Clean out unused trash from the NuttX configs.

9 files changed, 164 insertions, 1707 deletions

diff --git a/nuttx-configs/px4io-v1/Kconfig b/nuttx-configs/px4io-v1/Kconfig
deleted file mode 100644
index fbf74d7f0..000000000
--- a/nuttx-configs/px4io-v1/Kconfig
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if ARCH_BOARD_PX4IO_V1
-
-config HRT_TIMER
-	bool "High resolution timer support"
-	default y
-	---help---
-		Enable high resolution timer for PPM capture and system clocks.
-
-config HRT_PPM
-	bool "PPM input capture"
-	default y
-	depends on HRT_TIMER
-	---help---
-		Enable PPM input capture via HRT (for CPPM / PPM sum RC inputs)
-
-endif
diff --git a/nuttx-configs/px4io-v1/README.txt b/nuttx-configs/px4io-v1/README.txt
deleted file mode 100755
index 9b1615f42..000000000
--- a/nuttx-configs/px4io-v1/README.txt
+++ /dev/null
@@ -1,806 +0,0 @@
-README
-======
-
-This README discusses issues unique to NuttX configurations for the
-STMicro STM3210E-EVAL development board.
-
-Contents
-========
-
-  - Development Environment
-  - GNU Toolchain Options
-  - IDEs
-  - NuttX buildroot Toolchain
-  - DFU and JTAG
-  - OpenOCD
-  - LEDs
-  - Temperature Sensor
-  - RTC
-  - STM3210E-EVAL-specific Configuration Options
-  - Configurations
-
-Development Environment
-=======================
-
-  Either Linux or Cygwin on Windows can be used for the development environment.
-  The source has been built only using the GNU toolchain (see below).  Other
-  toolchains will likely cause problems. Testing was performed using the Cygwin
-  environment because the Raisonance R-Link emulatator and some RIDE7 development tools
-  were used and those tools works only under Windows.
-
-GNU Toolchain Options
-=====================
-
-  The NuttX make system has been modified to support the following different
-  toolchain options.
-
-  1. The CodeSourcery GNU toolchain,
-  2. The devkitARM GNU toolchain,
-  3. Raisonance GNU toolchain, or
-  4. The NuttX buildroot Toolchain (see below).
-
-  All testing has been conducted using the NuttX buildroot toolchain.  However,
-  the make system is setup to default to use the devkitARM toolchain.  To use
-  the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
-  add one of the following configuration options to your .config (or defconfig)
-  file:
-
-    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
-    CONFIG_STM32_CODESOURCERYL=y  : CodeSourcery under Linux
-    CONFIG_STM32_DEVKITARM=y      : devkitARM under Windows
-    CONFIG_STM32_RAISONANCE=y     : Raisonance RIDE7 under Windows
-    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin (default)
-
-  If you are not using CONFIG_STM32_BUILDROOT, then you may also have to modify
-  the PATH in the setenv.h file if your make cannot find the tools.
-
-  NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are
-  Windows native toolchains.  The CodeSourcey (for Linux) and NuttX buildroot
-  toolchains are Cygwin and/or Linux native toolchains. There are several limitations
-  to using a Windows based toolchain in a Cygwin environment.  The three biggest are:
-
-  1. The Windows toolchain cannot follow Cygwin paths.  Path conversions are
-     performed automatically in the Cygwin makefiles using the 'cygpath' utility
-     but you might easily find some new path problems.  If so, check out 'cygpath -w'
-
-  2. Windows toolchains cannot follow Cygwin symbolic links.  Many symbolic links
-     are used in Nuttx (e.g., include/arch).  The make system works around these
-     problems for the Windows tools by copying directories instead of linking them.
-     But this can also cause some confusion for you:  For example, you may edit
-     a file in a "linked" directory and find that your changes had no effect.
-     That is because you are building the copy of the file in the "fake" symbolic
-     directory.  If you use a Windows toolchain, you should get in the habit of
-     making like this:
-
-       make clean_context all
-
-     An alias in your .bashrc file might make that less painful.
-
-  3. Dependencies are not made when using Windows versions of the GCC.  This is
-     because the dependencies are generated using Windows pathes which do not
-     work with the Cygwin make.
