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

24 files changed, 0 insertions, 6464 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");
-}
diff --git a/apps/px4io/Makefile b/apps/px4io/Makefile
deleted file mode 100644
index 0eb3ffcf7..000000000
--- a/apps/px4io/Makefile
+++ /dev/null
@@ -1,58 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build the px4io application.
-#
-
-#
-# Note that we pull a couple of specific files from the systemlib, since
-# we can't support it all.
-#
-CSRCS		= adc.c \
-		  controls.c \
-		  dsm.c \
-		  i2c.c \
-		  px4io.c \
-		  registers.c \
-		  safety.c \
-		  sbus.c \
-		  ../systemlib/hx_stream.c \
-		  ../systemlib/perf_counter.c \
-		  ../systemlib/up_cxxinitialize.c
-
-CXXSRCS		= mixer.cpp
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/px4io/adc.c b/apps/px4io/adc.c
deleted file mode 100644
index 670b8d635..000000000
--- a/apps/px4io/adc.c
+++ /dev/null
@@ -1,168 +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.c
- *
- * Simple ADC support for PX4IO on STM32.
- */
-#include <nuttx/config.h>
-#include <stdint.h>
-
-#include <nuttx/arch.h>
-#include <arch/stm32/chip.h>
-#include <stm32_internal.h>
-
-#include <drivers/drv_hrt.h>
-#include <systemlib/perf_counter.h>
-
-#define DEBUG
-#include "px4io.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)
-
-perf_counter_t		adc_perf;
-
-int
-adc_init(void)
-{
-	adc_perf = perf_alloc(PC_ELAPSED, "adc");
-
-	/* do calibration if supported */
-#ifdef ADC_CR2_CAL
-	rCR2 |= ADC_CR2_RSTCAL;
-	up_udelay(1);
-
-	if (rCR2 & ADC_CR2_RSTCAL)
-		return -1;
-
-	rCR2 |= ADC_CR2_CAL;
-	up_udelay(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;
-	up_udelay(10);
-	rCR2 |= ADC_CR2_ADON;
-	up_udelay(10);
-	rCR2 |= ADC_CR2_ADON;
-	up_udelay(10);
-
-	return 0;
-}
-
-uint16_t
-adc_measure(unsigned channel)
-{
-	perf_begin(adc_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_ADON;
-
-	/* wait for the conversion to complete */
-	hrt_abstime now = hrt_absolute_time();
-
-	while (!(rSR & ADC_SR_EOC)) {
-
-		/* never spin forever - this will give a bogus result though */
-		if (hrt_elapsed_time(&now) > 1000) {
-			debug("adc timeout");
-			break;
-		}
-	}
-
-	/* read the result and clear EOC */
-	uint16_t result = rDR;
-
-	perf_end(adc_perf);
-	return result;
-}
\ No newline at end of file
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
deleted file mode 100644
index dc36f6c93..000000000
--- a/apps/px4io/controls.c
+++ /dev/null
@@ -1,332 +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 controls.c
- *
- * R/C inputs and servo outputs.
- */
-
-#include <nuttx/config.h>
-#include <stdbool.h>
-
-#include <drivers/drv_hrt.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/ppm_decode.h>
-
-#include "px4io.h"
-
-#define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
-#define RC_CHANNEL_HIGH_THRESH		5000
-#define RC_CHANNEL_LOW_THRESH		-5000
-
-static bool	ppm_input(uint16_t *values, uint16_t *num_values);
-
-static perf_counter_t c_gather_dsm;
-static perf_counter_t c_gather_sbus;
-static perf_counter_t c_gather_ppm;
-
-void
-controls_init(void)
-{
-	/* DSM input */
-	dsm_init("/dev/ttyS0");
-
-	/* S.bus input */
-	sbus_init("/dev/ttyS2");
-
-	/* default to a 1:1 input map, all enabled */
-	for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
-		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
-
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = 0;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN]        = 1000;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER]     = 1500;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX]        = 2000;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE]   = 30;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
-		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-	}
-
-	c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
-	c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
-	c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
-}
-
-void
-controls_tick() {
-
-	/*
-	 * Gather R/C control inputs from supported sources.
-	 *
-	 * Note that if you're silly enough to connect more than
-	 * one control input source, they're going to fight each
-	 * other.  Don't do that.
-	 */
-
-	perf_begin(c_gather_dsm);
-	bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
-	if (dsm_updated)
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
-	perf_end(c_gather_dsm);
-
-	perf_begin(c_gather_sbus);
-	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
-	if (sbus_updated)
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
-	perf_end(c_gather_sbus);
-
-	/*
-	 * XXX each S.bus frame will cause a PPM decoder interrupt
-	 * storm (lots of edges).  It might be sensible to actually
-	 * disable the PPM decoder completely if we have S.bus signal.
-	 */
-	perf_begin(c_gather_ppm);
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
-	if (ppm_updated)
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
-	perf_end(c_gather_ppm);
-
-	ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
-
-	/*
-	 * In some cases we may have received a frame, but input has still
-	 * been lost.
-	 */
-	bool rc_input_lost = false;
-
-	/*
-	 * If we received a new frame from any of the RC sources, process it.
-	 */
-	if (dsm_updated || sbus_updated || ppm_updated) {
-
-		/* update RC-received timestamp */
-		system_state.rc_channels_timestamp = hrt_absolute_time();
-
-		/* record a bitmask of channels assigned */
-		unsigned assigned_channels = 0;
-
-		/* map raw inputs to mapped inputs */
-		/* XXX mapping should be atomic relative to protocol */
-		for (unsigned i = 0; i < r_raw_rc_count; i++) {
-
-			/* map the input channel */
-			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
-
-			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
-
-				uint16_t raw = r_raw_rc_values[i];
-
-				int16_t scaled;
-
-				/*
-				 * 1) Constrain to min/max values, as later processing depends on bounds.
-				 */
-				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
-					raw = conf[PX4IO_P_RC_CONFIG_MIN];
-				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
-					raw = conf[PX4IO_P_RC_CONFIG_MAX];
-
-				/*
-				 * 2) Scale around the mid point differently for lower and upper range.
-				 *
-				 * This is necessary as they don't share the same endpoints and slope.
-				 *
-				 * First normalize to 0..1 range with correct sign (below or above center),
-				 * then scale to 20000 range (if center is an actual center, -10000..10000,
-				 * if parameters only support half range, scale to 10000 range, e.g. if
-				 * center == min 0..10000, if center == max -10000..0).
-				 *
-				 * As the min and max bounds were enforced in step 1), division by zero
-				 * cannot occur, as for the case of center == min or center == max the if
-				 * statement is mutually exclusive with the arithmetic NaN case.
-				 *
-				 * DO NOT REMOVE OR ALTER STEP 1!
-				 */
-				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
-
-				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
-
-				} else {
-					/* in the configured dead zone, output zero */
-					scaled = 0;
-				}
-
-				/* invert channel if requested */
-				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
-					scaled = -scaled;
-
-				/* and update the scaled/mapped version */
-				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
-				ASSERT(mapped < MAX_CONTROL_CHANNELS);
-
-				/* invert channel if pitch - pulling the lever down means pitching up by convention */
-				if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
-					scaled = -scaled;
-
-				r_rc_values[mapped] = SIGNED_TO_REG(scaled);
-				assigned_channels |= (1 << mapped);
-			}
-		}
-
-		/* set un-assigned controls to zero */
-		for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
-			if (!(assigned_channels & (1 << i)))
-				r_rc_values[i] = 0;
-		}
-
-		/*
-		 * If we got an update with zero channels, treat it as 
-		 * a loss of input.
-		 *
-		 * This might happen if a protocol-based receiver returns an update
-		 * that contains no channels that we have mapped.
-		 */
-		if (assigned_channels == 0) {
-			rc_input_lost = true;
-		} else {
-			/* set RC OK flag and clear RC lost alarm */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
-			r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST;
-		}
-
-		/*
-		 * Export the valid channel bitmap
-		 */
-		r_rc_valid = assigned_channels;
-	}
-
-	/*
-	 * If we haven't seen any new control data in 200ms, assume we
-	 * have lost input.
-	 */
-	if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) {
-		rc_input_lost = true;
-
-		/* clear the input-kind flags here */
-		r_status_flags &= ~(
-			PX4IO_P_STATUS_FLAGS_RC_PPM |
-			PX4IO_P_STATUS_FLAGS_RC_DSM |
-			PX4IO_P_STATUS_FLAGS_RC_SBUS);
-	}
-
-	/*
-	 * Handle losing RC input
-	 */
-	if (rc_input_lost) {
-
-		/* Clear the RC input status flag, clear manual override flag */
-		r_status_flags &= ~(
-			PX4IO_P_STATUS_FLAGS_OVERRIDE |
-			PX4IO_P_STATUS_FLAGS_RC_OK);
-
-		/* Set the RC_LOST alarm */
-		r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
-
-		/* Mark the arrays as empty */
-		r_raw_rc_count = 0;
-		r_rc_valid = 0;
-	}
-
-	/*
-	 * Check for manual override.
-	 *
-	 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
-	 * must have R/C input.
-	 * Override is enabled if either the hardcoded channel / value combination
-	 * is selected, or the AP has requested it.
-	 */
-	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
-		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
-
-		bool override = false;
-
-		/*
-		 * Check mapped channel 5 (can be any remote channel,
-		 * depends on RC_MAP_OVER parameter);
-		 * If the value is 'high' then the pilot has
-		 * requested override.
-		 *
-		 */
-		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH))
-			override = true;
-
-		if (override) {
-
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
-
-			/* mix new RC input control values to servos */
-			if (dsm_updated || sbus_updated || ppm_updated)
-				mixer_tick();
-
-		} else {
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
-		}
-	}
-}
-
-static bool
-ppm_input(uint16_t *values, uint16_t *num_values)
-{
-	bool result = false;
-
-	/* avoid racing with PPM updates */
-	irqstate_t state = irqsave();
-
-	/*
-	 * If we have received a new PPM frame within the last 200ms, accept it
-	 * and then invalidate it.
