertions, 3182 deletions

diff --git a/apps/drivers/boards/px4io/Makefile b/apps/drivers/boards/px4io/Makefile
deleted file mode 100644
index 85806fe6f..000000000
--- a/apps/drivers/boards/px4io/Makefile
+++ /dev/null
@@ -1,41 +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.
-#
-############################################################################
-
-#
-# Board-specific startup code for the PX4IO
-#
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-LIBNAME		 = brd_px4io
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/boards/px4io/px4io_init.c b/apps/drivers/boards/px4io/px4io_init.c
deleted file mode 100644
index 14e8dc13a..000000000
--- a/apps/drivers/boards/px4io/px4io_init.c
+++ /dev/null
@@ -1,98 +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 px4io_init.c
- *
- * PX4IO-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/arch.h>
-
-#include "stm32_internal.h"
-#include "px4io_internal.h"
-#include "stm32_uart.h"
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_led.h>
-#include <drivers/drv_pwm_output.h>
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure GPIOs */
-	stm32_configgpio(GPIO_ACC1_PWR_EN);
-	stm32_configgpio(GPIO_ACC2_PWR_EN);
-	stm32_configgpio(GPIO_SERVO_PWR_EN);
-	stm32_configgpio(GPIO_RELAY1_EN);
-	stm32_configgpio(GPIO_RELAY2_EN);
-	stm32_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_ACC_OC_DETECT);
-	stm32_configgpio(GPIO_SERVO_OC_DETECT);
-	stm32_configgpio(GPIO_BTN_SAFETY);
-
-	stm32_configgpio(GPIO_ADC_VBATT);
-	stm32_configgpio(GPIO_ADC_IN5);
-}
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h
deleted file mode 100644
index 44bb98513..000000000
--- a/apps/drivers/boards/px4io/px4io_internal.h
+++ /dev/null
@@ -1,83 +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 PX4IO hardware definitions.
- */
-
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_internal.h>
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* PX4IO GPIOs **********************************************************************/
-/* LEDs */
-
-#define GPIO_LED1       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
-                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_LED2       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
-                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED3       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
-                         GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-
-/* Safety switch button *************************************************************/
-
-#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
-
-/* Power switch controls ************************************************************/
-
-#define GPIO_ACC1_PWR_EN  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_ACC2_PWR_EN  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
-
-#define GPIO_ACC_OC_DETECT   (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
-#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
-
-#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
-#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
-
-/* Analog inputs ********************************************************************/
-
-#define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
-#define GPIO_ADC_IN5	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
diff --git a/apps/drivers/boards/px4io/px4io_pwm_servo.c b/apps/drivers/boards/px4io/px4io_pwm_servo.c
deleted file mode 100644
index a2f73c429..000000000
--- a/apps/drivers/boards/px4io/px4io_pwm_servo.c
+++ /dev/null
@@ -1,123 +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 px4fmu_pwm_servo.c
- *
- * Configuration data for the stm32 pwm_servo driver.
- *
- * Note that these arrays must always be fully-sized.
- */
-
-#include <stdint.h>
-
-#include <drivers/stm32/drv_pwm_servo.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_pwm_output.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] = {
-	{
-		.base = STM32_TIM2_BASE,
-		.clock_register = STM32_RCC_APB1ENR,
-		.clock_bit = RCC_APB1ENR_TIM2EN,
-		.clock_freq = STM32_APB1_TIM2_CLKIN
-	},
-	{
-		.base = STM32_TIM3_BASE,
-		.clock_register = STM32_RCC_APB1ENR,
-		.clock_bit = RCC_APB1ENR_TIM3EN,
-		.clock_freq = STM32_APB1_TIM3_CLKIN
-	},
-	{
-		.base = STM32_TIM4_BASE,
-		.clock_register = STM32_RCC_APB1ENR,
-		.clock_bit = RCC_APB1ENR_TIM4EN,
-		.clock_freq = STM32_APB1_TIM4_CLKIN
-	}
-};
-
-__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
-	{
-		.gpio = GPIO_TIM2_CH1OUT,
-		.timer_index = 0,
-		.timer_channel = 1,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM2_CH2OUT,
-		.timer_index = 0,
-		.timer_channel = 2,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM4_CH3OUT,
-		.timer_index = 2,
-		.timer_channel = 3,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM4_CH4OUT,
-		.timer_index = 2,
-		.timer_channel = 4,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM3_CH1OUT,
-		.timer_index = 1,
-		.timer_channel = 1,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM3_CH2OUT,
-		.timer_index = 1,
-		.timer_channel = 2,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM3_CH3OUT,
-		.timer_index = 1,
-		.timer_channel = 3,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM3_CH4OUT,
-		.timer_index = 1,
-		.timer_channel = 4,
-		.default_value = 1000,
-	}
-};
diff --git a/apps/drivers/stm32/Makefile b/apps/drivers/stm32/Makefile
deleted file mode 100644
index 4ad57f413..000000000
--- a/apps/drivers/stm32/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# 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/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile
deleted file mode 100644
index 443bc0623..000000000
--- a/apps/drivers/stm32/adc/Makefile
+++ /dev/null
@@ -1,43 +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.
-#
-############################################################################
-
-#
-# STM32 ADC driver
-#
-
-APPNAME		 = adc
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp
deleted file mode 100644
index 911def943..000000000
--- a/apps/drivers/stm32/adc/adc.cpp
+++ /dev/null
@@ -1,387 +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 adc.cpp
- *
- * Driver for the STM32 ADC.
- *
- * This is a low-rate driver, designed for sampling things like voltages
- * and so forth. It avoids the gross complexity of the NuttX ADC driver.
- */
-
-#include <nuttx/config.h>
-#include <drivers/device/device.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_adc.h>
-
-#include <arch/stm32/chip.h>
-#include <stm32_internal.h>
-#include <stm32_gpio.h>
-
-#include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-
-/*
- * Register accessors.
- * For now, no reason not to just use ADC1.
- */
-#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
-
-#define rSR		REG(STM32_ADC_SR_OFFSET)
-#define rCR1		REG(STM32_ADC_CR1_OFFSET)
-#define rCR2		REG(STM32_ADC_CR2_OFFSET)
-#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
-#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
-#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
-#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
-#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
-#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
-#define rHTR		REG(STM32_ADC_HTR_OFFSET)
-#define rLTR		REG(STM32_ADC_LTR_OFFSET)
-#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
-#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
-#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
-#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
-#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
-#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
-#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
-#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
-#define rDR		REG(STM32_ADC_DR_OFFSET)
-
-#ifdef STM32_ADC_CCR
-# define rCCR		REG(STM32_ADC_CCR_OFFSET)
-#endif
-
-class ADC : public device::CDev
-{
-public:
-	ADC(uint32_t channels);
-	~ADC();
-
-	virtual int		init();
-
-	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
-	virtual ssize_t		read(file *filp, char *buffer, size_t len);
-
-protected:
-	virtual int		open_first(struct file *filp);
-	virtual int		close_last(struct file *filp);
-
-private:
-	static const hrt_abstime _tickrate = 10000;	/**< 100Hz base rate */
-	
-	hrt_call		_call;
-	perf_counter_t		_sample_perf;
-
-	unsigned		_channel_count;
-	adc_msg_s		*_samples;		/**< sample buffer */
-
-	/** work trampoline */
-	static void		_tick_trampoline(void *arg);
-
-	/** worker function */
-	void			_tick();
-
-	/**
-	 * Sample a single channel and return the measured value.
-	 *
-	 * @param channel		The channel to sample.
-	 * @return			The sampled value, or 0xffff if
-	 *				sampling failed.