-
-     Support has been added for making dependencies with the windows-native toolchains.
-     That support can be enabled by modifying your Make.defs file as follows:
-
-    -  MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
-    +  MKDEP                = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
-
-     If you have problems with the dependency build (for example, if you are not
-     building on C:), then you may need to modify tools/mkdeps.sh
-
-  NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
-  level of -Os (See Make.defs).  It will work with -O0, -O1, or -O2, but not with
-  -Os.
-
-  NOTE 2: The devkitARM toolchain includes a version of MSYS make.  Make sure that
-  the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
-  path or will get the wrong version of make.
-
-IDEs
-====
-
-  NuttX is built using command-line make.  It can be used with an IDE, but some
-  effort will be required to create the project (There is a simple RIDE project
-  in the RIDE subdirectory).
-  
-  Makefile Build
-  --------------
-  Under Eclipse, it is pretty easy to set up an "empty makefile project" and
-  simply use the NuttX makefile to build the system.  That is almost for free
-  under Linux.  Under Windows, you will need to set up the "Cygwin GCC" empty
-  makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
-  there is a lot of help on the internet).
-
-  Native Build
-  ------------
-  Here are a few tips before you start that effort:
-
-  1) Select the toolchain that you will be using in your .config file
-  2) Start the NuttX build at least one time from the Cygwin command line
-     before trying to create your project.  This is necessary to create
-     certain auto-generated files and directories that will be needed.
-  3) Set up include pathes:  You will need include/, arch/arm/src/stm32,
-     arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
-  4) All assembly files need to have the definition option -D __ASSEMBLY__
-     on the command line.
-
-  Startup files will probably cause you some headaches.  The NuttX startup file
-  is arch/arm/src/stm32/stm32_vectors.S.  With RIDE, I have to build NuttX
-  one time from the Cygwin command line in order to obtain the pre-built
-  startup object needed by RIDE.
-
-NuttX buildroot Toolchain
-=========================
-
-  A GNU GCC-based toolchain is assumed.  The files */setenv.sh should
-  be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
-  different from the default in your PATH variable).
-
-  If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
-  SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
-  This GNU toolchain builds and executes in the Linux or Cygwin environment.
-
-  1. You must have already configured Nuttx in <some-dir>/nuttx.
-
-     cd tools
-     ./configure.sh stm3210e-eval/<sub-dir>
-
-  2. Download the latest buildroot package into <some-dir>
-
-  3. unpack the buildroot tarball.  The resulting directory may
-     have versioning information on it like buildroot-x.y.z.  If so,
-     rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
-
-  4. cd <some-dir>/buildroot
-
-  5. cp configs/cortexm3-defconfig-4.3.3 .config
-
-  6. make oldconfig
-
-  7. make
-
-  8. Edit setenv.h, if necessary, so that the PATH variable includes
-     the path to the newly built binaries.
-
-  See the file configs/README.txt in the buildroot source tree.  That has more
-  detailed PLUS some special instructions that you will need to follow if you are
-  building a Cortex-M3 toolchain for Cygwin under Windows.
-
-DFU and JTAG
-============
-
-  Enbling Support for the DFU Bootloader
-  --------------------------------------
-  The linker files in these projects can be configured to indicate that you
-  will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU)
-  loader or via some JTAG emulator.  You can specify the DFU bootloader by
-  adding the following line:
-
-    CONFIG_STM32_DFU=y
-
-  to your .config file. Most of the configurations in this directory are set
-  up to use the DFU loader.
-
-  If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning
-  of FLASH (0x08000000) but will be offset to 0x08003000.  This offset is needed
-  to make space for the DFU loader and 0x08003000 is where the DFU loader expects
-  to find new applications at boot time.  If you need to change that origin for some
-  other bootloader, you will need to edit the file(s) ld.script.dfu for each
-  configuration.
-
-  The DFU SE PC-based software is available from the STMicro website,
-  http://www.st.com.  General usage instructions:
-  
-  1. Convert the NuttX Intel Hex file (nuttx.ihx) into a special DFU
-     file (nuttx.dfu)... see below for details.