-	 */
-	if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {
-
-		/* PPM data exists, copy it */
-		*num_values = ppm_decoded_channels;
-		if (*num_values > MAX_CONTROL_CHANNELS)
-			*num_values = MAX_CONTROL_CHANNELS;
-
-		for (unsigned i = 0; i < *num_values; i++)
-			values[i] = ppm_buffer[i];
-
-		/* clear validity */
-		ppm_last_valid_decode = 0;
-
-		/* good if we got any channels */
-		result = (*num_values > 0);
-	}
-
-	irqrestore(state);
-
-	return result;
-}
diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c
deleted file mode 100644
index ea35e5513..000000000
--- a/apps/px4io/dsm.c
+++ /dev/null
@@ -1,356 +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 dsm.c
- *
- * Serial protocol decoder for the Spektrum DSM* family of protocols.
- *
- * Decodes into the global PPM buffer and updates accordingly.
- */
-
-#include <nuttx/config.h>
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-
-#include <drivers/drv_hrt.h>
-
-#define DEBUG
-
-#include "px4io.h"
-
-#define DSM_FRAME_SIZE		16
-#define DSM_FRAME_CHANNELS	7
-
-static int dsm_fd = -1;
-
-static hrt_abstime last_rx_time;
-static hrt_abstime last_frame_time;
-
-static uint8_t	frame[DSM_FRAME_SIZE];
-
-static unsigned partial_frame_count;
-static unsigned	channel_shift;
-
-unsigned dsm_frame_drops;
-
-static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
-static void dsm_guess_format(bool reset);
-static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values);
-
-int
-dsm_init(const char *device)
-{
-	if (dsm_fd < 0)
-		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
-
-	if (dsm_fd >= 0) {
-		struct termios t;
-
-		/* 115200bps, no parity, one stop bit */
-		tcgetattr(dsm_fd, &t);
-		cfsetspeed(&t, 115200);
-		t.c_cflag &= ~(CSTOPB | PARENB);
-		tcsetattr(dsm_fd, TCSANOW, &t);
-
-		/* initialise the decoder */
-		partial_frame_count = 0;
-		last_rx_time = hrt_absolute_time();
-
-		/* reset the format detector */
-		dsm_guess_format(true);
-
-		debug("DSM: ready");
-
-	} else {
-		debug("DSM: open failed");
-	}
-
-	return dsm_fd;
-}
-
-bool
-dsm_input(uint16_t *values, uint16_t *num_values)
-{
-	ssize_t		ret;
-	hrt_abstime	now;
-
-	/*
-	 * The DSM* protocol doesn't provide any explicit framing,
-	 * so we detect frame boundaries by the inter-frame delay.
-	 *
-	 * The minimum frame spacing is 11ms; with 16 bytes at 115200bps
-	 * frame transmission time is ~1.4ms.
-	 *
-	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 5ms passes between calls,
-	 * the first byte we read will be the first byte of a frame.
-	 *
-	 * In the case where byte(s) are dropped from a frame, this also
-	 * provides a degree of protection. Of course, it would be better
-	 * if we didn't drop bytes...
-	 */
-	now = hrt_absolute_time();
-
-	if ((now - last_rx_time) > 5000) {
-		if (partial_frame_count > 0) {
-			dsm_frame_drops++;
-			partial_frame_count = 0;
-		}
-	}
-
-	/*
-	 * Fetch bytes, but no more than we would need to complete
-	 * the current frame.
-	 */
-	ret = read(dsm_fd, &frame[partial_frame_count], DSM_FRAME_SIZE - partial_frame_count);
-
-	/* if the read failed for any reason, just give up here */
-	if (ret < 1)
-		return false;
-
-	last_rx_time = now;
-
-	/*
-	 * Add bytes to the current frame
-	 */
-	partial_frame_count += ret;
-
-	/*
-	 * If we don't have a full frame, return
-	 */
-	if (partial_frame_count < DSM_FRAME_SIZE)
-		return false;
-
-	/*
-	 * Great, it looks like we might have a frame.  Go ahead and
-	 * decode it.
-	 */
-	partial_frame_count = 0;
-	return dsm_decode(now, values, num_values);
-}
-
-static bool
-dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
-{
-
-	if (raw == 0xffff)
-		return false;
-
-	*channel = (raw >> shift) & 0xf;
-
-	uint16_t data_mask = (1 << shift) - 1;
-	*value = raw & data_mask;
-
-	//debug("DSM: %d 0x%04x -> %d %d", shift, raw, *channel, *value);
-
-	return true;
-}
-
-static void
-dsm_guess_format(bool reset)
-{
-	static uint32_t	cs10;
-	static uint32_t	cs11;
-	static unsigned samples;
-
-	/* reset the 10/11 bit sniffed channel masks */
-	if (reset) {
-		cs10 = 0;
-		cs11 = 0;
-		samples = 0;
-		channel_shift = 0;
-		return;
-	}
-
-	/* scan the channels in the current frame in both 10- and 11-bit mode */
-	for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
-
-		uint8_t *dp = &frame[2 + (2 * i)];
-		uint16_t raw = (dp[0] << 8) | dp[1];
-		unsigned channel, value;
-
-		/* if the channel decodes, remember the assigned number */
-		if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31))
-			cs10 |= (1 << channel);
-
-		if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
-			cs11 |= (1 << channel);
-
-		/* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-frame format */
-	}
-
-	/* wait until we have seen plenty of frames - 2 should normally be enough */
-	if (samples++ < 5)
-		return;
-
-	/*
-	 * Iterate the set of sensible sniffed channel sets and see whether
-	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
-	 *
-	 * XXX Note that due to what seem to be bugs in the DSM2 high-resolution
-	 *     stream, we may want to sniff for longer in some cases when we think we
-	 *     are talking to a DSM2 receiver in high-resolution mode (so that we can
-	 *     reject it, ideally).
-	 *     See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion
-	 *     of this issue.
-	 */
-	static uint32_t masks[] = {
-		0x3f,	/* 6 channels (DX6) */
-		0x7f,	/* 7 channels (DX7) */
-		0xff,	/* 8 channels (DX8) */
-		0x1ff,	/* 9 channels (DX9, etc.) */
-		0x3ff,	/* 10 channels (DX10) */
-		0x3fff	/* 18 channels (DX10) */
-	};
-	unsigned votes10 = 0;
-	unsigned votes11 = 0;
-
-	for (unsigned i = 0; i < (sizeof(masks) / sizeof(masks[0])); i++) {
-
-		if (cs10 == masks[i])
-			votes10++;
-
-		if (cs11 == masks[i])
-			votes11++;
-	}
-
-	if ((votes11 == 1) && (votes10 == 0)) {
-		channel_shift = 11;
-		debug("DSM: 11-bit format");
-		return;
-	}
-
-	if ((votes10 == 1) && (votes11 == 0)) {
-		channel_shift = 10;
-		debug("DSM: 10-bit format");
-		return;
-	}
-
-	/* call ourselves to reset our state ... we have to try again */
-	debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
-	dsm_guess_format(true);
-}
-
-static bool
-dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
-{
-
-	/*
-		debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
-		      frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
-		      frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
-	*/
-	/*
-	 * If we have lost signal for at least a second, reset the
-	 * format guessing heuristic.
-	 */
-	if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
-		dsm_guess_format(true);
-
-	/* we have received something we think is a frame */
-	last_frame_time = frame_time;
-
-	/* if we don't know the frame format, update the guessing state machine */
-	if (channel_shift == 0) {
-		dsm_guess_format(false);
-		return false;
-	}
-
-	/*
-	 * The encoding of the first two bytes is uncertain, so we're
-	 * going to ignore them for now.
-	 *
-	 * Each channel is a 16-bit unsigned value containing either a 10-
-	 * or 11-bit channel value and a 4-bit channel number, shifted
-	 * either 10 or 11 bits. The MSB may also be set to indicate the
-	 * second frame in variants of the protocol where more than
-	 * seven channels are being transmitted.
-	 */
-
-	for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
-
-		uint8_t *dp = &frame[2 + (2 * i)];
-		uint16_t raw = (dp[0] << 8) | dp[1];
-		unsigned channel, value;
-
-		if (!dsm_decode_channel(raw, channel_shift, &channel, &value))
-			continue;
-
-		/* ignore channels out of range */
-		if (channel >= PX4IO_INPUT_CHANNELS)
-			continue;
-
-		/* update the decoded channel count */
-		if (channel >= *num_values)
-			*num_values = channel + 1;
-
-		/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
-		if (channel_shift == 11)
-			value /= 2;
-
-		value += 998;
-
-		/*
-		 * Store the decoded channel into the R/C input buffer, taking into
-		 * account the different ideas about channel assignement that we have.
-		 *
-		 * Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw,
-		 * but the first four channels from the DSM receiver are thrust, roll, pitch, yaw.
-		 */
-		switch (channel) {
-		case 0:
-			channel = 2;
-			break;
-
-		case 1:
-			channel = 0;
-			break;
-
-		case 2:
-			channel = 1;
-
-		default:
-			break;
-		}
-
-		values[channel] = value;
-	}
-
-	/*
-	 * XXX Note that we may be in failsafe here; we need to work out how to detect that.
-	 */
-	return true;
-}
diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c
deleted file mode 100644
index 4485daa5b..000000000
--- a/apps/px4io/i2c.c
+++ /dev/null
@@ -1,340 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file i2c.c
- *
- * I2C communication for the PX4IO module.
- */
-
-#include <stdint.h>
-
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-#include <stm32_i2c.h>
-#include <stm32_dma.h>
-
-//#define DEBUG
-#include "px4io.h"
-
-/*
- * I2C register definitions.
