Move the PX4IO driver into the drivers folder.

5 files changed, 0 insertions, 1136 deletions

diff --git a/apps/px4/px4io/driver/.context b/apps/px4/px4io/driver/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/px4/px4io/driver/.context
+++ /dev/null
diff --git a/apps/px4/px4io/driver/Makefile b/apps/px4/px4io/driver/Makefile
deleted file mode 100644
index cbd942546..000000000
--- a/apps/px4/px4io/driver/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.
-#
-############################################################################
-
-#
-# Interface driver for the PX4IO board.
-#
-
-APPNAME		 = px4io
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp
deleted file mode 100644
index 66db1c360..000000000
--- a/apps/px4/px4io/driver/px4io.cpp
+++ /dev/null
@@ -1,608 +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.cpp
- * Driver for the PX4IO board.
- *
- * PX4IO is connected via serial (or possibly some other interface at a later
- * point).
-
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-#include <stdint.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 <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_rc_input.h>
-#include <drivers/drv_pwm_output.h>
-#include <systemlib/mixer/mixer.h>
-#include <drivers/drv_mixer.h>
-
-#include <systemlib/perf_counter.h>
-#include <systemlib/hx_stream.h>
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/rc_channels.h>
-
-#include "px4io/protocol.h"
-#include "uploader.h"
-
-
-class PX4IO : public device::CDev
-{
-public:
-	PX4IO();
-	~PX4IO();
-
-	virtual int		init();
-
-	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
-
-private:
-	static const unsigned	_max_actuators = PX4IO_OUTPUT_CHANNELS;
-
-	int			_serial_fd;	///< serial interface to PX4IO
-	hx_stream_t		_io_stream;	///< HX protocol stream
-
-	int			_task;		///< worker task
-	volatile bool		_task_should_exit;
-
-	int			_t_actuators;	///< actuator output topic
-	actuator_controls_s	_controls;	///< actuator outputs
-
-	int			_t_armed;	///< system armed control topic
-	actuator_armed_s	_armed;		///< system armed state
-
-	orb_advert_t		_t_outputs;	///< mixed outputs topic
-	actuator_outputs_s	_outputs;	///< mixed outputs
-
-	MixerGroup		*_mixers;	///< loaded mixers
-
-	bool			_primary_pwm_device;	///< true if we are the default PWM output
-
-	volatile bool		_switch_armed;	///< PX4IO switch armed state
-						// XXX how should this work?
-
-	bool			_send_needed;	///< If true, we need to send a packet to IO
-
-	/**
-	 * Trampoline to the worker task
-	 */
-	static void		task_main_trampoline(int argc, char *argv[]);
-
-	/**
-	 * worker task
-	 */
-	void			task_main();
-
-	/**
-	 * Handle receiving bytes from PX4IO
-	 */
-	void			io_recv();
-
-	/**
-	 * HX protocol callback trampoline.
-	 */
-	static void		rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
-
-	/**
-	 * Callback invoked when we receive a whole packet from PX4IO
-	 */
-	void			rx_callback(const uint8_t *buffer, size_t bytes_received);
-
-	/**
-	 * Send an update packet to PX4IO
-	 */
-	void			io_send();
-
-	/**
-	 * Mixer control callback; invoked to fetch a control from a specific
-	 * group/index during mixing.