-	 */
-	uint16_t		_sample(unsigned channel);
-
-};
-
-ADC::ADC(uint32_t channels) :
-	CDev("adc", ADC_DEVICE_PATH),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
-	_channel_count(0),
-	_samples(nullptr)
-{
-	_debug_enabled = true;
-
-	/* always enable the temperature sensor */
-	channels |= 1 << 16;
-
-	/* allocate the sample array */
-	for (unsigned i = 0; i < 32; i++) {
-		if (channels & (1 << i)) {
-			_channel_count++;
-		}
-	}
-	_samples = new adc_msg_s[_channel_count];
-
-	/* prefill the channel numbers in the sample array */
-	if (_samples != nullptr) {
-		unsigned index = 0;
-		for (unsigned i = 0; i < 32; i++) {
-			if (channels & (1 << i)) {
-				_samples[index].am_channel = i;
-				_samples[index].am_data = 0;
-				index++;
-			}
-		}
-	}
-}
-
-ADC::~ADC()
-{
-	if (_samples != nullptr)
-		delete _samples;
-}
-
-int
-ADC::init()
-{
-	/* do calibration if supported */
-#ifdef ADC_CR2_CAL
-	rCR2 |= ADC_CR2_CAL;
-	usleep(100);
-	if (rCR2 & ADC_CR2_CAL)
-		return -1;
-#endif
-
-	/* arbitrarily configure all channels for 55 cycle sample time */
-	rSMPR1 = 0b00000011011011011011011011011011;
-	rSMPR2 = 0b00011011011011011011011011011011;
-
-	/* XXX for F2/4, might want to select 12-bit mode? */
-	rCR1 = 0;
-
-	/* enable the temperature sensor / Vrefint channel if supported*/
-	rCR2 = 
-#ifdef ADC_CR2_TSVREFE
-		/* enable the temperature sensor in CR2 */
-		ADC_CR2_TSVREFE |
-#endif
-		0;
-
-#ifdef ADC_CCR_TSVREFE
-	/* enable temperature sensor in CCR */
-	rCCR = ADC_CCR_TSVREFE;
-#endif
-
-	/* configure for a single-channel sequence */
-	rSQR1 = 0;
-	rSQR2 = 0;
-	rSQR3 = 0;	/* will be updated with the channel each tick */ 
-
-	/* power-cycle the ADC and turn it on */
-	rCR2 &= ~ADC_CR2_ADON;
-	usleep(10);
-	rCR2 |= ADC_CR2_ADON;
-	usleep(10);
-	rCR2 |= ADC_CR2_ADON;
-	usleep(10);
-
-	/* kick off a sample and wait for it to complete */
-	hrt_abstime now = hrt_absolute_time();
-	rCR2 |= ADC_CR2_SWSTART;
-	while (!(rSR & ADC_SR_EOC)) {
-
-		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 500) {
-			log("sample timeout");
-			return -1;
-			return 0xffff;
-		}
-	}
-
-
-	debug("init done");
-
-	/* create the device node */
-	return CDev::init();
-}
-
-int
-ADC::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	return -ENOTTY;
-}
-
-ssize_t
-ADC::read(file *filp, char *buffer, size_t len)
-{
-	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
-
-	if (len > maxsize)
-		len = maxsize;
-
-	/* block interrupts while copying samples to avoid racing with an update */
-	irqstate_t flags = irqsave();
-	memcpy(buffer, _samples, len);
-	irqrestore(flags);
-
-	return len;
-}
-
-int
-ADC::open_first(struct file *filp)
-{
-	/* get fresh data */
-	_tick();
-
-	/* and schedule regular updates */
-	hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
-
-	return 0;
-}
-
-int
-ADC::close_last(struct file *filp)
-{
-	hrt_cancel(&_call);
-	return 0;
-}
-
-void
-ADC::_tick_trampoline(void *arg)
-{
-	((ADC *)arg)->_tick();
-}
-
-void
-ADC::_tick()
-{
-	/* scan the channel set and sample each */
-	for (unsigned i = 0; i < _channel_count; i++)
-		_samples[i].am_data = _sample(_samples[i].am_channel);
-}
-
-uint16_t
-ADC::_sample(unsigned channel)
-{
-	perf_begin(_sample_perf);
-
-	/* clear any previous EOC */
-	if (rSR & ADC_SR_EOC)
-		rSR &= ~ADC_SR_EOC;
-
-	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
-	rSQR3 = channel;
-	rCR2 |= ADC_CR2_SWSTART;
-
-	/* wait for the conversion to complete */
-	hrt_abstime now = hrt_absolute_time();
-	while (!(rSR & ADC_SR_EOC)) {
-
-		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 50) {
-			log("sample timeout");
-			return 0xffff;
-		}
-	}
-
-	/* read the result and clear EOC */
-	uint16_t result = rDR;
-
-	perf_end(_sample_perf);
-	return result;
-}
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int adc_main(int argc, char *argv[]);
-
-namespace
-{
-ADC	*g_adc;
-
-void
-test(void)
-{
-
-	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-	if (fd < 0)
-		err(1, "can't open ADC device");
-
-	for (unsigned i = 0; i < 50; i++) {
-		adc_msg_s data[8];
-		ssize_t count = read(fd, data, sizeof(data));
-
-		if (count < 0)
-			errx(1, "read error");
-
-		unsigned channels = count / sizeof(data[0]);
-
-		for (unsigned j = 0; j < channels; j++) {
-			printf ("%d: %u  ", data[j].am_channel, data[j].am_data);
-		}
-
-		printf("\n");
-		usleep(500000);
-	}
-
-	exit(0);
-}
-}
-
-int
-adc_main(int argc, char *argv[])
-{
-	if (g_adc == nullptr) {
-		/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
-		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
-
-		if (g_adc == nullptr)
-			errx(1, "couldn't allocate the ADC driver");
-
-		if (g_adc->init() != OK) {
-			delete g_adc;
-			errx(1, "ADC init failed");
-		}
-	}
-
-	if (argc > 1) {
-		if (!strcmp(argv[1], "test"))
-			test();
-	}
-
-	exit(0);
-}
diff --git a/apps/drivers/stm32/drv_hrt.c b/apps/drivers/stm32/drv_hrt.c
deleted file mode 100644
index cec0c49ff..000000000
--- a/apps/drivers/stm32/drv_hrt.c
+++ /dev/null
@@ -1,908 +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 drv_hrt.c
- *
- * High-resolution timer callouts and timekeeping.
- *
- * This can use any general or advanced STM32 timer.
- *
- * Note that really, this could use systick too, but that's
- * monopolised by NuttX and stealing it would just be awkward.
- *
- * We don't use the NuttX STM32 driver per se; rather, we
- * claim the timer and then drive it directly.
- */
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-#include <nuttx/irq.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-
-#include <assert.h>
-#include <debug.h>
-#include <time.h>
-#include <queue.h>
-#include <errno.h>
-#include <string.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-
-#include "chip.h"
-#include "up_internal.h"
-#include "up_arch.h"
-
-#include "stm32_internal.h"
-#include "stm32_gpio.h"
-#include "stm32_tim.h"
-
-#ifdef CONFIG_HRT_TIMER
-
-/* HRT configuration */
-#if   HRT_TIMER == 1
-# define HRT_TIMER_BASE		STM32_TIM1_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB2ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM1EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM1CC
-# define HRT_TIMER_CLOCK	STM32_APB2_TIM1_CLKIN
-# if CONFIG_STM32_TIM1
-#  error must not set CONFIG_STM32_TIM1=y and HRT_TIMER=1
-# endif
-#elif HRT_TIMER == 2
-# define HRT_TIMER_BASE		STM32_TIM2_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM2EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM2
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM2_CLKIN
-# if CONFIG_STM32_TIM2
-#  error must not set CONFIG_STM32_TIM2=y and HRT_TIMER=2
-# endif
-#elif HRT_TIMER == 3
-# define HRT_TIMER_BASE		STM32_TIM3_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM3EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM3
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM3_CLKIN
-# if CONFIG_STM32_TIM3
-#  error must not set CONFIG_STM32_TIM3=y and HRT_TIMER=3
-# endif
-#elif HRT_TIMER == 4
-# define HRT_TIMER_BASE		STM32_TIM4_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM4EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM4
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM4_CLKIN
-# if CONFIG_STM32_TIM4
-#  error must not set CONFIG_STM32_TIM4=y and HRT_TIMER=4
-# endif
-#elif HRT_TIMER == 5
-# define HRT_TIMER_BASE		STM32_TIM5_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM5EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM5
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM5_CLKIN
-# if CONFIG_STM32_TIM5
-#  error must not set CONFIG_STM32_TIM5=y and HRT_TIMER=5
-# endif
-#elif HRT_TIMER == 8
-# define HRT_TIMER_BASE		STM32_TIM8_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB2ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM8EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM8CC
-# define HRT_TIMER_CLOCK	STM32_APB2_TIM8_CLKIN
-# if CONFIG_STM32_TIM8
-#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
-# endif
-#elif HRT_TIMER == 9
-# define HRT_TIMER_BASE		STM32_TIM9_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM9EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM1BRK
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM9_CLKIN
-# if CONFIG_STM32_TIM9
-#  error must not set CONFIG_STM32_TIM9=y and HRT_TIMER=9
-# endif
-#elif HRT_TIMER == 10
-# define HRT_TIMER_BASE		STM32_TIM10_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM10EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM1UP
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM10_CLKIN
-# if CONFIG_STM32_TIM10
-#  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10
-# endif
-#elif HRT_TIMER == 11
-# define HRT_TIMER_BASE		STM32_TIM11_BASE
-# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM11EN
-# define HRT_TIMER_VECTOR	STM32_IRQ_TIM1TRGCOM
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM11_CLKIN
-# if CONFIG_STM32_TIM11
-#  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
-# endif
-#else
-# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
-#endif
-
-/*
- * HRT clock must be a multiple of 1MHz greater than 1MHz
- */
-#if (HRT_TIMER_CLOCK % 1000000) != 0
-# error HRT_TIMER_CLOCK must be a multiple of 1MHz
-#endif
-#if HRT_TIMER_CLOCK <= 1000000
-# error HRT_TIMER_CLOCK must be greater than 1MHz
-#endif
-
-/*
- * Minimum/maximum deadlines.
- *
- * These are suitable for use with a 16-bit timer/counter clocked
- * at 1MHz.  The high-resolution timer need only guarantee that it
- * not wrap more than once in the 50ms period for absolute time to
- * be consistently maintained.
- *
- * The minimum deadline must be such that the time taken between
- * reading a time and writing a deadline to the timer cannot
- * result in missing the deadline.
- */
-#define HRT_INTERVAL_MIN	50
-#define HRT_INTERVAL_MAX	50000
-
-/*
- * Period of the free-running counter, in microseconds.
- */
-#define HRT_COUNTER_PERIOD	65536
-
-/*
- * Scaling factor(s) for the free-running counter; convert an input
- * in counts to a time in microseconds.