- */
-#define I2C_BASE	STM32_I2C1_BASE
-
-#define REG(_reg)	(*(volatile uint32_t *)(I2C_BASE + _reg))
-
-#define rCR1		REG(STM32_I2C_CR1_OFFSET)
-#define rCR2		REG(STM32_I2C_CR2_OFFSET)
-#define rOAR1		REG(STM32_I2C_OAR1_OFFSET)
-#define rOAR2		REG(STM32_I2C_OAR2_OFFSET)
-#define rDR		REG(STM32_I2C_DR_OFFSET)
-#define rSR1		REG(STM32_I2C_SR1_OFFSET)
-#define rSR2		REG(STM32_I2C_SR2_OFFSET)
-#define rCCR		REG(STM32_I2C_CCR_OFFSET)
-#define rTRISE		REG(STM32_I2C_TRISE_OFFSET)
-
-static int		i2c_interrupt(int irq, void *context);
-static void		i2c_rx_setup(void);
-static void		i2c_tx_setup(void);
-static void		i2c_rx_complete(void);
-static void		i2c_tx_complete(void);
-
-static DMA_HANDLE	rx_dma;
-static DMA_HANDLE	tx_dma;
-
-static uint8_t		rx_buf[68];
-static unsigned		rx_len;
-
-static const uint8_t	junk_buf[] = { 0xff, 0xff, 0xff, 0xff };
-
-static const uint8_t	*tx_buf = junk_buf;
-static unsigned		tx_len = sizeof(junk_buf);
-unsigned		tx_count;
-
-static uint8_t		selected_page;
-static uint8_t		selected_offset;
-
-enum {
-	DIR_NONE = 0,
-	DIR_TX = 1,
-	DIR_RX = 2
-} direction;
-
-void
-i2c_init(void)
-{
-	debug("i2c init");
-
-	/* allocate DMA handles and initialise DMA */
-	rx_dma = stm32_dmachannel(DMACHAN_I2C1_RX);
-	i2c_rx_setup();
-	tx_dma = stm32_dmachannel(DMACHAN_I2C1_TX);
-	i2c_tx_setup();
-
-	/* enable the i2c block clock and reset it */
-	modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN);
-	modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
-	modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
-
-	/* configure the i2c GPIOs */
-	stm32_configgpio(GPIO_I2C1_SCL);
-	stm32_configgpio(GPIO_I2C1_SDA);
-
-	/* soft-reset the block */
-	rCR1 |= I2C_CR1_SWRST;
-	rCR1 = 0;
-
-	/* set for DMA operation */
-	rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
-
-	/* set the frequency value in CR2 */
-	rCR2 &= ~I2C_CR2_FREQ_MASK;
-	rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
-
-	/* set divisor and risetime for fast mode */
-	uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
-	if (result < 1)
-		result = 1;
-	result = 3;
-	rCCR &= ~I2C_CCR_CCR_MASK;
-	rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
-	rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
-
-	/* set our device address */
-	rOAR1 = 0x1a << 1;
-
-	/* enable event interrupts */
-	irq_attach(STM32_IRQ_I2C1EV, i2c_interrupt);
-	irq_attach(STM32_IRQ_I2C1ER, i2c_interrupt);
-	up_enable_irq(STM32_IRQ_I2C1EV);
-	up_enable_irq(STM32_IRQ_I2C1ER);
-
-	/* and enable the I2C port */
-	rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
-
-#ifdef DEBUG
-	i2c_dump();
-#endif
-}
-
-
-/*
-  reset the I2C bus
-  used to recover from lockups
- */
-void i2c_reset(void)
-{
-	rCR1 |= I2C_CR1_SWRST;
-	rCR1 = 0;
-
-	/* set for DMA operation */
-	rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
-
-	/* set the frequency value in CR2 */
-	rCR2 &= ~I2C_CR2_FREQ_MASK;
-	rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
-
-	/* set divisor and risetime for fast mode */
-	uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
-	if (result < 1)
-		result = 1;
-	result = 3;
-	rCCR &= ~I2C_CCR_CCR_MASK;
-	rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
-	rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
-
-	/* set our device address */
-	rOAR1 = 0x1a << 1;
-
-	/* and enable the I2C port */
-	rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
-}
-
-static int
-i2c_interrupt(int irq, FAR void *context)
-{
-	uint16_t sr1 = rSR1;
-
-	if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF | I2C_SR1_ADDR)) {
-
-		if (sr1 & I2C_SR1_STOPF) {
-			/* write to CR1 to clear STOPF */
-			(void)rSR1;		/* as recommended, re-read SR1 */
-			rCR1 |= I2C_CR1_PE;
-		}
-
-		/* DMA never stops, so we should do that now */
-		switch (direction) {
-		case DIR_TX:
-			i2c_tx_complete();
-			break;
-		case DIR_RX:
-			i2c_rx_complete();
-			break;
-		default:
-			/* not currently transferring - must be a new txn */
-			break;
-		}
-		direction = DIR_NONE;
-	}
-
-	if (sr1 & I2C_SR1_ADDR) {
-
-		/* clear ADDR to ack our selection and get direction */
-		(void)rSR1;		/* as recommended, re-read SR1 */
-		uint16_t sr2 = rSR2;
-
-		if (sr2 & I2C_SR2_TRA) {
-			/* we are the transmitter */
-
-			direction = DIR_TX;
-
-		} else {
-			/* we are the receiver */
-
-			direction = DIR_RX;
-		}
-	}
-
-	/* clear any errors that might need it (this handles AF as well */
-	if (sr1 & I2C_SR1_ERRORMASK)
-		rSR1 = 0;
-
-	return 0;
-}
-
-static void
-i2c_rx_setup(void)
-{
-	/*
-	 * Note that we configure DMA in circular mode; this means that a too-long
-	 * transfer will overwrite the buffer, but that avoids us having to deal with
-	 * bailing out of a transaction while the master is still babbling at us.
-	 */
-	rx_len = 0;
-	stm32_dmasetup(rx_dma, (uintptr_t)&rDR, (uintptr_t)&rx_buf[0], sizeof(rx_buf),
-		DMA_CCR_CIRC |
-		DMA_CCR_MINC |
-		DMA_CCR_PSIZE_32BITS |
-		DMA_CCR_MSIZE_8BITS |
-		DMA_CCR_PRIMED);
-
-	stm32_dmastart(rx_dma, NULL, NULL, false);			
-}
-
-static void
-i2c_rx_complete(void)
-{
-	rx_len = sizeof(rx_buf) - stm32_dmaresidual(rx_dma);
-	stm32_dmastop(rx_dma);
-
-	if (rx_len >= 2) {
-		selected_page = rx_buf[0];
-		selected_offset = rx_buf[1];
-
-		/* work out how many registers are being written */
-		unsigned count = (rx_len - 2) / 2;
-		if (count > 0) {
-			registers_set(selected_page, selected_offset, (const uint16_t *)&rx_buf[2], count);
-		} else {
-			/* no registers written, must be an address cycle */
-			uint16_t *regs;
-			unsigned reg_count;
-
-			/* work out which registers are being addressed */
-			int ret = registers_get(selected_page, selected_offset, &regs, &reg_count);
-			if (ret == 0) {
-				tx_buf = (uint8_t *)regs;
-				tx_len = reg_count * 2;
-			} else {
-				tx_buf = junk_buf;
-				tx_len = sizeof(junk_buf);
-			}
-
-			/* disable interrupts while reconfiguring DMA for the selected registers */
-			irqstate_t flags = irqsave();
-
-			stm32_dmastop(tx_dma);
-			i2c_tx_setup();
-
-			irqrestore(flags);
-		}
-	}
-
-	/* prepare for the next transaction */
-	i2c_rx_setup();
-}
-
-static void
-i2c_tx_setup(void)
-{
-	/*
-	 * Note that we configure DMA in circular mode; this means that a too-long
-	 * transfer will copy the buffer more than once, but that avoids us having
-	 * to deal with bailing out of a transaction while the master is still 
-	 * babbling at us.
-	 */
-	stm32_dmasetup(tx_dma, (uintptr_t)&rDR, (uintptr_t)&tx_buf[0], tx_len,
-		DMA_CCR_DIR |
-		DMA_CCR_CIRC |
-		DMA_CCR_MINC |
-		DMA_CCR_PSIZE_8BITS |
-		DMA_CCR_MSIZE_8BITS |
-		DMA_CCR_PRIMED);
-
-	stm32_dmastart(tx_dma, NULL, NULL, false);
-}
-
-static void
-i2c_tx_complete(void)
-{
-	tx_count = tx_len - stm32_dmaresidual(tx_dma);
-	stm32_dmastop(tx_dma);
-
-	/* for debug purposes, save the length of the last transmit as seen by the DMA */
-
-	/* leave tx_buf/tx_len alone, so that a retry will see the same data */
-
-	/* prepare for the next transaction */
-	i2c_tx_setup();
-}
-
-void
-i2c_dump(void)
-{
-	debug("CR1   0x%08x  CR2   0x%08x", rCR1,  rCR2);
-	debug("OAR1  0x%08x  OAR2  0x%08x", rOAR1, rOAR2);
-	debug("CCR   0x%08x  TRISE 0x%08x", rCCR,  rTRISE);
-	debug("SR1   0x%08x  SR2   0x%08x", rSR1,  rSR2);
-}
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
deleted file mode 100644
index f38593d2a..000000000
--- a/apps/px4io/mixer.cpp
+++ /dev/null
@@ -1,311 +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 mixer.cpp
- *
- * Control channel input/output mixer and failsafe.