-	 */
-	static int		control_callback(uintptr_t handle,
-						 uint8_t control_group,
-						 uint8_t control_index,
-						 float &input);
-};
-
-
-namespace 
-{
-
-PX4IO	*g_dev;
-
-}
-
-PX4IO::PX4IO() :
-	CDev("px4io", "/dev/px4io"),
-	_serial_fd(-1),
-	_io_stream(nullptr),
-	_task(-1),
-	_task_should_exit(false),
-	_t_actuators(-1),
-	_t_armed(-1),
-	_t_outputs(-1),
-	_mixers(nullptr),
-	_primary_pwm_device(false),
-	_switch_armed(false),
-	_send_needed(false)
-{
-	/* we need this potentially before it could be set in task_main */
-	g_dev = this;
-
-	_debug_enabled = true;
-}
-
-PX4IO::~PX4IO()
-{
-	if (_task != -1) {
-		/* tell the task we want it to go away */
-		_task_should_exit = true;
-
-		/* spin waiting for the thread to stop */
-		unsigned i = 10;
-		do {
-			/* wait 50ms - it should wake every 100ms or so worst-case */
-			usleep(50000);
-
-			/* if we have given up, kill it */
-			if (--i == 0) {
-				task_delete(_task);
-				break;
-			}
-
-		} while (_task != -1);
-	}
-
-	/* clean up the alternate device node */
-	if (_primary_pwm_device)
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
-
-	/* kill the HX stream */
-	if (_io_stream != nullptr)
-		hx_stream_free(_io_stream);
-
-	g_dev = nullptr;
-}
-
-int
-PX4IO::init()
-{
-	int ret;
-
-	ASSERT(_task == -1);
-
-	/* do regular cdev init */
-	ret = CDev::init();
-	if (ret != OK)
-		return ret;
-
-	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
-	if (ret == OK) {
-		log("default PWM output device");
-		_primary_pwm_device = true;
-	}
-
-	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
-	if (_task < 0) {
-		debug("task start failed: %d", errno);
-		return -errno;
-	}
-
-	return OK;
-}
-
-void
-PX4IO::task_main_trampoline(int argc, char *argv[])
-{
-	g_dev->task_main();
-}
-
-void
-PX4IO::task_main()
-{
-	log("starting");
-
-	/* open the serial port */
-	_serial_fd = ::open("/dev/ttyS2", O_RDWR);
-	if (_serial_fd < 0) {
-		debug("failed to open serial port for IO: %d", errno);
-		_task = -1;
-		_exit(errno);
-	}
-
-	/* protocol stream */
-	_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
-
-	perf_counter_t pc_tx_frames = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
-	perf_counter_t pc_rx_frames = perf_alloc(PC_COUNT, "PX4IO frames received");
-	perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
-	hx_stream_set_counters(_io_stream, pc_tx_frames, pc_rx_frames, pc_rx_errors);
-
-	/* XXX send a who-are-you request */
-
-	/* XXX verify firmware/protocol version */
-
-	/*
-	 * Subscribe to the appropriate PWM output topic based on whether we are the
-	 * primary PWM output or not.
-	 */
-	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-				     ORB_ID(actuator_controls_1));
-	/* convert the update rate in hz to milliseconds, rounding down if necessary */
-	//int update_rate_in_ms = int(1000 / _update_rate);
-	orb_set_interval(_t_actuators, 20);	/* XXX 50Hz hardcoded for now */
-
-	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
-	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
-
-	/* advertise the mixed control outputs */
-	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
-				   &_outputs);
-
-	/* poll descriptor */
-	pollfd fds[3];
-	fds[0].fd = _serial_fd;
-	fds[0].events = POLLIN;
-	fds[1].fd = _t_actuators;
-	fds[1].events = POLLIN;
-	fds[2].fd = _t_armed;
-	fds[2].events = POLLIN;
-
-	log("ready");
-
-	/* loop handling received serial bytes */
-	while (!_task_should_exit) {
-
-		/* sleep waiting for data, but no more than 100ms */
-		int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 1000);
-
-		/* this would be bad... */
-		if (ret < 0) {
-			log("poll error %d", errno);
-			usleep(1000000);
-			continue;
-		}
-
-		/* if we timed out waiting, we should send an update */
-		if (ret == 0)
-			_send_needed = true;
-
-		if (ret > 0) {
-			/* if we have new data from IO, go handle it */
-			if (fds[0].revents & POLLIN)
-				io_recv();
-
-			/* if we have new data from the ORB, go handle it */
-			if (fds[1].revents & POLLIN) {
-
-				/* get controls */
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
-
-				/* mix */
-				if (_mixers != nullptr) {
-					/* XXX is this the right count? */
-					_mixers->mix(&_outputs.output[0], _max_actuators);
-
-					/* convert to PWM values */
-					for (unsigned i = 0; i < _max_actuators; i++)
-						_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
-
-					/* and flag for update */
-					_send_needed = true;
-				}
-			}
-			if (fds[2].revents & POLLIN) {
-
-				orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
-				_send_needed = true;
-			}
-		}
-
-		/* send an update to IO if required */
-		if (_send_needed) {
-			_send_needed = false;
-			io_send();
-		}
-	}
-
-	/* tell the dtor that we are exiting */
-	_task = -1;
-	_exit(0);
-}
-
-int
-PX4IO::control_callback(uintptr_t handle,
-			 uint8_t control_group,
-			 uint8_t control_index,
-			 float &input)
-{
-	const actuator_controls_s *controls = (actuator_controls_s *)handle;
-
-	input = controls->control[control_index];
-	return 0;
-}
-
-void
-PX4IO::io_recv()
-{
-	uint8_t buf[32];
-	int count;
-
-	/*
-	 * We are here because poll says there is some data, so this
-	 * won't block even on a blocking device.  If more bytes are
-	 * available, we'll go back to poll() again...