- */
-#define HRT_COUNTER_SCALE(_c)	(_c)
-
-/*
- * Timer register accessors
- */
-#define REG(_reg)	(*(volatile uint32_t *)(HRT_TIMER_BASE + _reg))
-
-#define rCR1     	REG(STM32_GTIM_CR1_OFFSET)
-#define rCR2     	REG(STM32_GTIM_CR2_OFFSET)
-#define rSMCR    	REG(STM32_GTIM_SMCR_OFFSET)
-#define rDIER    	REG(STM32_GTIM_DIER_OFFSET)
-#define rSR      	REG(STM32_GTIM_SR_OFFSET)
-#define rEGR     	REG(STM32_GTIM_EGR_OFFSET)
-#define rCCMR1   	REG(STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2   	REG(STM32_GTIM_CCMR2_OFFSET)
-#define rCCER    	REG(STM32_GTIM_CCER_OFFSET)
-#define rCNT     	REG(STM32_GTIM_CNT_OFFSET)
-#define rPSC     	REG(STM32_GTIM_PSC_OFFSET)
-#define rARR     	REG(STM32_GTIM_ARR_OFFSET)
-#define rCCR1    	REG(STM32_GTIM_CCR1_OFFSET)
-#define rCCR2    	REG(STM32_GTIM_CCR2_OFFSET)
-#define rCCR3    	REG(STM32_GTIM_CCR3_OFFSET)
-#define rCCR4    	REG(STM32_GTIM_CCR4_OFFSET)
-#define rDCR     	REG(STM32_GTIM_DCR_OFFSET)
-#define rDMAR    	REG(STM32_GTIM_DMAR_OFFSET)
-
-/*
- * Specific registers and bits used by HRT sub-functions
- */
-#if HRT_TIMER_CHANNEL == 1
-# define rCCR_HRT	rCCR1			/* compare register for HRT */
-# define DIER_HRT	GTIM_DIER_CC1IE		/* interrupt enable for HRT */
-# define SR_INT_HRT	GTIM_SR_CC1IF		/* interrupt status for HRT */
-#elif HRT_TIMER_CHANNEL == 2
-# define rCCR_HRT	rCCR2			/* compare register for HRT */
-# define DIER_HRT	GTIM_DIER_CC2IE		/* interrupt enable for HRT */
-# define SR_INT_HRT	GTIM_SR_CC2IF		/* interrupt status for HRT */
-#elif HRT_TIMER_CHANNEL == 3
-# define rCCR_HRT	rCCR3			/* compare register for HRT */
-# define DIER_HRT	GTIM_DIER_CC3IE		/* interrupt enable for HRT */
-# define SR_INT_HRT	GTIM_SR_CC3IF		/* interrupt status for HRT */
-#elif HRT_TIMER_CHANNEL == 4
-# define rCCR_HRT	rCCR4			/* compare register for HRT */
-# define DIER_HRT	GTIM_DIER_CC4IE		/* interrupt enable for HRT */
-# define SR_INT_HRT	GTIM_SR_CC4IF		/* interrupt status for HRT */
-#else
-# error HRT_TIMER_CHANNEL must be a value between 1 and 4
-#endif
-
-/*
- * Queue of callout entries.
- */
-static struct sq_queue_s	callout_queue;
-
-/* latency baseline (last compare value applied) */
-static uint16_t			latency_baseline;
-
-/* timer count at interrupt (for latency purposes) */
-static uint16_t			latency_actual;
-
-/* latency histogram */
-#define LATENCY_BUCKET_COUNT	8
-static const uint16_t		latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
-static uint32_t			latency_counters[LATENCY_BUCKET_COUNT + 1];
-
-/* timer-specific functions */
-static void		hrt_tim_init(void);
-static int		hrt_tim_isr(int irq, void *context);
-static void		hrt_latency_update(void);
-
-/* callout list manipulation */
-static void		hrt_call_internal(struct hrt_call *entry,
-		hrt_abstime deadline,
-		hrt_abstime interval,
-		hrt_callout callout,
-		void *arg);
-static void		hrt_call_enter(struct hrt_call *entry);
-static void		hrt_call_reschedule(void);
-static void		hrt_call_invoke(void);
-
-/*
- * Specific registers and bits used by PPM sub-functions
- */
-#ifdef CONFIG_HRT_PPM
-/* 
- * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
- */
-# ifndef GTIM_CCER_CC1NP
-#  define GTIM_CCER_CC1NP 0
-#  define GTIM_CCER_CC2NP 0
-#  define GTIM_CCER_CC3NP 0
-#  define GTIM_CCER_CC4NP 0
-#  define PPM_EDGE_FLIP
-# endif
-
-# if HRT_PPM_CHANNEL == 1
-#  define rCCR_PPM	rCCR1			/* capture register for PPM */
-#  define DIER_PPM	GTIM_DIER_CC1IE		/* capture interrupt (non-DMA mode) */
-#  define SR_INT_PPM	GTIM_SR_CC1IF		/* capture interrupt (non-DMA mode) */
-#  define SR_OVF_PPM	GTIM_SR_CC1OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	1			/* not on TI1/TI2 */
-#  define CCMR2_PPM	0			/* on TI3, not on TI4 */
-#  define CCER_PPM	(GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */
-#  define CCER_PPM_FLIP	GTIM_CCER_CC1P
-# elif HRT_PPM_CHANNEL == 2
-#  define rCCR_PPM	rCCR2			/* capture register for PPM */
-#  define DIER_PPM	GTIM_DIER_CC2IE		/* capture interrupt (non-DMA mode) */
-#  define SR_INT_PPM	GTIM_SR_CC2IF		/* capture interrupt (non-DMA mode) */
-#  define SR_OVF_PPM	GTIM_SR_CC2OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	2			/* not on TI1/TI2 */
-#  define CCMR2_PPM	0			/* on TI3, not on TI4 */
-#  define CCER_PPM	(GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */
-#  define CCER_PPM_FLIP	GTIM_CCER_CC2P
-# elif HRT_PPM_CHANNEL == 3
-#  define rCCR_PPM	rCCR3			/* capture register for PPM */
-#  define DIER_PPM	GTIM_DIER_CC3IE		/* capture interrupt (non-DMA mode) */
-#  define SR_INT_PPM	GTIM_SR_CC3IF		/* capture interrupt (non-DMA mode) */
-#  define SR_OVF_PPM	GTIM_SR_CC3OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	0			/* not on TI1/TI2 */
-#  define CCMR2_PPM	1			/* on TI3, not on TI4 */
-#  define CCER_PPM	(GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */
-#  define CCER_PPM_FLIP	GTIM_CCER_CC3P
-# elif HRT_PPM_CHANNEL == 4
-#  define rCCR_PPM	rCCR4			/* capture register for PPM */
-#  define DIER_PPM	GTIM_DIER_CC4IE		/* capture interrupt (non-DMA mode) */
-#  define SR_INT_PPM	GTIM_SR_CC4IF		/* capture interrupt (non-DMA mode) */
-#  define SR_OVF_PPM	GTIM_SR_CC4OF		/* capture overflow (non-DMA mode) */
-#  define CCMR1_PPM	0			/* not on TI1/TI2 */
-#  define CCMR2_PPM	2			/* on TI3, not on TI4 */
-#  define CCER_PPM	(GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
-#  define CCER_PPM_FLIP	GTIM_CCER_CC4P
-# else
-#  error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
-# endif
-
-/*
- * PPM decoder tuning parameters
- */
-# define PPM_MAX_PULSE_WIDTH	500		/* maximum width of a pulse */
-# define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
-# define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-# define PPM_MIN_START		2500		/* shortest valid start gap */
-
-/* decoded PPM buffer */
-#define PPM_MAX_CHANNELS	12
-__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
-__EXPORT unsigned ppm_decoded_channels = 0;
-__EXPORT uint64_t ppm_last_valid_decode = 0;
-
-/* PPM edge history */
-__EXPORT uint16_t ppm_edge_history[32];
-unsigned ppm_edge_next;
-
-/* PPM pulse history */
-__EXPORT uint16_t ppm_pulse_history[32];
-unsigned ppm_pulse_next;
-
-static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
-
-/* PPM decoder state machine */
-struct {
-	uint16_t	last_edge;	/* last capture time */
-	uint16_t	last_mark;	/* last significant edge */
-	unsigned	next_channel;
-	enum {
-		UNSYNCH = 0,
-		ARM,
-		ACTIVE,
-		INACTIVE
-	} phase;
-} ppm;
-
-static void	hrt_ppm_decode(uint32_t status);
-
-#else
-/* disable the PPM configuration */
-# define rCCR_PPM	0
-# define DIER_PPM	0
-# define SR_INT_PPM	0
-# define SR_OVF_PPM	0
-# define CCMR1_PPM	0
-# define CCMR2_PPM	0
-# define CCER_PPM	0
-#endif /* CONFIG_HRT_PPM */
-
-/*
- * Initialise the timer we are going to use.
- *
- * We expect that we'll own one of the reduced-function STM32 general
- * timers, and that we can use channel 1 in compare mode.
- */
-static void
-hrt_tim_init(void)
-{
-	/* claim our interrupt vector */
-	irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr);
-
-	/* clock/power on our timer */
-	modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT);
-
-	/* disable and configure the timer */
-	rCR1 = 0;
-	rCR2 = 0;
-	rSMCR = 0;
-	rDIER = DIER_HRT | DIER_PPM;
-	rCCER = 0;		/* unlock CCMR* registers */
-	rCCMR1 = CCMR1_PPM;
-	rCCMR2 = CCMR2_PPM;
-	rCCER = CCER_PPM;
-	rDCR = 0;
-
-	/* configure the timer to free-run at 1MHz */
-	rPSC = (HRT_TIMER_CLOCK / 1000000) - 1;	/* this really only works for whole-MHz clocks */
-
-	/* run the full span of the counter */
-	rARR = 0xffff;
-
-	/* set an initial capture a little ways off */
-	rCCR_HRT = 1000;
-
-	/* generate an update event; reloads the counter, all registers */
-	rEGR = GTIM_EGR_UG;
-
-	/* enable the timer */
-	rCR1 = GTIM_CR1_CEN;
-
-	/* enable interrupts */
-	up_enable_irq(HRT_TIMER_VECTOR);
-}
-
-#ifdef CONFIG_HRT_PPM
-/*
- * Handle the PPM decoder state machine.