- */
-
-#include <nuttx/config.h>
-#include <syslog.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-#include <string.h>
-
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_hrt.h>
-
-#include <systemlib/mixer/mixer.h>
-
-extern "C" {
-//#define DEBUG
-#include "px4io.h"
-}
-
-/*
- * Maximum interval in us before FMU signal is considered lost
- */
-#define FMU_INPUT_DROP_LIMIT_US		200000
-
-/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
-#define ROLL     0
-#define PITCH    1
-#define YAW      2
-#define THROTTLE 3
-#define OVERRIDE 4
-
-/* current servo arm/disarm state */
-static bool mixer_servos_armed = false;
-
-/* selected control values and count for mixing */
-enum mixer_source {
-	MIX_NONE,
-	MIX_FMU,
-	MIX_OVERRIDE,
-	MIX_FAILSAFE
-};
-static mixer_source source;
-
-static int	mixer_callback(uintptr_t handle,
-			       uint8_t control_group,
-			       uint8_t control_index,
-			       float &control);
-
-static MixerGroup mixer_group(mixer_callback, 0);
-
-void
-mixer_tick(void)
-{
-	/* check that we are receiving fresh data from the FMU */
-	if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
-
-		/* too long without FMU input, time to go to failsafe */
-		if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
-			isr_debug(1, "AP RX timeout");
-		}
-		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
-		r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
-
-	} else {
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
-		r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
-	}
-
-	source = MIX_FAILSAFE;
-
-	/*
-	 * Decide which set of controls we're using.
-	 */
-	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
-		!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
-
-		/* don't actually mix anything - we already have raw PWM values or
-		 not a valid mixer. */
-		source = MIX_NONE;
-
-	} else {
-
-		if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
-		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
-
-			/* mix from FMU controls */
-			source = MIX_FMU;
-		}
-
-		if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
-		     (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
-		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
-
-		 	/* if allowed, mix from RC inputs directly */
-			source = MIX_OVERRIDE;
-		}
-	}
-
-	/*
-	 * Run the mixers.
-	 */
-	if (source == MIX_FAILSAFE) {
-
-		/* copy failsafe values to the servo outputs */
-		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-			r_page_servos[i] = r_page_servo_failsafe[i];
-
-	} else if (source != MIX_NONE) {
-
-		float	outputs[IO_SERVO_COUNT];
-		unsigned mixed;
-
-		/* mix */
-		mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
-
-		/* scale to PWM and update the servo outputs as required */
-		for (unsigned i = 0; i < mixed; i++) {
-
-			/* save actuator values for FMU readback */
-			r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
-
-			/* scale to servo output */
-			r_page_servos[i] = (outputs[i] * 500.0f) + 1500;
-
-		}
-		for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
-			r_page_servos[i] = 0;
-	}
-
-	/*
-	 * Decide whether the servos should be armed right now.
-	 *
-	 * We must be armed, and we must have a PWM source; either raw from
-	 * FMU or from the mixer.
-	 *
-	 * XXX correct behaviour for failsafe may require an additional case
-	 * here.
-	 */
-	bool should_arm = (
-	    /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
-	 	/* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
-		/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
-		/* IO initialised without error */  (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
-		/* FMU is available or FMU is not available but override is an option */
-		((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
-	);
-
-	if (should_arm && !mixer_servos_armed) {
-		/* need to arm, but not armed */
-		up_pwm_servo_arm(true);
-		mixer_servos_armed = true;
-
-	} else if (!should_arm && mixer_servos_armed) {
-		/* armed but need to disarm */
-		up_pwm_servo_arm(false);
-		mixer_servos_armed = false;
-	}
-
-	if (mixer_servos_armed) {
-		/* update the servo outputs. */
-		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-			up_pwm_servo_set(i, r_page_servos[i]);
-	}
-}
-
-static int
-mixer_callback(uintptr_t handle,
-	       uint8_t control_group,
-	       uint8_t control_index,
-	       float &control)
-{
-	if (control_group != 0)
-		return -1;
-
-	switch (source) {
-	case MIX_FMU:
-		if (control_index < PX4IO_CONTROL_CHANNELS) {
-			control = REG_TO_FLOAT(r_page_controls[control_index]);
-			break;
-		}
-		return -1;
-
-	case MIX_OVERRIDE:
-		if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) {
-			control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
-			break;
-		}
-		return -1;
-
-	case MIX_FAILSAFE:
-	case MIX_NONE:
-		/* XXX we could allow for configuration of per-output failsafe values */
-		return -1;
-	}
-
-	return 0;
-}
-
-/*
- * XXX error handling here should be more aggressive; currently it is
- * possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has
- * not loaded faithfully.
- */
-
-static char mixer_text[256];		/* large enough for one mixer */
-static unsigned mixer_text_length = 0;
-
-void
-mixer_handle_text(const void *buffer, size_t length)
-{
-	/* do not allow a mixer change while fully armed */
-	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
-	    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
-		return;
-	}
-
-	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
-
-	isr_debug(2, "mix txt %u", length);
-
-	if (length < sizeof(px4io_mixdata))
-		return;
-
-	unsigned	text_length = length - sizeof(px4io_mixdata);
-
-	switch (msg->action) {
-	case F2I_MIXER_ACTION_RESET:
-		isr_debug(2, "reset");
-
-		/* FIRST mark the mixer as invalid */
-		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
-		/* THEN actually delete it */
-		mixer_group.reset();
-		mixer_text_length = 0;
-
-		/* FALLTHROUGH */
-	case F2I_MIXER_ACTION_APPEND:
-		isr_debug(2, "append %d", length);
-
-		/* check for overflow - this is really fatal */
-		/* XXX could add just what will fit & try to parse, then repeat... */
-		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
-			return;
-		}
-
-		/* append mixer text and nul-terminate */
-		memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
-		mixer_text_length += text_length;
-		mixer_text[mixer_text_length] = '\0';
-		isr_debug(2, "buflen %u", mixer_text_length);
-
-		/* process the text buffer, adding new mixers as their descriptions can be parsed */
-		unsigned resid = mixer_text_length;
-		mixer_group.load_from_buf(&mixer_text[0], resid);
-
-		/* if anything was parsed */
-		if (resid != mixer_text_length) {
-
-			/* ideally, this should test resid == 0 ? */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
-
-			isr_debug(2, "used %u", mixer_text_length - resid);
-
-			/* copy any leftover text to the base of the buffer for re-use */
-			if (resid > 0)
-				memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
-
-			mixer_text_length = resid;
-		}
-
-		break;
-	}
-}
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
deleted file mode 100644
index 8d8b7e941..000000000
--- a/apps/px4io/protocol.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/**
- * @file protocol.h
- *
- * PX4IO I2C interface protocol.
- *
- * Communication is performed via writes to and reads from 16-bit virtual
- * registers organised into pages of 255 registers each.
- *
- * The first two bytes of each write select a page and offset address
- * respectively. Subsequent reads and writes increment the offset within
- * the page. 
- *
- * Most pages are readable or writable but not both.
- *
- * Note that some pages may permit offset values greater than 255, which
- * can only be achieved by long writes. The offset does not wrap.
- *
- * Writes to unimplemented registers are ignored. Reads from unimplemented
- * registers return undefined values.
- *
- * As convention, values that would be floating point in other parts of 
- * the PX4 system are expressed as signed integer values scaled by 10000,
- * e.g. control values range from -10000..10000.  Use the REG_TO_SIGNED and
- * SIGNED_TO_REG macros to convert between register representation and
- * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
- *
- * Note that the implementation of readable pages prefers registers within
- * readable pages to be densely packed. Page numbers do not need to be
- * packed.