-	 */
-	count = ::read(_serial_fd, buf, sizeof(buf));
-
-	/* pass received bytes to the packet decoder */
-	for (int i = 0; i < count; i++)
-		hx_stream_rx(_io_stream, buf[i]);
-}
-
-void
-PX4IO::rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received)
-{
-	g_dev->rx_callback((const uint8_t *)buffer, bytes_received);
-}
-
-void
-PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
-{
-	const px4io_report *rep = (const px4io_report *)buffer;
-
-	/* sanity-check the received frame size */
-	if (bytes_received != sizeof(px4io_report))
-		return;
-
-	/* XXX handle R/C inputs here ... needs code sharing/library */
-
-	/* remember the latched arming switch state */
-	_switch_armed = rep->armed;
-
-	unlock();
-}
-
-void
-PX4IO::io_send()
-{
-	px4io_command	cmd;
-
-	cmd.f2i_magic = F2I_MAGIC;
-
-	/* set outputs */
-	for (unsigned i = 0; i < _max_actuators; i++)
-		cmd.servo_command[i] = _outputs.output[i];
-
-	/* publish as we send */
-	orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
-
-	// XXX relays
-
-	cmd.arm_ok = _armed.armed;
-
-	hx_stream_send(_io_stream, &cmd, sizeof(cmd));
-}
-
-int
-PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
-{
-	int ret = OK;
-
-	lock();
-
-	/* regular ioctl? */
-	switch (cmd) {
-	case PWM_SERVO_ARM:
-		/* fake an armed transition */
-		_armed.armed = true;
-		_send_needed = true;
-		break;
-
-	case PWM_SERVO_DISARM:
-		/* fake a disarmed transition */
-		_armed.armed = true;
-		_send_needed = true;
-		break;
-
-	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
-		/* fake an update to the selected servo channel */
-		if ((arg >= 900) && (arg <= 2100)) {
-			_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
-			_send_needed = true;
-		} else {
-			ret = -EINVAL;
-		}
-		break;
-
-	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
-		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
-		break;
-
-	case MIXERIOCGETOUTPUTCOUNT:
-		*(unsigned *)arg = _max_actuators;
-		break;
-
-	case MIXERIOCRESET:
-		if (_mixers != nullptr) {
-			delete _mixers;
-			_mixers = nullptr;
-		}
-		break;
-
-	case MIXERIOCADDSIMPLE: {
-			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
-
-			/* build the new mixer from the supplied argument */
-			SimpleMixer *mixer = new SimpleMixer(control_callback,
-							     (uintptr_t)&_controls, mixinfo);
-
-			/* validate the new mixer */
-			if (mixer->check()) {
-				delete mixer;
-				ret = -EINVAL;
-
-			} else {
-				/* if we don't have a group yet, allocate one */
-				if (_mixers == nullptr)
-					_mixers = new MixerGroup(control_callback,
-								 (uintptr_t)&_controls);
-
-				/* add the new mixer to the group */
-				_mixers->add_mixer(mixer);
-			}
-
-		}
-		break;
-
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
-
-	case MIXERIOCLOADFILE: {
-			MixerGroup *newmixers;
-			const char *path = (const char *)arg;
-
-			/* allocate a new mixer group and load it from the file */
-			newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
-			if (newmixers->load_from_file(path) != 0) {
-				delete newmixers;
-				ret = -EINVAL;
-			}
-
-			/* swap the new mixers in for the old */
-			if (_mixers != nullptr) {
-				delete _mixers;