-  2. Connect the STM3210E-EVAL board to your computer using a USB
-     cable.
-  3. Start the DFU loader on the STM3210E-EVAL board.  You do this by
-     resetting the board while holding the "Key" button.  Windows should
-     recognize that the DFU loader has been installed.
-  3. Run the DFU SE program to load nuttx.dfu into FLASH.
-
-  What if the DFU loader is not in FLASH?  The loader code is available
-  inside of the Demo dirctory of the USBLib ZIP file that can be downloaded
-  from the STMicro Website.  You can build it using RIDE (or other toolchains);
-  you will need a JTAG emulator to burn it into FLASH the first time.
-
-  In order to use STMicro's built-in DFU loader, you will have to get
-  the NuttX binary into a special format with a .dfu extension.  The
-  DFU SE PC_based software installation includes a file "DFU File Manager"
-  conversion program that a file in Intel Hex format to the special DFU
-  format.  When you successfully build NuttX, you will find a file called
-  nutt.ihx in the top-level directory.  That is the file that you should
-  provide to the DFU File Manager.  You will need to rename it to nuttx.hex
-  in order to find it with the DFU File Manager. You will end up with
-  a file called nuttx.dfu that you can use with the STMicro DFU SE program.
-
-  Enabling JTAG
-  -------------
-  If you are not using the DFU, then you will probably also need to enable
-  JTAG support.  By default, all JTAG support is disabled but there NuttX
-  configuration options to enable JTAG in various different ways.
-
-  These configurations effect the setting of the SWJ_CFG[2:0] bits in the AFIO
-  MAPR register.  These bits are used to configure the SWJ and trace alternate function I/Os. The SWJ (SerialWire JTAG) supports JTAG or SWD access to the
-  Cortex debug port.  The default state in this port is for all JTAG support
-  to be disable.
-
-  CONFIG_STM32_JTAG_FULL_ENABLE - sets SWJ_CFG[2:0] to 000 which enables full
-    SWJ (JTAG-DP + SW-DP)
-
-  CONFIG_STM32_JTAG_NOJNTRST_ENABLE - sets SWJ_CFG[2:0] to 001 which enable
-    full SWJ (JTAG-DP + SW-DP) but without JNTRST.
-
-  CONFIG_STM32_JTAG_SW_ENABLE - sets SWJ_CFG[2:0] to 010 which would set JTAG-DP
-    disabled and SW-DP enabled
-
-  The default setting (none of the above defined) is SWJ_CFG[2:0] set to 100
-  which disable JTAG-DP and SW-DP.
-
-OpenOCD
-=======
-
-I have also used OpenOCD with the STM3210E-EVAL.  In this case, I used
-the Olimex USB ARM OCD.  See the script in configs/stm3210e-eval/tools/oocd.sh
-for more information.  Using the script:
-
-1) Start the OpenOCD GDB server
-
-   cd <nuttx-build-directory>
-   configs/stm3210e-eval/tools/oocd.sh $PWD
-
-2) Load Nuttx
-
-   cd <nuttx-built-directory>
-   arm-none-eabi-gdb nuttx
-   gdb> target remote localhost:3333
-   gdb> mon reset
-   gdb> mon halt
-   gdb> load nuttx
-
-3) Running NuttX
-
-   gdb> mon reset
-   gdb> c
-
-LEDs
-====
-
-The STM3210E-EVAL board has four LEDs labeled LD1, LD2, LD3 and LD4 on the
-board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
-defined.  In that case, the usage by the board port is defined in
-include/board.h and src/up_leds.c. The LEDs are used to encode OS-related
-events as follows:
-
-    SYMBOL           Meaning                 LED1* LED2  LED3  LED4
-    ---------------- ----------------------- ----- ----- ----- -----
-    LED_STARTED      NuttX has been started  ON    OFF   OFF   OFF
-    LED_HEAPALLOCATE Heap has been allocated OFF   ON    OFF   OFF
-    LED_IRQSENABLED  Interrupts enabled      ON    ON    OFF   OFF
-    LED_STACKCREATED Idle stack created      OFF   OFF   ON    OFF
-    LED_INIRQ        In an interrupt**       ON    N/C   N/C   OFF
-    LED_SIGNAL       In a signal handler***  N/C   ON    N/C   OFF
-    LED_ASSERTION    An assertion failed     ON    ON    N/C   OFF
-    LED_PANIC        The system has crashed  N/C   N/C   N/C   ON
-    LED_IDLE         STM32 is is sleep mode  (Optional, not used)
-
-  * If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot
-    and these LEDs will give you some indication of where the failure was
- ** The normal state is LED3 ON and LED1 faintly glowing.  This faint glow
-    is because of timer interupts that result in the LED being illuminated
-    on a small proportion of the time.