- */
-
-#define PX4IO_CONTROL_CHANNELS			8
-#define PX4IO_INPUT_CHANNELS			12
-#define PX4IO_RELAY_CHANNELS			4
-
-/* Per C, this is safe for all 2's complement systems */
-#define REG_TO_SIGNED(_reg)	((int16_t)(_reg))
-#define SIGNED_TO_REG(_signed)	((uint16_t)(_signed))
-
-#define REG_TO_FLOAT(_reg)	((float)REG_TO_SIGNED(_reg) / 10000.0f)
-#define FLOAT_TO_REG(_float)	SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
-
-/* static configuration page */
-#define PX4IO_PAGE_CONFIG		0
-#define PX4IO_P_CONFIG_PROTOCOL_VERSION		0	/* magic numbers TBD */
-#define PX4IO_P_CONFIG_SOFTWARE_VERSION		1	/* magic numbers TBD */
-#define PX4IO_P_CONFIG_BOOTLOADER_VERSION	2	/* get this how? */
-#define PX4IO_P_CONFIG_MAX_TRANSFER		3	/* maximum I2C transfer size */
-#define PX4IO_P_CONFIG_CONTROL_COUNT		4	/* hardcoded max control count supported */
-#define PX4IO_P_CONFIG_ACTUATOR_COUNT		5	/* hardcoded max actuator output count */
-#define PX4IO_P_CONFIG_RC_INPUT_COUNT		6	/* hardcoded max R/C input count supported */
-#define PX4IO_P_CONFIG_ADC_INPUT_COUNT		7	/* hardcoded max ADC inputs */
-#define PX4IO_P_CONFIG_RELAY_COUNT		8	/* harcoded # of relay outputs */
-
-/* dynamic status page */
-#define PX4IO_PAGE_STATUS		1
-#define PX4IO_P_STATUS_FREEMEM			0
-#define PX4IO_P_STATUS_CPULOAD			1
-
-#define PX4IO_P_STATUS_FLAGS			2	 /* monitoring flags */
-#define PX4IO_P_STATUS_FLAGS_ARMED		(1 << 0) /* arm-ok and locally armed */
-#define PX4IO_P_STATUS_FLAGS_OVERRIDE		(1 << 1) /* in manual override */
-#define PX4IO_P_STATUS_FLAGS_RC_OK		(1 << 2) /* RC input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_PPM		(1 << 3) /* PPM input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_DSM		(1 << 4) /* DSM input is valid */
-#define PX4IO_P_STATUS_FLAGS_RC_SBUS		(1 << 5) /* SBUS input is valid */
-#define PX4IO_P_STATUS_FLAGS_FMU_OK		(1 << 6) /* controls from FMU are valid */
-#define PX4IO_P_STATUS_FLAGS_RAW_PWM		(1 << 7) /* raw PWM from FMU is bypassing the mixer */
-#define PX4IO_P_STATUS_FLAGS_MIXER_OK		(1 << 8) /* mixer is OK */
-#define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 9) /* the arming state between IO and FMU is in sync */
-#define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 10) /* initialisation of the IO completed without error */
-
-#define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
-#define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* VBatt is very close to regulator dropout */
-#define PX4IO_P_STATUS_ALARMS_TEMPERATURE	(1 << 1) /* board temperature is high */
-#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT	(1 << 2) /* servo current limit was exceeded */
-#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT	(1 << 3) /* accessory current limit was exceeded */
-#define PX4IO_P_STATUS_ALARMS_FMU_LOST		(1 << 4) /* timed out waiting for controls from FMU */
-#define PX4IO_P_STATUS_ALARMS_RC_LOST		(1 << 5) /* timed out waiting for RC input */
-#define PX4IO_P_STATUS_ALARMS_PWM_ERROR		(1 << 6) /* PWM configuration or output was bad */
-
-#define PX4IO_P_STATUS_VBATT			4	/* battery voltage in mV */
-#define PX4IO_P_STATUS_IBATT			5	/* battery current in cA */
-
-/* array of post-mix actuator outputs, -10000..10000 */
-#define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
-
-/* array of PWM servo output values, microseconds */
-#define PX4IO_PAGE_SERVOS		3		/* 0..CONFIG_ACTUATOR_COUNT-1 */
-
-/* array of raw RC input values, microseconds */
-#define PX4IO_PAGE_RAW_RC_INPUT		4
-#define PX4IO_P_RAW_RC_COUNT			0	/* number of valid channels */
-#define PX4IO_P_RAW_RC_BASE			1	/* CONFIG_RC_INPUT_COUNT channels from here */
-
-/* array of scaled RC input values, -10000..10000 */
-#define PX4IO_PAGE_RC_INPUT		5
-#define PX4IO_P_RC_VALID			0	/* bitmask of valid controls */
-#define PX4IO_P_RC_BASE				1	/* CONFIG_RC_INPUT_COUNT controls from here */
-
-/* array of raw ADC values */
-#define PX4IO_PAGE_RAW_ADC_INPUT	6		/* 0..CONFIG_ADC_INPUT_COUNT-1 */
-
-/* PWM servo information */
-#define PX4IO_PAGE_PWM_INFO		7
-#define PX4IO_RATE_MAP_BASE			0	/* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
-
-/* setup page */
-#define PX4IO_PAGE_SETUP			100
-#define PX4IO_P_SETUP_FEATURES			0
-
-#define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
-#define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
-#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
-#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3) /* OK to perform position / vector control (= position lock) */
-#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
-
-#define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
-#define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
-#define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
-#define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
-#define PX4IO_P_SETUP_VBATT_SCALE		6	/* battery voltage correction factor (float) */
-#define PX4IO_P_SETUP_IBATT_SCALE		7	/* battery current scaling factor (float) */
-#define PX4IO_P_SETUP_IBATT_BIAS		8	/* battery current bias value */
-#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
-
-/* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS			101	/* 0..CONFIG_CONTROL_COUNT */
-
-/* raw text load to the mixer parser - ignores offset */
-#define PX4IO_PAGE_MIXERLOAD			102
-
-/* R/C channel config */
-#define PX4IO_PAGE_RC_CONFIG			103	/* R/C input configuration */
-#define PX4IO_P_RC_CONFIG_MIN			0	/* lowest input value */
-#define PX4IO_P_RC_CONFIG_CENTER		1	/* center input value */
-#define PX4IO_P_RC_CONFIG_MAX			2	/* highest input value */
-#define PX4IO_P_RC_CONFIG_DEADZONE		3	/* band around center that is ignored */
-#define PX4IO_P_RC_CONFIG_ASSIGNMENT		4	/* mapped input value */
-#define PX4IO_P_RC_CONFIG_OPTIONS		5	/* channel options bitmask */
-#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED	(1 << 0)
-#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE	(1 << 1)
-#define PX4IO_P_RC_CONFIG_STRIDE		6	/* spacing between channel config data */
-
-/* PWM output - overrides mixer */
-#define PX4IO_PAGE_DIRECT_PWM			104	/* 0..CONFIG_ACTUATOR_COUNT-1 */
-
-/* PWM failsafe values - zero disables the output */
-#define PX4IO_PAGE_FAILSAFE_PWM			105	/* 0..CONFIG_ACTUATOR_COUNT-1 */
-
-/**
- * As-needed mixer data upload.
- *
- * This message adds text to the mixer text buffer; the text
- * buffer is drained as the definitions are consumed.
- */
-#pragma pack(push, 1)
-struct px4io_mixdata {
-	uint16_t	f2i_mixer_magic;
-#define F2I_MIXER_MAGIC		0x6d74
-
-	uint8_t		action;
-#define F2I_MIXER_ACTION_RESET			0
-#define F2I_MIXER_ACTION_APPEND			1
-
-	char		text[0];	/* actual text size may vary */
-};
-#pragma pack(pop)
-
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
deleted file mode 100644
index 9de37e118..000000000
--- a/apps/px4io/px4io.c
+++ /dev/null
@@ -1,231 +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.c
- * Top-level logic for the PX4IO module.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>	// required for task_create
-#include <stdbool.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <string.h>
-#include <poll.h>
-#include <signal.h>
-
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_hrt.h>
-
-#include <systemlib/perf_counter.h>
-
-#include <stm32_uart.h>
-
-#define DEBUG
-#include "px4io.h"
-
-__EXPORT int user_start(int argc, char *argv[]);
-
-extern void up_cxxinitialize(void);
-
-struct sys_state_s 	system_state;
-
-static struct hrt_call serial_dma_call;
-
-/* store i2c reset count XXX this should be a register, together with other error counters */
-volatile uint32_t i2c_loop_resets = 0;
-
-/*
- * a set of debug buffers to allow us to send debug information from ISRs
- */
-
-static volatile uint32_t msg_counter;
-static volatile uint32_t last_msg_counter;
-static volatile uint8_t msg_next_out, msg_next_in;
-
-/*
- * WARNING: too large buffers here consume the memory required
- * for mixer handling. Do not allocate more than 80 bytes for
- * output.
- */
-#define NUM_MSG 2
-static char msg[NUM_MSG][40];
-
-/*
- * add a debug message to be printed on the console
- */
-void
-isr_debug(uint8_t level, const char *fmt, ...)
-{
-	if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) {
-		return;
-	}
-	va_list ap;
-	va_start(ap, fmt);
-	vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
-	va_end(ap);
-	msg_next_in = (msg_next_in+1) % NUM_MSG;
-	msg_counter++;
-}
-
-/*
- * show all pending debug messages
- */
-static void
-show_debug_messages(void)
-{
-	if (msg_counter != last_msg_counter) {
-		uint32_t n = msg_counter - last_msg_counter;
-		if (n > NUM_MSG) n = NUM_MSG;
-		last_msg_counter = msg_counter;
-		while (n--) {
-			debug("%s", msg[msg_next_out]);
-			msg_next_out = (msg_next_out+1) % NUM_MSG;
-		}
-	}
-}
-
-int
-user_start(int argc, char *argv[])
-{
-	/* run C++ ctors before we go any further */
-	up_cxxinitialize();
-
-	/* reset all to zero */
-	memset(&system_state, 0, sizeof(system_state));
-
-	/* configure the high-resolution time/callout interface */
-	hrt_init();
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-
-	/* print some startup info */
-	lowsyslog("\nPX4IO: starting\n");
-
-	/* default all the LEDs to off while we start */
-	LED_AMBER(false);
-	LED_BLUE(false);
-	LED_SAFETY(false);
-
-	/* turn on servo power */
-	POWER_SERVO(true);
-
-	/* start the safety switch handler */
-	safety_init();
-
-	/* configure the first 8 PWM outputs (i.e. all of them) */
-	up_pwm_servo_init(0xff);
-
-	/* initialise the control inputs */
-	controls_init();
-
-	/* start the i2c handler */
-	i2c_init();
-
-	/* add a performance counter for mixing */
-	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
-
-	/* add a performance counter for controls */
-	perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
-
-	/* and one for measuring the loop rate */
-	perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
-
-	struct mallinfo minfo = mallinfo();
-	lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
-
-#if 0
-	/* not enough memory, lock down */
-	if (minfo.mxordblk < 500) {
-		lowsyslog("ERR: not enough MEM");
-		bool phase = false;
-
-		if (phase) {
-			LED_AMBER(true);
-			LED_BLUE(false);
-		} else {
-			LED_AMBER(false);
-			LED_BLUE(true);
-		}
-
-		phase = !phase;
-		usleep(300000);
-	}
-#endif
-
-	/*
-	 * Run everything in a tight loop.
-	 */
-
-	uint64_t last_debug_time = 0;
-	for (;;) {
-
-		/* track the rate at which the loop is running */
-		perf_count(loop_perf);
-
-		/* kick the mixer */
-		perf_begin(mixer_perf);
-		mixer_tick();
-		perf_end(mixer_perf);
-
-		/* kick the control inputs */
-		perf_begin(controls_perf);
-		controls_tick();
-		perf_end(controls_perf);
-
-		/* check for debug activity */
-		show_debug_messages();
-
-		/* post debug state at ~1Hz */
-		if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
-
-			struct mallinfo minfo = mallinfo();
-
-			isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", 
-				  (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
-				  (unsigned)r_status_flags,
-				  (unsigned)r_setup_arming,
-				  (unsigned)r_setup_features,
-				  (unsigned)i2c_loop_resets,
-				  (unsigned)minfo.mxordblk);
-			last_debug_time = hrt_absolute_time();
-		}
-	}
-}
-
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
deleted file mode 100644
index 202e9d9d9..000000000
--- a/apps/px4io/px4io.h
+++ /dev/null
@@ -1,188 +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.h
- *
- * General defines and structures for the PX4IO module firmware.