- */
-static void
-hrt_ppm_decode(uint32_t status)
-{
-	uint16_t count = rCCR_PPM;
-	uint16_t width;
-	uint16_t interval;
-	unsigned i;
-
-	/* if we missed an edge, we have to give up */
-	if (status & SR_OVF_PPM)
-		goto error;
-
-	/* how long since the last edge? */
-	width = count - ppm.last_edge;
-	ppm.last_edge = count;
-
-	ppm_edge_history[ppm_edge_next++] = width;
-
-	if (ppm_edge_next >= 32)
-		ppm_edge_next = 0;
-
-	/*
-	 * if this looks like a start pulse, then push the last set of values
-	 * and reset the state machine
-	 */
-	if (width >= PPM_MIN_START) {
-
-		/* export the last set of samples if we got something sensible */
-		if (ppm.next_channel > 4) {
-			for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
-				ppm_buffer[i] = ppm_temp_buffer[i];
-
-			ppm_decoded_channels = i;
-			ppm_last_valid_decode = hrt_absolute_time();
-
-		}
-
-		/* reset for the next frame */
-		ppm.next_channel = 0;
-
-		/* next edge is the reference for the first channel */
-		ppm.phase = ARM;
-
-		return;
-	}
-
-	switch (ppm.phase) {
-	case UNSYNCH:
-		/* we are waiting for a start pulse - nothing useful to do here */
-		return;
-
-	case ARM:
-
-		/* we expect a pulse giving us the first mark */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
-
-		/* record the mark timing, expect an inactive edge */
-		ppm.last_mark = count;
-		ppm.phase = INACTIVE;
-		return;
-
-	case INACTIVE:
-		/* this edge is not interesting, but now we are ready for the next mark */
-		ppm.phase = ACTIVE;
-		return;
-
-	case ACTIVE:
-		/* determine the interval from the last mark */
-		interval = count - ppm.last_mark;
-		ppm.last_mark = count;
-
-		ppm_pulse_history[ppm_pulse_next++] = interval;
-
-		if (ppm_pulse_next >= 32)
-			ppm_pulse_next = 0;
-
-		/* if the mark-mark timing is out of bounds, abandon the frame */
-		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
-			goto error;
-
-		/* if we have room to store the value, do so */
-		if (ppm.next_channel < PPM_MAX_CHANNELS)
-			ppm_temp_buffer[ppm.next_channel++] = interval;
-
-		ppm.phase = INACTIVE;
-		return;
-
-	}
-
-	/* the state machine is corrupted; reset it */
-
-error:
-	/* we don't like the state of the decoder, reset it and try again */
-	ppm.phase = UNSYNCH;
-	ppm_decoded_channels = 0;
-
-}
-#endif /* CONFIG_HRT_PPM */
-
-/*
- * Handle the compare interupt by calling the callout dispatcher
- * and then re-scheduling the next deadline.
- */
-static int
-hrt_tim_isr(int irq, void *context)
-{
-	uint32_t status;
-
-	/* grab the timer for latency tracking purposes */
-	latency_actual = rCNT;
-
-	/* copy interrupt status */
-	status = rSR;
-
-	/* ack the interrupts we just read */
-	rSR = ~status;
-
-#ifdef CONFIG_HRT_PPM
-
-	/* was this a PPM edge? */
-	if (status & (SR_INT_PPM | SR_OVF_PPM)) {
-		/* if required, flip edge sensitivity */
-# ifdef PPM_EDGE_FLIP
-		rCCER ^= CCER_PPM_FLIP;
-# endif
-
-		hrt_ppm_decode(status);
-	}
-#endif
-
-	/* was this a timer tick? */
-	if (status & SR_INT_HRT) {
-
-		/* do latency calculations */
-		hrt_latency_update();
-
-		/* run any callouts that have met their deadline */
-		hrt_call_invoke();
-
-		/* and schedule the next interrupt */
-		hrt_call_reschedule();
-	}
-
-	return OK;
-}
-
-/*
- * Fetch a never-wrapping absolute time value in microseconds from
- * some arbitrary epoch shortly after system start.
- */
-hrt_abstime
-hrt_absolute_time(void)
-{
-	hrt_abstime	abstime;
-	uint32_t	count;
-	irqstate_t	flags;
-
-	/*
-	 * Counter state.  Marked volatile as they may change
-	 * inside this routine but outside the irqsave/restore
-	 * pair.  Discourage the compiler from moving loads/stores
-	 * to these outside of the protected range.
-	 */
-	static volatile hrt_abstime base_time;
-	static volatile uint32_t last_count;
-
-	/* prevent re-entry */
-	flags = irqsave();
-
-	/* get the current counter value */
-	count = rCNT;
-
-	/*
-	 * Determine whether the counter has wrapped since the
-	 * last time we're called.
-	 *
-	 * This simple test is sufficient due to the guarantee that
-	 * we are always called at least once per counter period.
-	 */
-	if (count < last_count)
-		base_time += HRT_COUNTER_PERIOD;
-
-	/* save the count for next time */
-	last_count = count;
-
-	/* compute the current time */
-	abstime = HRT_COUNTER_SCALE(base_time + count);
-
-	irqrestore(flags);
-
-	return abstime;
-}
-
-/*
- * Convert a timespec to absolute time
- */
-hrt_abstime
-ts_to_abstime(struct timespec *ts)
-{
-	hrt_abstime	result;
-
-	result = (hrt_abstime)(ts->tv_sec) * 1000000;
-	result += ts->tv_nsec / 1000;
-
-	return result;
-}
-
-/*
- * Convert absolute time to a timespec.
- */
-void
-abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
-{
-	ts->tv_sec = abstime / 1000000;
-	abstime -= ts->tv_sec * 1000000;
-	ts->tv_nsec = abstime * 1000;
-}
-
-/*
- * Compare a time value with the current time.
- */
-hrt_abstime
-hrt_elapsed_time(const volatile hrt_abstime *then)
-{
-	irqstate_t flags = irqsave();
-
-	hrt_abstime delta = hrt_absolute_time() - *then;
-
-	irqrestore(flags);
-
-	return delta;
-}
-
-/*
- * Store the absolute time in an interrupt-safe fashion
- */
-hrt_abstime
-hrt_store_absolute_time(volatile hrt_abstime *now)
-{
-	irqstate_t flags = irqsave();
-
-	hrt_abstime ts = hrt_absolute_time();
-
-	irqrestore(flags);
-
-	return ts;
-}
-
-/*
- * Initalise the high-resolution timing module.
- */
-void
-hrt_init(void)
-{
-	sq_init(&callout_queue);
-	hrt_tim_init();
-
-#ifdef CONFIG_HRT_PPM
-	/* configure the PPM input pin */
-	stm32_configgpio(GPIO_PPM_IN);
-#endif
-}
-
-/*
- * Call callout(arg) after interval has elapsed.
- */
-void
-hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
-{
-	hrt_call_internal(entry,
-			  hrt_absolute_time() + delay,
-			  0,
-			  callout,
-			  arg);
-}
-
-/*
- * Call callout(arg) at calltime.
- */
-void
-hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
-{
-	hrt_call_internal(entry, calltime, 0, callout, arg);
-}
-
-/*
- * Call callout(arg) every period.
- */
-void
-hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
-{
-	hrt_call_internal(entry,
-			  hrt_absolute_time() + delay,
-			  interval,
-			  callout,
-			  arg);
-}
-
-static void
-hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
-{
-	irqstate_t flags = irqsave();
-
-	/* if the entry is currently queued, remove it */
-	if (entry->deadline != 0)
-		sq_rem(&entry->link, &callout_queue);
-
-	entry->deadline = deadline;
-	entry->period = interval;
-	entry->callout = callout;
-	entry->arg = arg;
-
-	hrt_call_enter(entry);
-
-	irqrestore(flags);
-}
-
-/*
- * If this returns true, the call has been invoked and removed from the callout list.
- *
- * Always returns false for repeating callouts.
- */
-bool
-hrt_called(struct hrt_call *entry)
-{
-	return (entry->deadline == 0);
-}
-
-/*
- * Remove the entry from the callout list.
- */
-void
-hrt_cancel(struct hrt_call *entry)
-{
-	irqstate_t flags = irqsave();
-
-	sq_rem(&entry->link, &callout_queue);
-	entry->deadline = 0;
-
-	/* if this is a periodic call being removed by the callout, prevent it from
-	 * being re-entered when the callout returns.
-	 */
-	entry->period = 0;
-
-	irqrestore(flags);
-}
-
-static void
-hrt_call_enter(struct hrt_call *entry)
-{
-	struct hrt_call	*call, *next;
-
-	call = (struct hrt_call *)sq_peek(&callout_queue);
-
-	if ((call == NULL) || (entry->deadline < call->deadline)) {
-		sq_addfirst(&entry->link, &callout_queue);
-		//lldbg("call enter at head, reschedule\n");
-		/* we changed the next deadline, reschedule the timer event */
-		hrt_call_reschedule();
-
-	} else {
-		do {
-			next = (struct hrt_call *)sq_next(&call->link);
-
-			if ((next == NULL) || (entry->deadline < next->deadline)) {
-				//lldbg("call enter after head\n");
-				sq_addafter(&call->link, &entry->link, &callout_queue);
-				break;
-			}
-		} while ((call = next) != NULL);
-	}
-
-	//lldbg("scheduled\n");
-}
-
-static void
-hrt_call_invoke(void)
-{
-	struct hrt_call	*call;
-	hrt_abstime deadline;
-
-	while (true) {
-		/* get the current time */
-		hrt_abstime now = hrt_absolute_time();
-
-		call = (struct hrt_call *)sq_peek(&callout_queue);
-
-		if (call == NULL)
-			break;
-
-		if (call->deadline > now)
-			break;
-
-		sq_rem(&call->link, &callout_queue);
-		//lldbg("call pop\n");
-
-		/* save the intended deadline for periodic calls */
-		deadline = call->deadline;
-
-		/* zero the deadline, as the call has occurred */
-		call->deadline = 0;
-
-		/* invoke the callout (if there is one) */
-		if (call->callout) {
-			//lldbg("call %p: %p(%p)\n", call, call->callout, call->arg);
-			call->callout(call->arg);
-		}
-
-		/* if the callout has a non-zero period, it has to be re-entered */
-		if (call->period != 0) {
-			call->deadline = deadline + call->period;
-			hrt_call_enter(call);
-		}
-	}
-}
-
-/*
- * Reschedule the next timer interrupt.