-*** LED2 may also flicker normally if signals are processed.
-
-Temperature Sensor
-==================
-
-Support for the on-board LM-75 temperature sensor is available.  This supported
-has been verified, but has not been included in any of the available the
-configurations.  To set up the temperature sensor, add the following to the
-NuttX configuration file
-
-  CONFIG_I2C=y
-  CONFIG_I2C_LM75=y
-
-Then you can implement logic like the following to use the temperature sensor:
-
-  #include <nuttx/sensors/lm75.h>
-  #include <arch/board/board.h>
-
-  ret =  stm32_lm75initialize("/dev/temp");       /* Register the temperature sensor */
-  fd = open("/dev/temp", O_RDONLY);               /* Open the temperature sensor device */
-  ret = ioctl(fd, SNIOC_FAHRENHEIT, 0);           /* Select Fahrenheit */
-  bytesread = read(fd, buffer, 8*sizeof(b16_t));  /* Read temperature samples */
-
-More complex temperature sensor operations are also available.  See the IOCTAL
-commands enumerated in include/nuttx/sensors/lm75.h.  Also read the descriptions
-of the stm32_lm75initialize() and stm32_lm75attach() interfaces in the
-arch/board/board.h file (sames as configs/stm3210e-eval/include/board.h).
-
-RTC
-===
-
-  The STM32 RTC may configured using the following settings.
-
-    CONFIG_RTC - Enables general support for a hardware RTC. Specific
-      architectures may require other specific settings.
-    CONFIG_RTC_HIRES - The typical RTC keeps time to resolution of 1
-      second, usually supporting a 32-bit time_t value.  In this case,
-      the RTC is used to &quot;seed&quot; the normal NuttX timer and the
-      NuttX timer provides for higher resoution time. If CONFIG_RTC_HIRES
-      is enabled in the NuttX configuration, then the RTC provides higher
-      resolution time and completely replaces the system timer for purpose of
-      date and time.
-      CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the
-      frequency of the high resolution RTC must be provided.  If CONFIG_RTC_HIRES
-      is not defined, CONFIG_RTC_FREQUENCY is assumed to be one.
-    CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm. 
-      A callback function will be executed when the alarm goes off
-
-  In hi-res mode, the STM32 RTC operates only at 16384Hz.  Overflow interrupts
-  are handled when the 32-bit RTC counter overflows every 3 days and 43 minutes.
-  A BKP register is incremented on each overflow interrupt creating, effectively,
-  a 48-bit RTC counter.
-
-  In the lo-res mode, the RTC operates at 1Hz.  Overflow interrupts are not handled
-  (because the next overflow is not expected until the year 2106.
-
-   WARNING:  Overflow interrupts are lost whenever the STM32 is powered down.  The
-   overflow interrupt may be lost even if the STM32 is powered down only momentarily.
-   Therefore hi-res solution is only useful in systems where the power is always on.
-
-STM3210E-EVAL-specific Configuration Options
-============================================
-
-    CONFIG_ARCH - Identifies the arch/ subdirectory.  This should
-       be set to:
-
-       CONFIG_ARCH=arm
-
-    CONFIG_ARCH_family - For use in C code:
-
-       CONFIG_ARCH_ARM=y
-
-    CONFIG_ARCH_architecture - For use in C code:
-
-       CONFIG_ARCH_CORTEXM3=y
-
-    CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
-
-       CONFIG_ARCH_CHIP=stm32
-
-    CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
-       chip:
-
-       CONFIG_ARCH_CHIP_STM32F103ZET6
-
-    CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG - Enables special STM32 clock
-       configuration features.