-			}
-			_mixers = newmixers;
-
-		}
-		break;
-
-	default:
-		/* not a recognised value */
-		ret = -ENOTTY;
-	}
-	unlock();
-
-	return ret;
-}
-
-extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
-
-int
-px4io_main(int argc, char *argv[])
-{
-	if (!strcmp(argv[1], "start")) {
-
-		if (g_dev != nullptr)
-			errx(1, "already loaded");
-
-		/* create the driver - it will set g_dev */
-		(void)new PX4IO;
-
-		if (g_dev == nullptr)
-			errx(1, "driver alloc failed");
-
-		if (OK != g_dev->init()) {
-			delete g_dev;
-			errx(1, "driver init failed");
-		}
-
-		exit(0);
-	}
-
-	/* note, stop not currently implemented */
-
-	if (!strcmp(argv[1], "update")) {
-		PX4IO_Uploader *up;
-		const char *fn[3];
-
-		/* work out what we're uploading... */
-		if (argc > 2) {
-			fn[0] = argv[2];
-			fn[1] = nullptr;
-		} else {
-			fn[0] = "/fs/microsd/px4io.bin";
-			fn[1] =	"/etc/px4io.bin";
-			fn[2] =	nullptr;
-		}
-
-		up = new PX4IO_Uploader;
-		int ret = up->upload(&fn[0]);
-		delete up;
-
-		switch (ret) {
-		case OK:
-			break;
-		case -ENOENT:
-			errx(1, "PX4IO firmware file not found");
-		case -EEXIST:
-		case -EIO:
-			errx(1, "error updating PX4IO - check that bootloader mode is enabled");
-		case -EINVAL:
-			errx(1, "verify failed - retry the update");
-		case -ETIMEDOUT:
-			errx(1, "timed out waiting for bootloader - power-cycle and try again");
-		default:
-			errx(1, "unexpected error %d", ret);
-		}
-		return ret;
-	}
-
-	errx(1, "need a verb, only support 'start' and 'update'");
-}
diff --git a/apps/px4/px4io/driver/uploader.cpp b/apps/px4/px4io/driver/uploader.cpp
deleted file mode 100644
index 0fbbac839..000000000
--- a/apps/px4/px4io/driver/uploader.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 Firmware uploader for PX4IO
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <stdarg.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <poll.h>
-
-#include "uploader.h"
-
-PX4IO_Uploader::PX4IO_Uploader() :
-	_io_fd(-1),
-	_fw_fd(-1)
-{
-}
-
-PX4IO_Uploader::~PX4IO_Uploader()
-{
-}
-
-int
-PX4IO_Uploader::upload(const char *filenames[])
-{
-	int	ret;
-
-	_io_fd = open("/dev/ttyS2", O_RDWR);
-	if (_io_fd < 0) {
-		log("could not open interface");
-		return -errno;
-	}
-
-	/* look for the bootloader */
-	ret = sync();
-	if (ret != OK) {
-		/* this is immediately fatal */
-		log("bootloader not responding");
-		return -EIO;
-	}
-
-	for (unsigned i = 0; filenames[i] != nullptr; i++) {
-		_fw_fd = open(filenames[i], O_RDONLY);
-
-		if (_fw_fd < 0) {
-			log("failed to open %s", filenames[i]);
-			continue;
-		}
-		log("using firmware from %s", filenames[i]);
-		break;
-	}
-	if (_fw_fd == -1)
-		return -ENOENT;
-
-	/* do the usual program thing - allow for failure */
-	for (unsigned retries = 0; retries < 1; retries++) {
-		if (retries > 0) {
-			log("retrying update..."); 
-			ret = sync();
-			if (ret != OK) {
-				/* this is immediately fatal */
-				log("bootloader not responding");
-				return -EIO;
-			}
-		}
-
-		ret = erase();
-		if (ret != OK) {
-			log("erase failed");
-			continue;
-		}
-		ret = program();
-		if (ret != OK) {
-			log("program failed");
-			continue;
-		}
-		ret = verify();
-		if (ret != OK) {