- *
- * This routine must be called with interrupts disabled.
- */
-static void
-hrt_call_reschedule()
-{
-	hrt_abstime	now = hrt_absolute_time();
-	struct hrt_call	*next = (struct hrt_call *)sq_peek(&callout_queue);
-	hrt_abstime	deadline = now + HRT_INTERVAL_MAX;
-
-	/*
-	 * Determine what the next deadline will be.
-	 *
-	 * Note that we ensure that this will be within the counter
-	 * period, so that when we truncate all but the low 16 bits
-	 * the next time the compare matches it will be the deadline
-	 * we want.
-	 *
-	 * It is important for accurate timekeeping that the compare
-	 * interrupt fires sufficiently often that the base_time update in
-	 * hrt_absolute_time runs at least once per timer period.
-	 */
-	if (next != NULL) {
-		//lldbg("entry in queue\n");
-		if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
-			//lldbg("pre-expired\n");
-			/* set a minimal deadline so that we call ASAP */
-			deadline = now + HRT_INTERVAL_MIN;
-
-		} else if (next->deadline < deadline) {
-			//lldbg("due soon\n");
-			deadline = next->deadline;
-		}
-	}
-
-	//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
-
-	/* set the new compare value and remember it for latency tracking */
-	rCCR_HRT = latency_baseline = deadline & 0xffff;
-}
-
-static void
-hrt_latency_update(void)
-{
-	uint16_t latency = latency_actual - latency_baseline;
-	unsigned	index;
-
-	/* bounded buckets */
-	for (index = 0; index < LATENCY_BUCKET_COUNT; index++) {
-		if (latency <= latency_buckets[index]) {
-			latency_counters[index]++;
-			return;
-		}
-	}
-
-	/* catch-all at the end */
-	latency_counters[index]++;
-}
-
-
-#endif /* CONFIG_HRT_TIMER */
diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c
deleted file mode 100644
index d7316e1f7..000000000
--- a/apps/drivers/stm32/drv_pwm_servo.c
+++ /dev/null
@@ -1,330 +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 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
- * have output pins, does not require an interrupt.
- */
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-#include <nuttx/irq.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-
-#include <assert.h>
-#include <debug.h>
-#include <time.h>
-#include <queue.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_pwm_output.h>
-
-#include "drv_pwm_servo.h"
-
-#include <chip.h>
-#include <up_internal.h>
-#include <up_arch.h>
-
-#include <stm32_internal.h>
-#include <stm32_gpio.h>
-#include <stm32_tim.h>
-
-#define REG(_tmr, _reg)	(*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg))
-
-#define rCR1(_tmr)    	REG(_tmr, STM32_GTIM_CR1_OFFSET)
-#define rCR2(_tmr)    	REG(_tmr, STM32_GTIM_CR2_OFFSET)
-#define rSMCR(_tmr)   	REG(_tmr, STM32_GTIM_SMCR_OFFSET)
-#define rDIER(_tmr)   	REG(_tmr, STM32_GTIM_DIER_OFFSET)
-#define rSR(_tmr)     	REG(_tmr, STM32_GTIM_SR_OFFSET)
-#define rEGR(_tmr)    	REG(_tmr, STM32_GTIM_EGR_OFFSET)
-#define rCCMR1(_tmr)  	REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2(_tmr)  	REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
-#define rCCER(_tmr)   	REG(_tmr, STM32_GTIM_CCER_OFFSET)
-#define rCNT(_tmr)    	REG(_tmr, STM32_GTIM_CNT_OFFSET)
-#define rPSC(_tmr)    	REG(_tmr, STM32_GTIM_PSC_OFFSET)
-#define rARR(_tmr)    	REG(_tmr, STM32_GTIM_ARR_OFFSET)
-#define rCCR1(_tmr)   	REG(_tmr, STM32_GTIM_CCR1_OFFSET)
-#define rCCR2(_tmr)   	REG(_tmr, STM32_GTIM_CCR2_OFFSET)
-#define rCCR3(_tmr)   	REG(_tmr, STM32_GTIM_CCR3_OFFSET)
-#define rCCR4(_tmr)   	REG(_tmr, STM32_GTIM_CCR4_OFFSET)
-#define rDCR(_tmr)    	REG(_tmr, STM32_GTIM_DCR_OFFSET)
-#define rDMAR(_tmr)   	REG(_tmr, STM32_GTIM_DMAR_OFFSET)
-
-static void		pwm_timer_init(unsigned timer);
-static void		pwm_timer_set_rate(unsigned timer, unsigned rate);
-static void		pwm_channel_init(unsigned channel);
-
-static void
-pwm_timer_init(unsigned timer)
-{
-	/* enable the timer clock before we try to talk to it */
-	modifyreg32(pwm_timers[timer].clock_register, 0, pwm_timers[timer].clock_bit);
-
-	/* disable and configure the timer */
-	rCR1(timer) = 0;
-	rCR2(timer) = 0;
-	rSMCR(timer) = 0;
-	rDIER(timer) = 0;
-	rCCER(timer) = 0;
-	rCCMR1(timer) = 0;
-	rCCMR2(timer) = 0;
-	rCCER(timer) = 0;
-	rDCR(timer) = 0;
-
-	/* configure the timer to free-run at 1MHz */
-	rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
-
-	/* default to updating at 50Hz */
-	pwm_timer_set_rate(timer, 50);
-
-	/* note that the timer is left disabled - arming is performed separately */
-}
-
-static void
-pwm_timer_set_rate(unsigned timer, unsigned rate)
-{
-	/* configure the timer to update at the desired rate */
-	rARR(timer) = 1000000 / rate;
-
-	/* generate an update event; reloads the counter and all registers */
-	rEGR(timer) = GTIM_EGR_UG;
-}
-
-static void
-pwm_channel_init(unsigned channel)
-{
-	unsigned timer = pwm_channels[channel].timer_index;
-
-	/* configure the GPIO first */
-	stm32_configgpio(pwm_channels[channel].gpio);
-
-	/* configure the channel */
-	switch (pwm_channels[channel].timer_channel) {
-	case 1:
-		rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
-		rCCR1(timer) = pwm_channels[channel].default_value;
-		rCCER(timer) |= GTIM_CCER_CC1E;
-		break;
-
-	case 2:
-		rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
-		rCCR2(timer) = pwm_channels[channel].default_value;
-		rCCER(timer) |= GTIM_CCER_CC2E;
-		break;
-
-	case 3:
-		rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
-		rCCR3(timer) = pwm_channels[channel].default_value;
-		rCCER(timer) |= GTIM_CCER_CC3E;
-		break;
-
-	case 4:
-		rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
-		rCCR4(timer) = pwm_channels[channel].default_value;
-		rCCER(timer) |= GTIM_CCER_CC4E;
-		break;
-	}
-}
-
-int
-up_pwm_servo_set(unsigned channel, servo_position_t value)
-{
-	if (channel >= PWM_SERVO_MAX_CHANNELS)
-		return -1;
-
-	unsigned timer = pwm_channels[channel].timer_index;
-
-	/* test timer for validity */
-	if ((pwm_timers[timer].base == 0) ||
-	    (pwm_channels[channel].gpio == 0))
-		return -1;
-
-	/* configure the channel */
-	if (value > 0)
-		value--;
-
-	switch (pwm_channels[channel].timer_channel) {
-	case 1:
-		rCCR1(timer) = value;
-		break;
-
-	case 2:
-		rCCR2(timer) = value;
-		break;
-
-	case 3:
-		rCCR3(timer) = value;
-		break;
-
-	case 4:
-		rCCR4(timer) = value;
-		break;
-
-	default:
-		return -1;
-	}
-
-	return 0;
-}
-
-servo_position_t
-up_pwm_servo_get(unsigned channel)
-{
-	if (channel >= PWM_SERVO_MAX_CHANNELS)
-		return 0;
-
-	unsigned timer = pwm_channels[channel].timer_index;
-	servo_position_t value = 0;
-
-	/* test timer for validity */
-	if ((pwm_timers[timer].base == 0) ||
-	    (pwm_channels[channel].timer_channel == 0))
-		return 0;
-
-	/* configure the channel */
-	switch (pwm_channels[channel].timer_channel) {
-	case 1:
-		value = rCCR1(timer);
-		break;
-
-	case 2:
-		value = rCCR2(timer);
-		break;
-
-	case 3:
-		value = rCCR3(timer);
-		break;
-
-	case 4:
-		value = rCCR4(timer);
-		break;
-	}
-
-	return value + 1;
-}
-
-int
-up_pwm_servo_init(uint32_t channel_mask)
-{
-	/* do basic timer initialisation first */
-	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
-		if (pwm_timers[i].base != 0)
-			pwm_timer_init(i);
-	}
-
-	/* now init channels */
-	for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-		/* don't do init for disabled channels; this leaves the pin configs alone */
-		if (((1 << i) & channel_mask) && (pwm_channels[i].timer_channel != 0))
-			pwm_channel_init(i);
-	}
-
-	return OK;
-}
-
-void
-up_pwm_servo_deinit(void)
-{
-	/* disable the timers */
-	up_pwm_servo_arm(false);
-}
-
-int
-up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
-{
-	/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
-	if (rate < 1)
-		return -ERANGE;
-	if (rate > 10000)
-		return -ERANGE;
-
-	if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0))
-		return ERROR;
-
-	pwm_timer_set_rate(group, rate);
-
-	return OK;
-}
-
-int
-up_pwm_servo_set_rate(unsigned rate)
-{
-	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++)
-		up_pwm_servo_set_rate_group_update(i, rate);
-}
-
-uint32_t
-up_pwm_servo_get_rate_group(unsigned group)
-{
-	unsigned channels = 0;
-
-	for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-		if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group))
-			channels |= (1 << i);
-	}
-	return channels;
-}
-
-void
-up_pwm_servo_arm(bool armed)
-{
-	/* iterate timers and arm/disarm appropriately */
-	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
-		if (pwm_timers[i].base != 0) {
-			if (armed) {
-				/* force an update to preload all registers */
-				rEGR(i) = GTIM_EGR_UG;
-
-				/* arm requires the timer be enabled */
-				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
-
-			} else {
-				// XXX This leads to FMU PWM being still active
-				// but uncontrollable. Just disable the timer
-				// and risk a runt.