-
-       CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG=n
- 
-    CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
-       hence, the board that supports the particular chip or SoC.
-
-       CONFIG_ARCH_BOARD=stm3210e_eval (for the STM3210E-EVAL development board)
-
-    CONFIG_ARCH_BOARD_name - For use in C code
-
-       CONFIG_ARCH_BOARD_STM3210E_EVAL=y
-
-    CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
-       of delay loops
-
-    CONFIG_ENDIAN_BIG - define if big endian (default is little
-       endian)
-
-    CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case):
-
-       CONFIG_DRAM_SIZE=0x00010000 (64Kb)
-
-    CONFIG_DRAM_START - The start address of installed DRAM
-
-       CONFIG_DRAM_START=0x20000000
-
-    CONFIG_DRAM_END - Last address+1 of installed RAM
-
-       CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
-
-    CONFIG_ARCH_IRQPRIO - The STM32F103Z supports interrupt prioritization
-
-       CONFIG_ARCH_IRQPRIO=y
-
-    CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
-       have LEDs
-
-    CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
-       stack. If defined, this symbol is the size of the interrupt
-        stack in bytes.  If not defined, the user task stacks will be
-      used during interrupt handling.
-
-    CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
-
-    CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
-
-    CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
-       cause a 100 second delay during boot-up.  This 100 second delay
-       serves no purpose other than it allows you to calibratre
-       CONFIG_ARCH_LOOPSPERMSEC.  You simply use a stop watch to measure
-       the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
-       the delay actually is 100 seconds.
-
-  Individual subsystems can be enabled:
-    AHB
-    ---
-    CONFIG_STM32_DMA1
-    CONFIG_STM32_DMA2
-    CONFIG_STM32_CRC
-    CONFIG_STM32_FSMC
-    CONFIG_STM32_SDIO
-
-    APB1
-    ----
-    CONFIG_STM32_TIM2
-    CONFIG_STM32_TIM3
-    CONFIG_STM32_TIM4
-    CONFIG_STM32_TIM5
-    CONFIG_STM32_TIM6
-    CONFIG_STM32_TIM7
-    CONFIG_STM32_WWDG
-    CONFIG_STM32_SPI2
-    CONFIG_STM32_SPI4
-    CONFIG_STM32_USART2
-    CONFIG_STM32_USART3
-    CONFIG_STM32_UART4
-    CONFIG_STM32_UART5
-    CONFIG_STM32_I2C1
-    CONFIG_STM32_I2C2
-    CONFIG_STM32_USB
-    CONFIG_STM32_CAN
-    CONFIG_STM32_BKP
-    CONFIG_STM32_PWR
-    CONFIG_STM32_DAC1
-    CONFIG_STM32_DAC2
-    CONFIG_STM32_USB
-
-    APB2
-    ----
-    CONFIG_STM32_ADC1
-    CONFIG_STM32_ADC2
-    CONFIG_STM32_TIM1
-    CONFIG_STM32_SPI1
-    CONFIG_STM32_TIM8
-    CONFIG_STM32_USART1
-    CONFIG_STM32_ADC3
-
-  Timer and I2C devices may need to the following to force power to be applied
-  unconditionally at power up.  (Otherwise, the device is powered when it is
-  initialized).
-
-    CONFIG_STM32_FORCEPOWER
-
-  Timer devices may be used for different purposes.  One special purpose is
-  to generate modulated outputs for such things as motor control.  If CONFIG_STM32_TIMn
-  is defined (as above) then the following may also be defined to indicate that
-  the timer is intended to be used for pulsed output modulation, ADC conversion,
-  or DAC conversion.  Note that ADC/DAC require two definition:  Not only do you have
-  to assign the timer (n) for used by the ADC or DAC, but then you also have to
-  configure which ADC or DAC (m) it is assigned to.