- */
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <drivers/boards/px4io/px4io_internal.h>
-
-#include "protocol.h"
-
-/*
- * Constants and limits.
- */
-#define MAX_CONTROL_CHANNELS	12
-#define IO_SERVO_COUNT		8
-
-/*
- * Debug logging
- */
-
-#ifdef DEBUG
-# include <debug.h>
-# define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
-#else
-# define debug(fmt, args...)	do {} while(0)
-#endif
-
-/*
- * Registers.
- */
-extern uint16_t			r_page_status[];	/* PX4IO_PAGE_STATUS */
-extern uint16_t			r_page_actuators[];	/* PX4IO_PAGE_ACTUATORS */
-extern uint16_t			r_page_servos[];	/* PX4IO_PAGE_SERVOS */
-extern uint16_t			r_page_raw_rc_input[];	/* PX4IO_PAGE_RAW_RC_INPUT */
-extern uint16_t			r_page_rc_input[];	/* PX4IO_PAGE_RC_INPUT */
-extern uint16_t			r_page_adc[];		/* PX4IO_PAGE_RAW_ADC_INPUT */
-
-extern volatile uint16_t	r_page_setup[];		/* PX4IO_PAGE_SETUP */
-extern volatile uint16_t	r_page_controls[];	/* PX4IO_PAGE_CONTROLS */
-extern uint16_t			r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
-extern uint16_t			r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
-
-/*
- * Register aliases.
- *
- * Handy aliases for registers that are widely used.
- */
-#define r_status_flags		r_page_status[PX4IO_P_STATUS_FLAGS]
-#define r_status_alarms		r_page_status[PX4IO_P_STATUS_ALARMS]
-
-#define r_raw_rc_count		r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT]
-#define r_raw_rc_values		(&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE])
-#define r_rc_valid		r_page_rc_input[PX4IO_P_RC_VALID]
-#define r_rc_values		(&r_page_rc_input[PX4IO_P_RAW_RC_BASE])
-
-#define r_setup_features	r_page_setup[PX4IO_P_SETUP_FEATURES]
-#define r_setup_arming		r_page_setup[PX4IO_P_SETUP_ARMING]
-#define r_setup_pwm_rates	r_page_setup[PX4IO_P_SETUP_PWM_RATES]
-#define r_setup_pwm_defaultrate	r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
-#define r_setup_pwm_altrate	r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
-#define r_setup_relays		r_page_setup[PX4IO_P_SETUP_RELAYS]
-
-#define r_control_values	(&r_page_controls[0])
-
-/*
- * System state structure.
- */
-struct sys_state_s {
-
-	volatile uint64_t	rc_channels_timestamp;
-
-	/**
-	 * Last FMU receive time, in microseconds since system boot
-	 */
-	volatile uint64_t	fmu_data_received_time;
-
-};
-
-extern struct sys_state_s system_state;
-
-/*
- * GPIO handling.
- */
-#define LED_BLUE(_s)		stm32_gpiowrite(GPIO_LED1, !(_s))
-#define LED_AMBER(_s)		stm32_gpiowrite(GPIO_LED2, !(_s))
-#define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
-
-#define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
-#define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
-#define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
-
-#define OVERCURRENT_ACC		(!stm32_gpioread(GPIO_ACC_OC_DETECT))
-#define OVERCURRENT_SERVO	(!stm32_gpioread(GPIO_SERVO_OC_DETECT))
-#define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
-
-#define ADC_VBATT		4
-#define ADC_IN5			5
-#define ADC_CHANNEL_COUNT	2
-
-/*
- * Mixer
- */
-extern void	mixer_tick(void);
-extern void	mixer_handle_text(const void *buffer, size_t length);
-
-/**
- * Safety switch/LED.
- */
-extern void	safety_init(void);
-
-/**
- * FMU communications
- */
-extern void	i2c_init(void);
-
-/**
- * Register space
- */
-extern void	registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
-extern int	registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values);
-
-/**
- * Sensors/misc inputs
- */
-extern int	adc_init(void);
-extern uint16_t	adc_measure(unsigned channel);
-
-/**
- * R/C receiver handling.
- *
- * Input functions return true when they receive an update from the RC controller.
- */
-extern void	controls_init(void);
-extern void	controls_tick(void);
-extern int	dsm_init(const char *device);
-extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
-extern int	sbus_init(const char *device);
-extern bool	sbus_input(uint16_t *values, uint16_t *num_values);
-
-/** global debug level for isr_debug() */
-extern volatile uint8_t debug_level;
-
-/* send a debug message to the console */
-extern void isr_debug(uint8_t level, const char *fmt, ...);
-
-void i2c_dump(void);
-void i2c_reset(void);
-
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
deleted file mode 100644
index 6c09def9e..000000000
--- a/apps/px4io/registers.c
+++ /dev/null
@@ -1,644 +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 registers.c
- *
- * Implementation of the PX4IO register space.
- */
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "px4io.h"
-#include "protocol.h"
-
-static int	registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
-static void	pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate);
-
-/**
- * PAGE 0
- *
- * Static configuration parameters.
- */
-static const uint16_t	r_page_config[] = {
-	[PX4IO_P_CONFIG_PROTOCOL_VERSION]	= 1,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_SOFTWARE_VERSION]	= 1,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_BOOTLOADER_VERSION]	= 3,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_MAX_TRANSFER]		= 64,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_CONTROL_COUNT]		= PX4IO_CONTROL_CHANNELS,
-	[PX4IO_P_CONFIG_ACTUATOR_COUNT]		= IO_SERVO_COUNT,
-	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= MAX_CONTROL_CHANNELS,
-	[PX4IO_P_CONFIG_ADC_INPUT_COUNT]	= ADC_CHANNEL_COUNT,
-	[PX4IO_P_CONFIG_RELAY_COUNT]		= PX4IO_RELAY_CHANNELS,
-};
-
-/**
- * PAGE 1
- *
- * Status values.
- */
-uint16_t		r_page_status[] = {
-	[PX4IO_P_STATUS_FREEMEM]		= 0,
-	[PX4IO_P_STATUS_CPULOAD]		= 0,
-	[PX4IO_P_STATUS_FLAGS]			= 0,
-	[PX4IO_P_STATUS_ALARMS]			= 0,
-	[PX4IO_P_STATUS_VBATT]			= 0,
-	[PX4IO_P_STATUS_IBATT]			= 0
-};
-
-/**
- * PAGE 2
- *
- * Post-mixed actuator values.
- */
-uint16_t 		r_page_actuators[IO_SERVO_COUNT];
-
-/**
- * PAGE 3
- *
- * Servo PWM values
- */
-uint16_t		r_page_servos[IO_SERVO_COUNT];
-
-/**
- * PAGE 4
- *
- * Raw RC input
- */
-uint16_t		r_page_raw_rc_input[] =
-{
-	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
-};
-
-/**
- * PAGE 5
- *
- * Scaled/routed RC input
- */
-uint16_t		r_page_rc_input[] = {
-	[PX4IO_P_RC_VALID]			= 0,
-	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
-};
-
-/**
- * Scratch page; used for registers that are constructed as-read.
- *
- * PAGE 6 Raw ADC input.
- * PAGE 7 PWM rate maps.
- */
-uint16_t		r_page_scratch[32];
-
-/**
- * PAGE 100
- *
- * Setup registers
- */
-volatile uint16_t	r_page_setup[] =
-{
-	[PX4IO_P_SETUP_FEATURES]		= 0,
-	[PX4IO_P_SETUP_ARMING]			= 0,
-	[PX4IO_P_SETUP_PWM_RATES]		= 0,
-	[PX4IO_P_SETUP_PWM_DEFAULTRATE]		= 50,
-	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
-	[PX4IO_P_SETUP_RELAYS]			= 0,
-	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
-	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0,
-	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
-};
-
-#define PX4IO_P_SETUP_FEATURES_VALID	(0)
-#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
-					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
-					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)
-#define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
-#define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
-
-/**
- * PAGE 101
- *
- * Control values from the FMU.
- */
-volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
-
-/*
- * PAGE 102 does not have a buffer.
- */
-
-/**
- * PAGE 103
- *
- * R/C channel input configuration.
- */
-uint16_t		r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
-
-/* valid options */
-#define PX4IO_P_RC_CONFIG_OPTIONS_VALID	(PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
-
-/*
- * PAGE 104 uses r_page_servos.
- */
-
-/**
- * PAGE 105
- *
- * Failsafe servo PWM values
- */
-uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT];
-
-void
-registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
-{
-
-	switch (page) {
-
-		/* handle bulk controls input */
-	case PX4IO_PAGE_CONTROLS:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_controls[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-
-		system_state.fmu_data_received_time = hrt_absolute_time();
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
-        	r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
-		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
-		
-		break;
-
-		/* handle raw PWM input */
-	case PX4IO_PAGE_DIRECT_PWM:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_servos[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-
-		system_state.fmu_data_received_time = hrt_absolute_time();
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
-
-		break;
-
-		/* handle setup for servo failsafe values */
-	case PX4IO_PAGE_FAILSAFE_PWM:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_servo_failsafe[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-		break;
-
-		/* handle text going to the mixer parser */
-	case PX4IO_PAGE_MIXERLOAD:
-		mixer_handle_text(values, num_values * sizeof(*values));
-		break;
-
-	default:
-		/* avoid offset wrap */
-		if ((offset + num_values) > 255)
-			num_values = 255 - offset;
-
-		/* iterate individual registers, set each in turn */
-		while (num_values--) {
-			if (registers_set_one(page, offset, *values))
-				break;
-			offset++;
-			values++;
-		}
-	}
-}
-
-static int
-registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
-{
-	switch (page) {
-
-	case PX4IO_PAGE_STATUS:
-		switch (offset) {
-		case PX4IO_P_STATUS_ALARMS:
-			/* clear bits being written */
-			r_status_alarms &= ~value;
-			break;
-
-		case PX4IO_P_STATUS_FLAGS:
-			/* 
-			 * Allow FMU override of arming state (to allow in-air restores),
-			 * but only if the arming state is not in sync on the IO side.