-				///* on disarm, just stop auto-reload so we don't generate runts */
-				//rCR1(i) &= ~GTIM_CR1_ARPE;
-				rCR1(i) = 0;
-			}
-		}
-	}
-}
diff --git a/apps/drivers/stm32/drv_pwm_servo.h b/apps/drivers/stm32/drv_pwm_servo.h
deleted file mode 100644
index 5dd4cf70c..000000000
--- a/apps/drivers/stm32/drv_pwm_servo.h
+++ /dev/null
@@ -1,66 +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 drv_pwm_servo.h
- *
- * stm32-specific PWM output data.
- */
-
-#pragma once
-
-#include <drivers/drv_pwm_output.h>
-
-/* configuration limits */
-#define PWM_SERVO_MAX_TIMERS	4
-#define PWM_SERVO_MAX_CHANNELS	8
-
-/* array of timers dedicated to PWM servo use */
-struct pwm_servo_timer {
-	uint32_t	base;
-	uint32_t	clock_register;
-	uint32_t	clock_bit;
-	uint32_t	clock_freq;
-};
-
-/* array of channels in logical order */
-struct pwm_servo_channel {
-	uint32_t	gpio;
-	uint8_t		timer_index;
-	uint8_t		timer_channel;
-	servo_position_t default_value;
-};
-
-/* supplied by board-specific code */
-__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
-__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS];
diff --git a/apps/drivers/stm32/tone_alarm/Makefile b/apps/drivers/stm32/tone_alarm/Makefile
deleted file mode 100644
index d2ddf9534..000000000
--- a/apps/drivers/stm32/tone_alarm/Makefile
+++ /dev/null
@@ -1,43 +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.
-#
-############################################################################
-
-#
-# Tone alarm driver
-#
-
-APPNAME		 = tone_alarm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp b/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
deleted file mode 100644
index ac5511e60..000000000
--- a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ /dev/null
@@ -1,1018 +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.
- *
- ****************************************************************************/
-
-/**
- * Driver for the PX4 audio alarm port, /dev/tone_alarm.
- *
- * The tone_alarm driver supports a set of predefined "alarm"
- * tunes and one user-supplied tune.
- *
- * The TONE_SET_ALARM ioctl can be used to select a predefined
- * alarm tune, from 1 - <TBD>.  Selecting tune zero silences
- * the alarm.
- *
- * Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY
- * statement, with some exceptions and extensions.
- *
- * From Wikibooks:
- *
- * PLAY "[string expression]"
- * 
- * Used to play notes and a score ... The tones are indicated by letters A through G.
- * Accidentals are indicated with a "+" or "#" (for sharp) or "-" (for flat) 
- * immediately after the note letter. See this example:
- * 
- *   PLAY "C C# C C#"
- *
- * Whitespaces are ignored inside the string expression. There are also codes that
- * set the duration, octave and tempo. They are all case-insensitive. PLAY executes 
- * the commands or notes the order in which they appear in the string. Any indicators 
- * that change the properties are effective for the notes following that indicator.
- *
- * Ln     Sets the duration (length) of the notes. The variable n does not indicate an actual duration
- *        amount but rather a note type; L1 - whole note, L2 - half note, L4 - quarter note, etc.
- *        (L8, L16, L32, L64, ...). By default, n = 4.
- *        For triplets and quintets, use L3, L6, L12, ... and L5, L10, L20, ... series respectively.
- *        The shorthand notation of length is also provided for a note. For example, "L4 CDE L8 FG L4 AB"
- *        can be shortened to "L4 CDE F8G8 AB". F and G play as eighth notes while others play as quarter notes.
- * On     Sets the current octave. Valid values for n are 0 through 6. An octave begins with C and ends with B.
- *        Remember that C- is equivalent to B. 
- * < >    Changes the current octave respectively down or up one level.
- * Nn     Plays a specified note in the seven-octave range. Valid values are from 0 to 84. (0 is a pause.)
- *        Cannot use with sharp and flat. Cannot use with the shorthand notation neither.
- * MN     Stand for Music Normal. Note duration is 7/8ths of the length indicated by Ln. It is the default mode.
- * ML     Stand for Music Legato. Note duration is full length of that indicated by Ln.
- * MS     Stand for Music Staccato. Note duration is 3/4ths of the length indicated by Ln.
- * Pn     Causes a silence (pause) for the length of note indicated (same as Ln). 
- * Tn     Sets the number of "L4"s per minute (tempo). Valid values are from 32 to 255. The default value is T120. 
- * .      When placed after a note, it causes the duration of the note to be 3/2 of the set duration.
- *        This is how to get "dotted" notes. "L4 C#." would play C sharp as a dotted quarter note.
- *        It can be used for a pause as well.
- *
- * Extensions/variations:
- *
- * MB MF  The MF command causes the tune to play once and then stop. The MB command causes the
- *        tune to repeat when it ends.
- *
- */
-
-#include <nuttx/config.h>
-#include <debug.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_tone_alarm.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <math.h>
-#include <ctype.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-
-#include <arch/stm32/chip.h>
-#include <up_internal.h>
-#include <up_arch.h>
-
-#include <stm32_internal.h>
-#include <stm32_gpio.h>
-#include <stm32_tim.h>
-
-#include <systemlib/err.h>
-
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
-/* Tone alarm configuration */
-#if   TONE_ALARM_TIMER == 2
-# define TONE_ALARM_BASE		STM32_TIM2_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM2_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM2EN
-# ifdef CONFIG_STM32_TIM2
-#  error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2
-# endif
-#elif TONE_ALARM_TIMER == 3
-# define TONE_ALARM_BASE		STM32_TIM3_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM3_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM3EN
-# ifdef CONFIG_STM32_TIM3
-#  error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3
-# endif
-#elif TONE_ALARM_TIMER == 4
-# define TONE_ALARM_BASE		STM32_TIM4_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM4_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM4EN
-# ifdef CONFIG_STM32_TIM4
-#  error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4
-# endif
-#elif TONE_ALARM_TIMER == 5
-# define TONE_ALARM_BASE		STM32_TIM5_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM5_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM5EN
-# ifdef CONFIG_STM32_TIM5
-#  error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5
-# endif
-#elif TONE_ALARM_TIMER == 9
-# define TONE_ALARM_BASE		STM32_TIM9_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM9_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM9EN
-# ifdef CONFIG_STM32_TIM9
-#  error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9
-# endif
-#elif TONE_ALARM_TIMER == 10
-# define TONE_ALARM_BASE		STM32_TIM10_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM10_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM10EN
-# ifdef CONFIG_STM32_TIM10
-#  error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10
-# endif
-#elif TONE_ALARM_TIMER == 11
-# define TONE_ALARM_BASE		STM32_TIM11_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM11_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM11EN
-# ifdef CONFIG_STM32_TIM11
-#  error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
-# endif
-#else
-# error Must set TONE_ALARM_TIMER to a generic timer in order to use this driver.
-#endif
-
-#if TONE_ALARM_CHANNEL == 1
-# define TONE_CCMR1	(3 << 4)
-# define TONE_CCMR2	0
-# define TONE_CCER	(1 << 0)
-# define TONE_rCCR	rCCR1
-#elif TONE_ALARM_CHANNEL == 2
-# define TONE_CCMR1	(3 << 12)
-# define TONE_CCMR2	0
-# define TONE_CCER	(1 << 4)
-# define TONE_rCCR	rCCR2
-#elif TONE_ALARM_CHANNEL == 3
-# define TONE_CCMR1	0
-# define TONE_CCMR2	(3 << 4)
-# define TONE_CCER	(1 << 8)
-# define TONE_rCCR	rCCR3
-#elif TONE_ALARM_CHANNEL == 4
-# define TONE_CCMR1	0
-# define TONE_CCMR2	(3 << 12)
-# define TONE_CCER	(1 << 12)
-# define TONE_rCCR	rCCR4
-#else
-# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
-#endif
-
-
-/*
- * Timer register accessors
- */
-#define REG(_reg)	(*(volatile uint32_t *)(TONE_ALARM_BASE + _reg))
-
-#define rCR1     	REG(STM32_GTIM_CR1_OFFSET)
-#define rCR2     	REG(STM32_GTIM_CR2_OFFSET)
-#define rSMCR    	REG(STM32_GTIM_SMCR_OFFSET)
-#define rDIER    	REG(STM32_GTIM_DIER_OFFSET)
-#define rSR      	REG(STM32_GTIM_SR_OFFSET)
-#define rEGR     	REG(STM32_GTIM_EGR_OFFSET)
-#define rCCMR1   	REG(STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2   	REG(STM32_GTIM_CCMR2_OFFSET)
-#define rCCER    	REG(STM32_GTIM_CCER_OFFSET)
-#define rCNT     	REG(STM32_GTIM_CNT_OFFSET)
-#define rPSC     	REG(STM32_GTIM_PSC_OFFSET)
-#define rARR     	REG(STM32_GTIM_ARR_OFFSET)
-#define rCCR1    	REG(STM32_GTIM_CCR1_OFFSET)
-#define rCCR2    	REG(STM32_GTIM_CCR2_OFFSET)
-#define rCCR3    	REG(STM32_GTIM_CCR3_OFFSET)
-#define rCCR4    	REG(STM32_GTIM_CCR4_OFFSET)
-#define rDCR     	REG(STM32_GTIM_DCR_OFFSET)
-#define rDMAR    	REG(STM32_GTIM_DMAR_OFFSET)
-
-class ToneAlarm : public device::CDev
-{
-public:
-	ToneAlarm();
-	~ToneAlarm();
-
-	virtual int		init();
-
-	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
-	virtual ssize_t		write(file *filp, const char *buffer, size_t len);
-
-private:
-	static const unsigned	_tune_max = 1024; // be reasonable about user tunes
-	static const char	* const _default_tunes[];
-	static const unsigned	_default_ntunes;
-	static const uint8_t	_note_tab[];
-
-	const char		*_user_tune;
-
-	const char		*_tune;		// current tune string
-	const char		*_next;		// next note in the string
-
-	unsigned		_tempo;
-	unsigned		_note_length;
-	enum { MODE_NORMAL, MODE_LEGATO, MODE_STACCATO} _note_mode;
-	unsigned		_octave;
-	unsigned		_silence_length; // if nonzero, silence before next note
-	bool			_repeat;	// if true, tune restarts at end
-
-	hrt_call		_note_call;	// HRT callout for note completion
-
-	// Convert a note value in the range C1 to B7 into a divisor for
-	// the configured timer's clock.