-
-    CONFIG_STM32_TIMn_PWM   Reserve timer n for use by PWM, n=1,..,8
-    CONFIG_STM32_TIMn_ADC   Reserve timer n for use by ADC, n=1,..,8
-    CONFIG_STM32_TIMn_ADCm  Reserve timer n to trigger ADCm, n=1,..,8, m=1,..,3
-    CONFIG_STM32_TIMn_DAC   Reserve timer n for use by DAC, n=1,..,8
-    CONFIG_STM32_TIMn_DACm  Reserve timer n to trigger DACm, n=1,..,8, m=1,..,2
-
-  For each timer that is enabled for PWM usage, we need the following additional
-  configuration settings:
-
-    CONFIG_STM32_TIMx_CHANNEL - Specifies the timer output channel {1,..,4}
- 
-  NOTE: The STM32 timers are each capable of generating different signals on
-  each of the four channels with different duty cycles.  That capability is
-  not supported by this driver:  Only one output channel per timer.
-
-  Alternate pin mappings (should not be used with the STM3210E-EVAL board):
-
-    CONFIG_STM32_TIM1_FULL_REMAP
-    CONFIG_STM32_TIM1_PARTIAL_REMAP
-    CONFIG_STM32_TIM2_FULL_REMAP
-    CONFIG_STM32_TIM2_PARTIAL_REMAP_1
-    CONFIG_STM32_TIM2_PARTIAL_REMAP_2
-    CONFIG_STM32_TIM3_FULL_REMAP
-    CONFIG_STM32_TIM3_PARTIAL_REMAP
-    CONFIG_STM32_TIM4_REMAP
-    CONFIG_STM32_USART1_REMAP
-    CONFIG_STM32_USART2_REMAP
-    CONFIG_STM32_USART3_FULL_REMAP
-    CONFIG_STM32_USART3_PARTIAL_REMAP
-    CONFIG_STM32_SPI1_REMAP
-    CONFIG_STM32_SPI3_REMAP
-    CONFIG_STM32_I2C1_REMAP
-    CONFIG_STM32_CAN1_FULL_REMAP
-    CONFIG_STM32_CAN1_PARTIAL_REMAP
-    CONFIG_STM32_CAN2_REMAP
-
-  JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
-    CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
-    CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
-      but without JNTRST.
-    CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
-
-  STM32F103Z specific device driver settings
-
-    CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=1,2,3) or UART
-           m (m=4,5) for the console and ttys0 (default is the USART1).
-    CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
-       This specific the size of the receive buffer
-    CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
-       being sent.  This specific the size of the transmit buffer
-    CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART.  Must be
-    CONFIG_U[S]ARTn_BITS - The number of bits.  Must be either 7 or 8.
-    CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
-    CONFIG_U[S]ARTn_2STOP - Two stop bits
-
-    CONFIG_STM32_SPI_INTERRUPTS - Select to enable interrupt driven SPI
-      support. Non-interrupt-driven, poll-waiting is recommended if the
-      interrupt rate would be to high in the interrupt driven case.
-    CONFIG_STM32_SPI_DMA - Use DMA to improve SPI transfer performance.
-      Cannot be used with CONFIG_STM32_SPI_INTERRUPT.
-
-    CONFIG_SDIO_DMA - Support DMA data transfers.  Requires CONFIG_STM32_SDIO
-      and CONFIG_STM32_DMA2.
-    CONFIG_SDIO_PRI - Select SDIO interrupt prority.  Default: 128
-    CONFIG_SDIO_DMAPRIO - Select SDIO DMA interrupt priority. 
-      Default:  Medium
-    CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode.  Default:
-      4-bit transfer mode.
-
-  STM3210E-EVAL CAN Configuration
-
-    CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
-      CONFIG_STM32_CAN2 must also be defined)
-    CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
-      Standard 11-bit IDs.
-    CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
-      Default: 8
-    CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
-      Default: 4
-    CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
-      mode for testing. The STM32 CAN driver does support loopback mode.
-    CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
-    CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
-    CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
-    CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
-    CONFIG_CAN_REGDEBUG - If CONFIG_DEBUG is set, this will generate an
-      dump of all CAN registers.
-
-  STM3210E-EVAL LCD Hardware Configuration
-
-    CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"
-      support. Default is this 320x240 "landscape" orientation
-      (this setting is informative only... not used).
-    CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait"
-      orientation support.  In this orientation, the STM3210E-EVAL's
-      LCD ribbon cable is at the bottom of the display. Default is
-      320x240 "landscape" orientation.