-			 */
-			if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
-				r_status_flags = value;
-			}
-			break;
-
-		default:
-			/* just ignore writes to other registers in this page */
-			break;
-		}
-		break;
-
-	case PX4IO_PAGE_SETUP:
-		switch (offset) {
-		case PX4IO_P_SETUP_FEATURES:
-
-			value &= PX4IO_P_SETUP_FEATURES_VALID;
-			r_setup_features = value;
-
-			/* no implemented feature selection at this point */
-
-			break;
-
-		case PX4IO_P_SETUP_ARMING:
-
-			value &= PX4IO_P_SETUP_ARMING_VALID;
-
-			/*
-			 * Update arming state - disarm if no longer OK.
-			 * This builds on the requirement that the FMU driver
-			 * asks about the FMU arming state on initialization,
-			 * so that an in-air reset of FMU can not lead to a
-			 * lockup of the IO arming state.
-			 */
-			if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) {
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
-			}
-
-			r_setup_arming = value;
-
-			break;
-
-		case PX4IO_P_SETUP_PWM_RATES:
-			value &= PX4IO_P_SETUP_RATES_VALID;
-			pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate);
-			break;
-
-		case PX4IO_P_SETUP_PWM_DEFAULTRATE:
-			if (value < 50)
-				value = 50;
-			if (value > 400)
-				value = 400;
-			pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
-			break;
-
-		case PX4IO_P_SETUP_PWM_ALTRATE:
-			if (value < 50)
-				value = 50;
-			if (value > 400)
-				value = 400;
-			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
-			break;
-
-		case PX4IO_P_SETUP_RELAYS:
-			value &= PX4IO_P_SETUP_RELAYS_VALID;
-			r_setup_relays = value;
-			POWER_RELAY1(value & (1 << 0) ? 1 : 0);
-			POWER_RELAY2(value & (1 << 1) ? 1 : 0);
-			POWER_ACC1(value & (1 << 2) ? 1 : 0);
-			POWER_ACC2(value & (1 << 3) ? 1 : 0);
-			break;
-
-		case PX4IO_P_SETUP_SET_DEBUG:
-			r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
-			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
-			break;
-
-		default:
-			return -1;
-		}
-		break;
-
-	case PX4IO_PAGE_RC_CONFIG: {
-
-		/* do not allow a RC config change while fully armed */
-		if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
-		    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
-			break;
-		}
-
-		unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE;
-		unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
-		uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
-
-		if (channel >= MAX_CONTROL_CHANNELS)
-			return -1;
-
-		/* disable the channel until we have a chance to sanity-check it */
-		conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-		switch (index) {
-
-		case PX4IO_P_RC_CONFIG_MIN:
-		case PX4IO_P_RC_CONFIG_CENTER:
-		case PX4IO_P_RC_CONFIG_MAX:
-		case PX4IO_P_RC_CONFIG_DEADZONE:
-		case PX4IO_P_RC_CONFIG_ASSIGNMENT:
-			conf[index] = value;
-			break;
-
-		case PX4IO_P_RC_CONFIG_OPTIONS:
-			value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
-
-			/* set all options except the enabled option */
-			conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-			/* should the channel be enabled? */
-			/* this option is normally set last */
-			if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
-				uint8_t count = 0;
-
-				/* assert min..center..max ordering */
-				if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) {
-					count++;
-				}
-
-				/* assert deadzone is sane */
-				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
-					count++;
-				}
-				// The following check isn't needed as constraint checks in controls.c will catch this.
-				//if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-				//	count++;
-				//}
-				//if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-				//	count++;
-				//}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) {
-					count++;
-				}
-
-				/* sanity checks pass, enable channel */
-				if (count) {
-					isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
-					r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
-				} else {
-					conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-				}
-			}
-			break;
-			/* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */
-
-		}
-		break;
-		/* case PX4IO_RC_PAGE_CONFIG */
-	}
-
-	default:
-		return -1;
-	}
-	return 0;
-}
-
-uint8_t last_page;
-uint8_t last_offset;
-
-int
-registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values)
-{
-#define SELECT_PAGE(_page_name)							\
-	do {									\
-		*values = &_page_name[0];					\
-		*num_values = sizeof(_page_name) / sizeof(_page_name[0]);	\
-	} while(0)
-
-	switch (page) {
-
-	/*
-	 * Handle pages that are updated dynamically at read time.
-	 */
-	case PX4IO_PAGE_STATUS:
-		/* PX4IO_P_STATUS_FREEMEM */
-		{
-			struct mallinfo minfo = mallinfo();
-			r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
-		}
-
-		/* XXX PX4IO_P_STATUS_CPULOAD */
-
-		/* PX4IO_P_STATUS_FLAGS maintained externally */
-
-		/* PX4IO_P_STATUS_ALARMS maintained externally */
-
-		/* PX4IO_P_STATUS_VBATT */
-		{
-			/*
-			 * Coefficients here derived by measurement of the 5-16V
-			 * range on one unit:
-			 *
-			 * V   counts
-			 *  5  1001
-			 *  6  1219
-			 *  7  1436
-			 *  8  1653
-			 *  9  1870
-			 * 10  2086
-			 * 11  2303
-			 * 12  2522
-			 * 13  2738
-			 * 14  2956
-			 * 15  3172
-			 * 16  3389
-			 *
-			 * slope = 0.0046067
-			 * intercept = 0.3863
-			 *
-			 * Intercept corrected for best results @ 12V.
-			 */
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-			unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
-
-			r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
-		}
-
-		/* PX4IO_P_STATUS_IBATT */
-		{
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000;
-			int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]);
-			if (corrected < 0)
-				corrected = 0;
-			r_page_status[PX4IO_P_STATUS_IBATT] = corrected;
-		}
-
-		SELECT_PAGE(r_page_status);
-		break;
-
-	case PX4IO_PAGE_RAW_ADC_INPUT:
-		memset(r_page_scratch, 0, sizeof(r_page_scratch));
-		r_page_scratch[0] = adc_measure(ADC_VBATT);
-		r_page_scratch[1] = adc_measure(ADC_IN5);
-
-		SELECT_PAGE(r_page_scratch);
-		break;
-
-	case PX4IO_PAGE_PWM_INFO:
-		memset(r_page_scratch, 0, sizeof(r_page_scratch));
-		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-			r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i);
-
-		SELECT_PAGE(r_page_scratch);
-		break;
-
-	/*
-	 * Pages that are just a straight read of the register state.
-	 */
-
-	/* status pages */
-	case PX4IO_PAGE_CONFIG:
-		SELECT_PAGE(r_page_config);
-		break;
-	case PX4IO_PAGE_ACTUATORS:
-		SELECT_PAGE(r_page_actuators);
-		break;
-	case PX4IO_PAGE_SERVOS:
-		SELECT_PAGE(r_page_servos);
-		break;
-	case PX4IO_PAGE_RAW_RC_INPUT:
-		SELECT_PAGE(r_page_raw_rc_input);
-		break;
-	case PX4IO_PAGE_RC_INPUT:
-		SELECT_PAGE(r_page_rc_input);
-		break;
-
-	/* readback of input pages */
-	case PX4IO_PAGE_SETUP:
-		SELECT_PAGE(r_page_setup);
-		break;
-	case PX4IO_PAGE_CONTROLS:
-		SELECT_PAGE(r_page_controls);
-		break;
-	case PX4IO_PAGE_RC_CONFIG:
-		SELECT_PAGE(r_page_rc_input_config);
-		break;
-	case PX4IO_PAGE_DIRECT_PWM:
-		SELECT_PAGE(r_page_servos);
-		break;
-	case PX4IO_PAGE_FAILSAFE_PWM:
-		SELECT_PAGE(r_page_servo_failsafe);
-		break;
-
-	default:
-		return -1;
-	}
-
-#undef SELECT_PAGE
-#undef COPY_PAGE
-
-last_page = page;
-last_offset = offset;
-
-	/* if the offset is at or beyond the end of the page, we have no data */
-	if (offset >= *num_values)
-		return -1;
-
-	/* correct the data pointer and count for the offset */
-	*values += offset;
-	*num_values -= offset;
-
-	return 0;
-}
-
-/*
- * Helper function to handle changes to the PWM rate control registers.
- */
-static void
-pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate)
-{
-	for (unsigned pass = 0; pass < 2; pass++) {
-		for (unsigned group = 0; group < IO_SERVO_COUNT; group++) {
-
-			/* get the channel mask for this rate group */
-			uint32_t mask = up_pwm_servo_get_rate_group(group);
-			if (mask == 0)
-				continue;
-
-			/* all channels in the group must be either default or alt-rate */
-			uint32_t alt = map & mask;
-
-			if (pass == 0) {
-				/* preflight */
-				if ((alt != 0) && (alt != mask)) {
-					/* not a legal map, bail with an alarm */
-					r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-					return;
-				}
-			} else {
-				/* set it - errors here are unexpected */
-				if (alt != 0) {
-					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK)
-						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-				} else {
-					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK)
-						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-				}
-			}
-		}
-	}
-	r_setup_pwm_rates = map;
-	r_setup_pwm_defaultrate = defaultrate;
-	r_setup_pwm_altrate = altrate;
-}
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c
deleted file mode 100644
index 5495d5ae1..000000000
--- a/apps/px4io/safety.c
+++ /dev/null
@@ -1,195 +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 Safety button logic.