-			log("verify failed");
-			continue;
-		}
-		ret = reboot();
-		if (ret != OK) {
-			log("reboot failed");
-			return ret;
-		}
-		log("update complete");
-
-		ret = OK;
-		break;
-	}
-
-	close(_fw_fd);
-	return ret;
-}
-
-int
-PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
-{
-	struct pollfd fds[1];
-
-	fds[0].fd = _io_fd;
-	fds[0].events = POLLIN;
-
-	/* wait 100 ms for a character */
-	int ret = ::poll(&fds[0], 1, timeout);
-	if (ret < 1) {
-		//log("poll timeout %d", ret);
-		return -ETIMEDOUT;
-	}
-
-	read(_io_fd, &c, 1);
-	//log("recv 0x%02x", c);
-	return OK;
-}
-
-int
-PX4IO_Uploader::recv(uint8_t *p, unsigned count)
-{
-	while (count--) {
-		int ret = recv(*p++);
-		if (ret != OK)
-			return ret;
-	}
-	return OK;
-}
-
-void
-PX4IO_Uploader::drain()
-{
-	uint8_t c;
-	int ret;
-
-	do {
-		ret = recv(c, 10);
-		//log("discard 0x%02x", c);
-	} while(ret == OK);
-}
-
-int
-PX4IO_Uploader::send(uint8_t c)
-{
-	//log("send 0x%02x", c);
-	if (write(_io_fd, &c, 1) != 1)
-		return -errno;
-	return OK;
-}
-
-int
-PX4IO_Uploader::send(uint8_t *p, unsigned count)
-{
-	while (count--) {
-		int ret = send(*p++);
-		if (ret != OK)
-			return ret;
-	}
-	return OK;
-}
-
-int
-PX4IO_Uploader::get_sync(unsigned timeout)
-{
-	uint8_t c[2];
-	int ret;
-
-	ret = recv(c[0], timeout);
-	if (ret != OK)
-		return ret;
-	ret = recv(c[1], timeout);
-	if (ret != OK)
-		return ret;
-	if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
-		log("bad sync 0x%02x,0x%02x", c[0], c[1]);
-		return -EIO;
-	}
-	return OK;
-}
-
-int
-PX4IO_Uploader::sync()
-{
-	drain();
-	/* complete any pending program operation */
-	for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
-		send(0);
-	send(PROTO_GET_SYNC);
-	send(PROTO_EOC);
-	return get_sync();
-}
-
-int
-PX4IO_Uploader::get_info(int param, uint32_t &val)
-{
-	int ret;
-
-	send(PROTO_GET_DEVICE);
-	send(param);
-	send(PROTO_EOC);
-
-	ret = recv((uint8_t *)&val, sizeof(val));
-	if (ret != OK)
-		return ret;
-	return get_sync();
-}
-
-int
-PX4IO_Uploader::erase()
-{
-	log("erase...");
-	send(PROTO_CHIP_ERASE);
-	send(PROTO_EOC);
-	return get_sync(10000);		/* allow 10s timeout */
-}
-
-int
-PX4IO_Uploader::program()
-{
-	uint8_t	file_buf[PROG_MULTI_MAX];
-	ssize_t count;
-	int ret;
-
-	log("program...");
-	lseek(_fw_fd, 0, SEEK_SET);
-
-	while (true) {
-		/* get more bytes to program */
-		//log("  %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
-		count = read(_fw_fd, file_buf, sizeof(file_buf));
-		if (count == 0)
-			return OK;
-		if (count < 0)
-			return -errno;
-		ASSERT((count % 4) == 0);
-
-		send(PROTO_PROG_MULTI);
-		send(count);
-		send(&file_buf[0], count);
-		send(PROTO_EOC);
-
-		ret = get_sync(1000);
-		if (ret != OK)
-			return ret;
-	}
-}
-
-int
-PX4IO_Uploader::verify()
-{
-	uint8_t	file_buf[PROG_MULTI_MAX];
-	ssize_t count;
-	int ret;
-
-	log("verify...");
-	lseek(_fw_fd, 0, SEEK_SET);
-
-	send(PROTO_CHIP_VERIFY);
-	send(PROTO_EOC);
-	ret = get_sync();
-	if (ret != OK)
-		return ret;
-
-	while (true) {
-		/* get more bytes to verify */
-		int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
-		count = read(_fw_fd, file_buf, sizeof(file_buf));
-		if (count == 0)