-	//
-	unsigned		note_to_divisor(unsigned note);
-
-	// Calculate the duration in microseconds of play and silence for a 
-	// note given the current tempo, length and mode and the number of 
-	// dots following in the play string.
-	//
-	unsigned		note_duration(unsigned &silence, unsigned note_length, unsigned dots);
-
-	// Calculate the duration in microseconds of a rest corresponding to
-	// a given note length.
-	//
-	unsigned		rest_duration(unsigned rest_length, unsigned dots);
-
-	// Start playing the note
-	//
-	void			start_note(unsigned note);
-
-	// Stop playing the current note and make the player 'safe'
-	//
-	void			stop_note();
-
-	// Start playing the tune
-	//
-	void			start_tune(const char *tune);
-
-	// Parse the next note out of the string and play it
-	//
-	void			next_note();
-
-	// Find the next character in the string, discard any whitespace and
-	// return the canonical (uppercase) version.
-	//
-	int			next_char();
-
-	// Extract a number from the string, consuming all the digit characters.
-	//
-	unsigned		next_number();
-
-	// Consume dot characters from the string, returning the number consumed.
-	//
-	unsigned		next_dots();
-
-	// hrt_call trampoline for next_note
-	//
-	static void		next_trampoline(void *arg);
-
-};
-
-// predefined tune array
-const char * const ToneAlarm::_default_tunes[] = {
-	"MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc",		// startup tune
-	"MBT200a8a8a8PaaaP",					// ERROR tone
-	"MFT200e8a8a",						// NotifyPositive tone
-	"MFT200e8e",						// NotifyNeutral tone
-	"MFT200e8c8e8c8e8c8",					// NotifyNegative tone
-	"MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4", // charge!
-	"MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16",	// dixie
-	"MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8",		// cucuracha
-	"MNT150L8O2GGABGBADGGABL4GL8F+",			// yankee
-	"MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8", // daisy
-	"T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8"	// william tell
-	"O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16"
-	"O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16"
-	"O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8"
-	"P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8"
-	"O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16"
-	"O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4"
-	"O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8"
-	"O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16"
-	"O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8"
-	"O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16"
-	"O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8"
-	"O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8"
-	"O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8"
-	"O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8"
-	"O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8"
-	"O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16"
-	"O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16"
-	"O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8"
-	"O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8"
-	"O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16"
-	"O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16"
-	"O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16"
-	"O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16"
-	"O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8"
-	"O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8"
-	"O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16"
-	"O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64"
-	"O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16"
-	"O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16"
-	"O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16"
-	"O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16"
-	"O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16"
-	"O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16"
-	"O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16"
-	"O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16"
-	"O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16"
-	"O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16"
-	"O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16"
-	"O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16"
-	"O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16"
-	"O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16"
-	"O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16"
-	"O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16"
-	"O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16"
-	"O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16"
-	"O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16"
-	"O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16"
-	"O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16"
-	"O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16"
-	"O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16"
-	"O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16"
-	"O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16"
-	"O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16"
-	"O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16"
-	"O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16"
-	"O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16"
-	"O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16"
-	"O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16"
-	"O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16"
-	"O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16"
-	"O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16"
-	"O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16"
-	"O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16"
-	"O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4."
-	"O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16"
-	"O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16"
-	"O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16"
-	"O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16"
-	"O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8"
-	"O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16"
-	"O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8"
-	"O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8"
-	"O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8"
-	"O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16"
-	"O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8"
-	"O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8"
-	"O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8"
-	"O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8"
-	"O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16"
-	"O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16"
-	"O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8"
-	"O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8"
-	"O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16"
-	"O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16"
-	"O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16"
-	"O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16"
-	"O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16"
-	"O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16"
-	"O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16"
-	"O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16"
-	"O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16"
-	"O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16"
-	"O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16"
-	"P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16"
-	"P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16"
-	"O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8"
-	"O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16"
-	"O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16"
-	"O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16"
-	"O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16"
-	"O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16"
-	"P16O4E16P16D+16P16C+16P16O3B16P16A+16P16"
-	"O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16"
-	"O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16"
-	"O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16"
-	"O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
-	"O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16"
-	"O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16"
-	"O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
-	"O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
-	"P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16"
-	"P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16"
-	"O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16"
-	"O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16"
-	"O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16"
-	"O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8"
-	"O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16"
-	"O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16"
-	"O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8"
-	"O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16"
-	"O4E16P16D+16P16C+16P16O3B16P16A+16P16A16"
-	"P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16"
-	"O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8"
-	"O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8"
-	"O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16"
-	"O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16"
-	"O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16"
-	"O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16"
-	"O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16"
-	"O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8"
-	"O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16"
-	"O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16"
-	"O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8"
-	"O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8"
-	"O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8"
-	"O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16"
-	"O2E2P64",
-};
-
-const unsigned ToneAlarm::_default_ntunes = sizeof(_default_tunes) / sizeof(_default_tunes[0]);
-
-// semitone offsets from C for the characters 'A'-'G'
-const uint8_t ToneAlarm::_note_tab[] = {9, 11, 0, 2, 4, 5, 7};
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
-
-
-ToneAlarm::ToneAlarm() :
-	CDev("tone_alarm", "/dev/tone_alarm"),
-	_user_tune(nullptr),
-	_tune(nullptr),
-	_next(nullptr)
-{
-	// enable debug() calls
-	//_debug_enabled = true;
-}
-
-ToneAlarm::~ToneAlarm()
-{
-}
-
-int
-ToneAlarm::init()
-{
-	int ret;
-
-	ret = CDev::init();
-
-	if (ret != OK)
-		return ret;
-
-	/* configure the GPIO to the idle state */
-	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
-
-	/* clock/power on our timer */
-	modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
-
-	/* initialise the timer */
-	rCR1 = 0;
-	rCR2 = 0;
-	rSMCR = 0;
-	rDIER = 0;
-	rCCER &= TONE_CCER;		/* unlock CCMR* registers */
-	rCCMR1 = TONE_CCMR1;
-	rCCMR2 = TONE_CCMR2;
-	rCCER = TONE_CCER;
-	rDCR = 0;
-
-	/* toggle the CC output each time the count passes 1 */
-	TONE_rCCR = 1;
-
-	/* default the timer to a prescale value of 1; playing notes will change this */
-	rPSC = 0;
-
-	/* make sure the timer is running */
-	rCR1 = GTIM_CR1_CEN;
-
-	debug("ready");
-	return OK;
-}
-
-unsigned
-ToneAlarm::note_to_divisor(unsigned note)
-{
-	// compute the frequency first (Hz)
-	float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f);
-
-	float period = 0.5f / freq;
-
-	// and the divisor, rounded to the nearest integer
-	unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f;
-
-	return divisor;
-}
-
-unsigned
-ToneAlarm::note_duration(unsigned &silence, unsigned note_length, unsigned dots)
-{
-	unsigned whole_note_period = (60 * 1000000 * 4) / _tempo;
-
-	if (note_length == 0)
-		note_length = 1;
-	unsigned note_period = whole_note_period / note_length;
-
-	switch (_note_mode) {
-	case MODE_NORMAL:
-		silence = note_period / 8;
-		break;
-	case MODE_STACCATO:
-		silence = note_period / 4;
-		break;
-	default:
-	case MODE_LEGATO:
-		silence = 0;
-		break;
-	}
-	note_period -= silence;
-
-	unsigned dot_extension = note_period / 2;
-	while (dots--) {
-		note_period += dot_extension;
-		dot_extension /= 2;
-	}
-
-	return note_period;
-}
-
-unsigned
-ToneAlarm::rest_duration(unsigned rest_length, unsigned dots)
-{
-	unsigned whole_note_period = (60 * 1000000 * 4) / _tempo;
-
-	if (rest_length == 0)
-		rest_length = 1;
-
-	unsigned rest_period = whole_note_period / rest_length;
-
-	unsigned dot_extension = rest_period / 2;
-	while (dots--) {
-		rest_period += dot_extension;
-		dot_extension /= 2;
-	}
-
-	return rest_period;
-}
-
-void
-ToneAlarm::start_note(unsigned note)
-{
-	// compute the divisor
-	unsigned divisor = note_to_divisor(note);
-
-	// pick the lowest prescaler value that we can use
-	// (note that the effective prescale value is 1 greater)
-	unsigned prescale = divisor / 65536;
-
-	// calculate the timer period for the selected prescaler value
-	unsigned period = (divisor / (prescale + 1)) - 1;
-
-	rPSC = prescale;	// load new prescaler
-	rARR = period;		// load new toggle period
-	rEGR = GTIM_EGR_UG;	// force a reload of the period
-	rCCER |= TONE_CCER;	// enable the output
-
-	// configure the GPIO to enable timer output
-	stm32_configgpio(GPIO_TONE_ALARM);
-}
-
-void
-ToneAlarm::stop_note()
-{
-	/* stop the current note */
-	rCCER &= ~TONE_CCER;
-
-	/*
-	 * Make sure the GPIO is not driving the speaker.