-    CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse
-      portrait" orientation support.  In this orientation, the
-      STM3210E-EVAL's LCD ribbon cable is at the top of the display.
-      Default is 320x240 "landscape" orientation.
-    CONFIG_LCD_BACKLIGHT - Define to support a backlight.
-    CONFIG_LCD_PWM - If CONFIG_STM32_TIM1 is also defined, then an
-      adjustable backlight will be provided using timer 1 to generate
-      various pulse widthes.  The granularity of the settings is
-      determined by CONFIG_LCD_MAXPOWER.  If CONFIG_LCD_PWM (or
-      CONFIG_STM32_TIM1) is not defined, then a simple on/off backlight
-      is provided.
-    CONFIG_LCD_RDSHIFT - When reading 16-bit gram data, there appears
-      to be a shift in the returned data.  This value fixes the offset.
-      Default 5.
-
-    The LCD driver dynamically selects the LCD based on the reported LCD
-    ID value.  However, code size can be reduced by suppressing support for
-    individual LCDs using:
-
-    CONFIG_STM32_AM240320_DISABLE
-    CONFIG_STM32_SPFD5408B_DISABLE
-    CONFIG_STM32_R61580_DISABLE
-
-Configurations
-==============
-
-Each STM3210E-EVAL configuration is maintained in a sudirectory and
-can be selected as follow:
-
-    cd tools
-    ./configure.sh stm3210e-eval/<subdir>
-    cd -
-    . ./setenv.sh
-
-Where <subdir> is one of the following:
-
-  buttons:
-  --------
-
-    Uses apps/examples/buttons to exercise STM3210E-EVAL buttons and
-    button interrupts.
- 
-    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
-
-  composite
-  ---------
-
-    This configuration exercises a composite USB interface consisting
-    of a CDC/ACM device and a USB mass storage device.  This configuration
-    uses apps/examples/composite.
-
-  nsh and nsh2:
-  ------------
-    Configure the NuttShell (nsh) located at examples/nsh.
-
-    Differences between the two NSH configurations:
-
-    =========== ======================= ================================
-                nsh                     nsh2
-    =========== ======================= ================================
-    Toolchain:  NuttX buildroot for     Codesourcery for Windows (1)
-                Linux or Cygwin (1,2)
-    ----------- ----------------------- --------------------------------
-    Loader:     DfuSe                   DfuSe
-    ----------- ----------------------- --------------------------------
-    Serial      Debug output: USART1    Debug output: USART1
-    Console:    NSH output:   USART1    NSH output:   USART1 (3)
-    ----------- ----------------------- --------------------------------
-    microSD     Yes                     Yes
-    Support
-    ----------- ----------------------- --------------------------------
-    FAT FS      CONFIG_FAT_LCNAME=y     CONFIG_FAT_LCNAME=y
-    Config      CONFIG_FAT_LFN=n        CONFIG_FAT_LFN=y (4)
-    ----------- ----------------------- --------------------------------
-    Support for No                      Yes
-    Built-in
-    Apps
-    ----------- ----------------------- --------------------------------
-    Built-in    None                    apps/examples/nx
-    Apps                                apps/examples/nxhello
-                                        apps/examples/usbstorage (5)
-    =========== ======================= ================================
-
-    (1) You will probably need to modify nsh/setenv.sh or nsh2/setenv.sh
-        to set up the correct PATH variable for whichever toolchain you
-        may use.
-    (2) Since DfuSe is assumed, this configuration may only work under
-        Cygwin without modification.
-    (3) When any other device other than /dev/console is used for a user
-        interface, (1) linefeeds (\n) will not be expanded to carriage return
-        / linefeeds \r\n). You will need to configure your terminal program
-        to account for this. And (2) input is not automatically echoed so
-        you will have to turn local echo on.
-    (4) Microsoft holds several patents related to the design of
-        long file names in the FAT file system.  Please refer to the
-        details in the top-level COPYING file.  Please do not use FAT
-        long file name unless you are familiar with these patent issues.
-    (5) When built as an NSH add-on command (CONFIG_EXAMPLES_USBMSC_BUILTIN=y),
-        Caution should be used to assure that the SD drive is not in use when
-        the USB storage device is configured.  Specifically, the SD driver
-        should be unmounted like:
-
-        nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Card is mounted in NSH
-        ...