-			break;
-		if (count < 0)
-			return -errno;
-		ASSERT((count % 4) == 0);
-
-		send(PROTO_READ_MULTI);
-		send(count);
-		send(PROTO_EOC);
-		for (ssize_t i = 0; i < count; i++) {
-			uint8_t c;
-
-			ret = recv(c);
-			if (ret != OK) {
-				log("%d: got %d waiting for bytes", base + i, ret);
-				return ret;
-			}
-
-			if (c != file_buf[i]) {
-				log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
-				return -EINVAL;
-			}
-		}
-		ret = get_sync();
-		if (ret != OK) {
-			log("timeout waiting for post-verify sync");
-			return ret;
-		}
-	}
-	return OK;
-}
-
-int
-PX4IO_Uploader::reboot()
-{
-	send(PROTO_REBOOT);
-	send(PROTO_EOC);
-
-	return OK;
-}
-
-int
-PX4IO_Uploader::compare(bool &identical)
-{
-	uint32_t file_vectors[15];
-	uint32_t fw_vectors[15];
-	int ret;
-
-	lseek(_fw_fd, 0, SEEK_SET);
-	ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
-
-	send(PROTO_CHIP_VERIFY);
-	send(PROTO_EOC);
-	ret = get_sync();
-	if (ret != OK)
-		return ret;
-
-	send(PROTO_READ_MULTI);
-	send(sizeof(fw_vectors));
-	send(PROTO_EOC);
-	ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
-	if (ret != OK)
-		return ret;
-
-	identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
-
-	return OK;
-}
-
-void
-PX4IO_Uploader::log(const char *fmt, ...)
-{
-	va_list	ap;
-
-	printf("[PX4IO] ");
-	va_start(ap, fmt);
-	vprintf(fmt, ap);
-	va_end(ap);
-	printf("\n");
-	fflush(stdout);
-}
\ No newline at end of file
diff --git a/apps/px4/px4io/driver/uploader.h b/apps/px4/px4io/driver/uploader.h
deleted file mode 100644
index 8d41992f8..000000000
--- a/apps/px4/px4io/driver/uploader.h
+++ /dev/null
@@ -1,99 +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 Firmware uploader for PX4IO
- */
-
-#ifndef _PX4IO_UPLOADER_H
-#define _PX4IO_UPLOADER_H value
-
-#include <stdint.h>
-#include <stdbool.h>
-
-
-class PX4IO_Uploader
-{
-public:
-	PX4IO_Uploader();
-	~PX4IO_Uploader();
-
-	int			upload(const char *filenames[]);
-
-private:
-	enum {
-
-		PROTO_NOP		= 0x00,
-		PROTO_OK		= 0x10,
-		PROTO_FAILED		= 0x11,
-		PROTO_INSYNC		= 0x12,
-		PROTO_EOC		= 0x20,
-		PROTO_GET_SYNC		= 0x21,
-		PROTO_GET_DEVICE	= 0x22,
-		PROTO_CHIP_ERASE	= 0x23,
-		PROTO_CHIP_VERIFY	= 0x24,
-		PROTO_PROG_MULTI	= 0x27,
-		PROTO_READ_MULTI	= 0x28,
-		PROTO_REBOOT		= 0x30,
-
-		INFO_BL_REV		= 1,		/**< bootloader protocol revision */
-		BL_REV			= 2,		/**< supported bootloader protocol  */
-		INFO_BOARD_ID		= 2,		/**< board type */
-		INFO_BOARD_REV		= 3,		/**< board revision */
-		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
-
-		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
-		READ_MULTI_MAX		= 60,		/**< protocol max is 255, something overflows with >= 64 */
-	};
-
-	int			_io_fd;
-	int			_fw_fd;
-
-	void			log(const char *fmt, ...);
-
-	int			recv(uint8_t &c, unsigned timeout = 1000);
-	int			recv(uint8_t *p, unsigned count);
-	void			drain();
-	int			send(uint8_t c);
-	int			send(uint8_t *p, unsigned count);
-	int			get_sync(unsigned timeout = 1000);
-	int			sync();
-	int			get_info(int param, uint32_t &val);
-	int			erase();
-	int			program();
-	int			verify();
-	int			reboot();
-	int			compare(bool &identical);
-};
-
-#endif
\ No newline at end of file