-	 */
-	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
-}
-
-void
-ToneAlarm::start_tune(const char *tune)
-{
-	// kill any current playback
-	hrt_cancel(&_note_call);
-
-	// record the tune
-	_tune = tune;
-	_next = tune;
-
-	// initialise player state
-	_tempo = 120;
-	_note_length = 4;
-	_note_mode = MODE_NORMAL;
-	_octave = 4;
-	_silence_length = 0;
-	_repeat = false;		// otherwise command-line tunes repeat forever...
-
-	// schedule a callback to start playing
-	hrt_call_after(&_note_call, 0, (hrt_callout)next_trampoline, this);
-}
-
-void
-ToneAlarm::next_note()
-{
-	// do we have an inter-note gap to wait for?
-	if (_silence_length > 0) {
-		stop_note();
-		hrt_call_after(&_note_call, (hrt_abstime)_silence_length, (hrt_callout)next_trampoline, this);
-		_silence_length = 0;
-		return;
-	}
-
-	// make sure we still have a tune - may be removed by the write / ioctl handler
-	if ((_next == nullptr) || (_tune == nullptr)) {
-		stop_note();
-		return;
-	}
-
-	// parse characters out of the string until we have resolved a note
-	unsigned note = 0;
-	unsigned note_length = _note_length;
-	unsigned duration;
-
-	while (note == 0) {
-		// we always need at least one character from the string
-		int c = next_char();
-		if (c == 0)
-			goto tune_end;
-		_next++;
-
-		switch (c) {
-		case 'L':	// select note length
-			_note_length = next_number();
-			if (_note_length < 1)
-				goto tune_error;
-			break;
-
-		case 'O':	// select octave
-			_octave = next_number();
-			if (_octave > 6)
-				_octave = 6;
-			break;
-
-		case '<':	// decrease octave
-			if (_octave > 0)
-				_octave--;
-			break;
-
-		case '>':	// increase octave
-			if (_octave < 6)
-				_octave++;
-			break;
-
-		case 'M':	// select inter-note gap
-			c = next_char();
-			if (c == 0)
-				goto tune_error;
-			_next++;
-			switch (c) {
-			case 'N':
-				_note_mode = MODE_NORMAL;
-				break;
-			case 'L':
-				_note_mode = MODE_LEGATO;
-				break;
-			case 'S':
-				_note_mode = MODE_STACCATO;
-				break;
-			case 'F':
-				_repeat = false;
-				break;
-			case 'B':
-				_repeat = true;
-				break;
-			default:
-				goto tune_error;
-			}
-			break;
-
-		case 'P':	// pause for a note length
-			stop_note();
-			hrt_call_after(&_note_call, 
-				(hrt_abstime)rest_duration(next_number(), next_dots()),
-				(hrt_callout)next_trampoline, 
-				this);
-			return;
-
-		case 'T': {	// change tempo
-			unsigned nt = next_number();
-
-			if ((nt >= 32) && (nt <= 255)) {
-				_tempo = nt;
-			} else {
-				goto tune_error;
-			}
-			break;
-		}
-
-		case 'N':	// play an arbitrary note
-			note = next_number();
-			if (note > 84)
-				goto tune_error;
-			if (note == 0) {
-				// this is a rest - pause for the current note length
-				hrt_call_after(&_note_call,
-					(hrt_abstime)rest_duration(_note_length, next_dots()),
-					(hrt_callout)next_trampoline, 
-					this);
-				return;				
-			}
-			break;
-
-		case 'A'...'G':	// play a note in the current octave
-			note = _note_tab[c - 'A'] + (_octave * 12) + 1;
-			c = next_char();
-			switch (c) {
-			case '#':	// up a semitone
-			case '+':
-				if (note < 84)
-					note++;
-				_next++;
-				break;
-			case '-':	// down a semitone
-				if (note > 1)
-					note--;
-				_next++;
-				break;
-			default:
-				// 0 / no next char here is OK
-				break;
-			}
-			// shorthand length notation
-			note_length = next_number();
-			if (note_length == 0)
-				note_length = _note_length;
-			break;
-
-		default:
-			goto tune_error;
-		}
-	}
-
-	// compute the duration of the note and the following silence (if any)
-	duration = note_duration(_silence_length, note_length, next_dots());
-
-	// start playing the note
-	start_note(note);
-
-	// and arrange a callback when the note should stop
-	hrt_call_after(&_note_call, (hrt_abstime)duration, (hrt_callout)next_trampoline, this);
-	return;
-
-	// tune looks bad (unexpected EOF, bad character, etc.)
-tune_error:
-	lowsyslog("tune error\n");
-	_repeat = false;		// don't loop on error
-
-	// stop (and potentially restart) the tune
-tune_end:
-	stop_note();
-	if (_repeat)
-		start_tune(_tune);
-	return;
-}
-
-int
-ToneAlarm::next_char()
-{
-	while (isspace(*_next)) {
-		_next++;
-	}
-	return toupper(*_next);
-}
-
-unsigned
-ToneAlarm::next_number()
-{
-	unsigned number = 0;
-	int c;
-
-	for (;;) {
-		c = next_char();
-		if (!isdigit(c))
-			return number;
-		_next++;
-		number = (number * 10) + (c - '0');
-	}
-}
-
-unsigned
-ToneAlarm::next_dots()
-{
-	unsigned dots = 0;
-
-	while (next_char() == '.') {
-		_next++;
-		dots++;
-	}
-	return dots;
-}
-
-void
-ToneAlarm::next_trampoline(void *arg)
-{
-	ToneAlarm *ta = (ToneAlarm *)arg;
-
-	ta->next_note();
-}
-
-
-int
-ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int result = OK;
-
-	debug("ioctl %i %u", cmd, arg);
-
-//	irqstate_t flags = irqsave();
-
-	/* decide whether to increase the alarm level to cmd or leave it alone */
-	switch (cmd) {
-	case TONE_SET_ALARM:
-		debug("TONE_SET_ALARM %u", arg);
-
-		if (arg <= _default_ntunes) {
-			if (arg == 0) {
-				// stop the tune
-				_tune = nullptr;
-				_next = nullptr;
-			} else {
-				// play the selected tune
-				start_tune(_default_tunes[arg - 1]);
-			}
-		} else {
-			result = -EINVAL;
-		}
-
-		break;
-
-	default:
-		result = -ENOTTY;
-		break;
-	}
-
-//	irqrestore(flags);
-
-	/* give it to the superclass if we didn't like it */
-	if (result == -ENOTTY)
-		result = CDev::ioctl(filp, cmd, arg);
-
-	return result;
-}
-
-int
-ToneAlarm::write(file *filp, const char *buffer, size_t len)
-{
-	// sanity-check the buffer for length and nul-termination
-	if (len > _tune_max)
-		return -EFBIG;
-
-	// if we have an existing user tune, free it
-	if (_user_tune != nullptr) {
-
-		// if we are playing the user tune, stop
-		if (_tune == _user_tune) {
-			_tune = nullptr;
-			_next = nullptr;
-		}
-
-		// free the old user tune
-		free((void *)_user_tune);
-		_user_tune = nullptr;
-	}
-
-	// if the new tune is empty, we're done
-	if (buffer[0] == '\0')
-		return OK;
-
-	// allocate a copy of the new tune
-	_user_tune = strndup(buffer, len);
-	if (_user_tune == nullptr)
-		return -ENOMEM;
-
-	// and play it
-	start_tune(_user_tune);
-
-	return len;
-}
-
-/**
- * Local functions in support of the shell command.
- */
-namespace
-{
-
-ToneAlarm	*g_dev;
-
-int
-play_tune(unsigned tune)
-{
-	int	fd, ret;
-
-	fd = open("/dev/tone_alarm", 0);
-
-	if (fd < 0)
-		err(1, "/dev/tone_alarm");
-
-	ret = ioctl(fd, TONE_SET_ALARM, tune);
-	close(fd);
-
-	if (ret != 0)
-		err(1, "TONE_SET_ALARM");
-
-	exit(0);
-}
-
-int
-play_string(const char *str)
-{
-	int	fd, ret;
-
-	fd = open("/dev/tone_alarm", O_WRONLY);
-
-	if (fd < 0)
-		err(1, "/dev/tone_alarm");
-
-	ret = write(fd, str, strlen(str) + 1);
-	close(fd);
-
-	if (ret < 0)
-		err(1, "play tune");
-	exit(0);
-}
-
-} // namespace
-
-int
-tone_alarm_main(int argc, char *argv[])
-{
-	unsigned tune;
-
-	/* start the driver lazily */
-	if (g_dev == nullptr) {
-		g_dev = new ToneAlarm;
-
-		if (g_dev == nullptr)
-			errx(1, "couldn't allocate the ToneAlarm driver");
-
-		if (g_dev->init() != OK) {
-			delete g_dev;
-			errx(1, "ToneAlarm init failed");
-		}
-	}
-
-	if ((argc > 1) && !strcmp(argv[1], "start"))
-		play_tune(1);
-
-	if ((argc > 1) && !strcmp(argv[1], "stop"))
-		play_tune(0);
-
-	if ((tune = strtol(argv[1], nullptr, 10)) != 0)
-		play_tune(tune);
-
-	/* if it looks like a PLAY string... */
-	if (strlen(argv[1]) > 2) {
-		const char *str = argv[1];
-		if (str[0] == 'M') {
-			play_string(str);
-		}
-	}
-
-	errx(1, "unrecognised command, try 'start', 'stop' or an alarm number");
-}