- */
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "px4io.h"
-
-static struct hrt_call arming_call;
-static struct hrt_call heartbeat_call;
-static struct hrt_call failsafe_call;
-
-/*
- * Count the number of times in a row that we see the arming button
- * held down.
- */
-static unsigned counter = 0;
-
-/*
- * Define the various LED flash sequences for each system state.
- */
-#define LED_PATTERN_SAFE 			0xffff		/**< always on 				*/
-#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 	0xFFFE		/**< always on with short break 	*/
-#define LED_PATTERN_FMU_ARMED 			0x4444		/**< slow blinking			*/
-#define LED_PATTERN_IO_ARMED 			0x5555		/**< fast blinking 			*/
-#define LED_PATTERN_IO_FMU_ARMED 		0x5050		/**< long off then double blink 	*/
-
-static unsigned blink_counter = 0;
-
-/*
- * IMPORTANT: The arming state machine critically
- * 	      depends on using the same threshold
- *            for arming and disarming. Since disarming
- *            is quite deadly for the system, a similar
- *            length can be justified.
- */
-#define ARM_COUNTER_THRESHOLD	10
-
-static bool safety_button_pressed;
-
-static void safety_check_button(void *arg);
-static void heartbeat_blink(void *arg);
-static void failsafe_blink(void *arg);
-
-void
-safety_init(void)
-{
-	/* arrange for the button handler to be called at 10Hz */
-	hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
-
-	/* arrange for the heartbeat handler to be called at 4Hz */
-	hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
-
-	/* arrange for the failsafe blinker to be called at 8Hz */
-	hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
-}
-
-static void
-safety_check_button(void *arg)
-{
-	/*
-	 * Debounce the safety button, change state if it has been held for long enough.
-	 *
-	 */
-	safety_button_pressed = BUTTON_SAFETY;
-
-	/*
-	 * Keep pressed for a while to arm.
-	 *
-	 * Note that the counting sequence has to be same length
-	 * for arming / disarming in order to end up as proper
-	 * state machine, keep ARM_COUNTER_THRESHOLD the same
-	 * length in all cases of the if/else struct below.
-	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
-
-		if (counter < ARM_COUNTER_THRESHOLD) {
-			counter++;
-
-		} else if (counter == ARM_COUNTER_THRESHOLD) {
-			/* switch to armed state */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED;
-			counter++;
-		}
-
-		/* Disarm quickly */
-
-	} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
-
-		if (counter < ARM_COUNTER_THRESHOLD) {
-			counter++;
-
-		} else if (counter == ARM_COUNTER_THRESHOLD) {
-			/* change to disarmed state and notify the FMU */
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
-			counter++;
-		}
-
-	} else {
-		counter = 0;
-	}
-
-	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
-	uint16_t pattern = LED_PATTERN_SAFE;
-
-	if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
-		if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
-			pattern = LED_PATTERN_IO_FMU_ARMED;
-
-		} else {
-			pattern = LED_PATTERN_IO_ARMED;
-		}
-
-	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
-		pattern = LED_PATTERN_FMU_ARMED;
-
-	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
-		pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
-	}
-
-	/* Turn the LED on if we have a 1 at the current bit position */
-	LED_SAFETY(pattern & (1 << blink_counter++));
-
-	if (blink_counter > 15) {
-		blink_counter = 0;
-	}
-}
-
-static void
-heartbeat_blink(void *arg)
-{
-	static bool heartbeat = false;
-
-	/* XXX add flags here that need to be frobbed by various loops */
-
-	LED_BLUE(heartbeat = !heartbeat);
-}
-
-static void
-failsafe_blink(void *arg)
-{
-	/* indicate that a serious initialisation error occured */
-	if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
-		LED_AMBER(true);
-	    return;
-    }
-
-	static bool failsafe = false;
-
-	/* blink the failsafe LED if we don't have FMU input */
-	if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
-		failsafe = !failsafe;
-	} else {
-		failsafe = false;
-	}
-
-	LED_AMBER(failsafe);
-}
\ No newline at end of file
diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c
deleted file mode 100644
index 073ddeaba..000000000
--- a/apps/px4io/sbus.c
+++ /dev/null
@@ -1,255 +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 sbus.c
- *
- * Serial protocol decoder for the Futaba S.bus protocol.
- */
-
-#include <nuttx/config.h>
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-
-#include <systemlib/ppm_decode.h>
-
-#include <drivers/drv_hrt.h>
-
-#define DEBUG
-#include "px4io.h"
-#include "protocol.h"
-#include "debug.h"
-
-#define SBUS_FRAME_SIZE		25
-#define SBUS_INPUT_CHANNELS	16
-
-static int sbus_fd = -1;
-
-static hrt_abstime last_rx_time;
-static hrt_abstime last_frame_time;
-
-static uint8_t	frame[SBUS_FRAME_SIZE];
-
-static unsigned partial_frame_count;
-
-unsigned sbus_frame_drops;
-
-static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values);
-
-int
-sbus_init(const char *device)
-{
-	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
-
-	if (sbus_fd >= 0) {
-		struct termios t;
-
-		/* 100000bps, even parity, two stop bits */
-		tcgetattr(sbus_fd, &t);
-		cfsetspeed(&t, 100000);
-		t.c_cflag |= (CSTOPB | PARENB);
-		tcsetattr(sbus_fd, TCSANOW, &t);
-
-		/* initialise the decoder */
-		partial_frame_count = 0;
-		last_rx_time = hrt_absolute_time();
-
-		debug("S.Bus: ready");
-
-	} else {
-		debug("S.Bus: open failed");
-	}
-
-	return sbus_fd;
-}
-
-bool
-sbus_input(uint16_t *values, uint16_t *num_values)
-{
-	ssize_t		ret;
-	hrt_abstime	now;
-
-	/*
-	 * The S.bus protocol doesn't provide reliable framing,
-	 * so we detect frame boundaries by the inter-frame delay.
-	 *
-	 * The minimum frame spacing is 7ms; with 25 bytes at 100000bps
-	 * frame transmission time is ~2ms.
-	 *
-	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 3ms passes between calls,
-	 * the first byte we read will be the first byte of a frame.
-	 *
-	 * In the case where byte(s) are dropped from a frame, this also
-	 * provides a degree of protection. Of course, it would be better
-	 * if we didn't drop bytes...
-	 */
-	now = hrt_absolute_time();
-
-	if ((now - last_rx_time) > 3000) {
-		if (partial_frame_count > 0) {
-			sbus_frame_drops++;
-			partial_frame_count = 0;
-		}
-	}
-
-	/*
-	 * Fetch bytes, but no more than we would need to complete
-	 * the current frame.
-	 */
-	ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count);
-
-	/* if the read failed for any reason, just give up here */
-	if (ret < 1)
-		return false;
-
-	last_rx_time = now;
-
-	/*
-	 * Add bytes to the current frame
-	 */
-	partial_frame_count += ret;
-
-	/*
-	 * If we don't have a full frame, return
-	 */
-	if (partial_frame_count < SBUS_FRAME_SIZE)
-		return false;
-
-	/*
-	 * Great, it looks like we might have a frame.  Go ahead and
-	 * decode it.
-	 */
-	partial_frame_count = 0;
-	return sbus_decode(now, values, num_values);
-}
-
-/*
- * S.bus decoder matrix.
- *
- * Each channel value can come from up to 3 input bytes. Each row in the
- * matrix describes up to three bytes, and each entry gives:
- *
- * - byte offset in the data portion of the frame
- * - right shift applied to the data byte
- * - mask for the data byte
- * - left shift applied to the result into the channel value
- */
-struct sbus_bit_pick {
-	uint8_t byte;
-	uint8_t rshift;
-	uint8_t mask;
-	uint8_t lshift;
-};
-static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
-	/*  0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-	/*  1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-	/*  2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
-	/*  3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-	/*  4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-	/*  5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
-	/*  6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-	/*  7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
-	/*  8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-	/*  9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-	/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
-	/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-	/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-	/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
-	/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-	/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
-};
-
-static bool
-sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
-{
-	/* check frame boundary markers to avoid out-of-sync cases */
-	if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
-		sbus_frame_drops++;
-		return false;
-	}
-
-	/* if the failsafe or connection lost bit is set, we consider the frame invalid */
-	if ((frame[23] & (1 << 2)) && /* signal lost */
-	    (frame[23] & (1 << 3))) { /* failsafe */
-
-		/* actively announce signal loss */
-		*values = 0;
-		return false;
-	}
-
-	/* we have received something we think is a frame */
-	last_frame_time = frame_time;
-
-	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
-			     SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
-
-	/* use the decoder matrix to extract channel data */
-	for (unsigned channel = 0; channel < chancount; channel++) {
-		unsigned value = 0;
-
-		for (unsigned pick = 0; pick < 3; pick++) {
-			const struct sbus_bit_pick *decode = &sbus_decoder[channel][pick];
-
-			if (decode->mask != 0) {
-				unsigned piece = frame[1 + decode->byte];
-				piece >>= decode->rshift;
-				piece &= decode->mask;
-				piece <<= decode->lshift;
-
-				value |= piece;
-			}
-		}
-
-		/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
-		values[channel] = (value / 2) + 998;
-	}
-
-	/* decode switch channels if data fields are wide enough */
-	if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
-		chancount = 18;
-
-		/* channel 17 (index 16) */
-		values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
-		/* channel 18 (index 17) */
-		values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
-	}
-
-	/* note the number of channels decoded */
-	*num_values = chancount;
-
-	return true;
-}