-        nsh> umount /mnd/sdcard                    # Unmount before connecting USB!!!
-        nsh> msconn                                # Connect the USB storage device
-        ...
-        nsh> msdis                                 # Disconnect USB storate device
-        nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Restore the mount
-
-        Failure to do this could result in corruption of the SD card format.
-
-  nx:
-  ---
-    An example using the NuttX graphics system (NX).  This example
-    focuses on general window controls, movement, mouse and keyboard
-    input.
-
-    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
-    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
-
-  nxlines:
-  ------
-    Another example using the NuttX graphics system (NX).   This
-    example focuses on placing lines on the background in various
-    orientations.
-
-    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
-    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
-
-  nxtext:
-  ------
-    Another example using the NuttX graphics system (NX).   This
-    example focuses on placing text on the background while pop-up
-    windows occur.  Text should continue to update normally with
-    or without the popup windows present.
-
-    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
-    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
-
-    NOTE:  When I tried building this example with the CodeSourcery
-    tools, I got a hardfault inside of its libgcc.  I haven't
-    retested since then, but beware if you choose to change the
-    toolchain.
-
-  ostest:
-  ------
-    This configuration directory, performs a simple OS test using
-    examples/ostest.  By default, this project assumes that you are
-    using the DFU bootloader.
-
-    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
-
-  RIDE
-  ----
-    This configuration builds a trivial bring-up binary.  It is
-    useful only because it words with the RIDE7 IDE and R-Link debugger.
-
-    CONFIG_STM32_RAISONANCE=y     : Raisonance RIDE7 under Windows
-
-  usbserial:
-  ---------
-    This configuration directory exercises the USB serial class
-    driver at examples/usbserial.  See examples/README.txt for
-    more information.
-
-    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
-
-    USB debug output can be enabled as by changing the following
-    settings in the configuration file:
-
-    -CONFIG_DEBUG=n
-    -CONFIG_DEBUG_VERBOSE=n
-    -CONFIG_DEBUG_USB=n
-    +CONFIG_DEBUG=y
-    +CONFIG_DEBUG_VERBOSE=y
-    +CONFIG_DEBUG_USB=y
-
-    -CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=n
-    -CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=n
-    -CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n
-    -CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n
-    -CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n
-    +CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=y
-    +CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=y
-    +CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=y
-    +CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=y
-    +CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=y
-
-    By default, the usbserial example uses the Prolific PL2303
-    serial/USB converter emulation.  The example can be modified
-    to use the CDC/ACM serial class by making the following changes
-    to the configuration file:
-
-    -CONFIG_PL2303=y
-    +CONFIG_PL2303=n
-
-    -CONFIG_CDCACM=n
-    +CONFIG_CDCACM=y
-
-    The example can also be converted to use the alternative
-    USB serial example at apps/examples/usbterm by changing the 
-    following:
-
-    -CONFIGURED_APPS += examples/usbserial
-    +CONFIGURED_APPS += examples/usbterm
-
-    In either the original appconfig file (before configuring)
-    or in the final apps/.config file (after configuring).
-
-  usbstorage:
-  ----------
-    This configuration directory exercises the USB mass storage
-    class driver at examples/usbstorage.  See examples/README.txt for
-    more information.
-
-    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
-
diff --git a/nuttx-configs/px4io-v1/common/Make.defs b/nuttx-configs/px4io-v1/common/Make.defs
deleted file mode 100644
index 74b183067..000000000
--- a/nuttx-configs/px4io-v1/common/Make.defs
+++ /dev/null
@@ -1,171 +0,0 @@
-############################################################################
-# configs/px4fmu/common/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Generic Make.defs for the PX4FMU
-# Do not specify/use this file directly - it is included by config-specific
-# Make.defs in the per-config directories.
-#
-
-include ${TOPDIR}/tools/Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
-
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -O3
-ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
-			   -mthumb \
-			   -march=armv7-m
-
-# use our linker script
-LDSCRIPT		 = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}"
-else
-  ifeq ($(PX4_WINTOOL),y)
-    # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
-  else
-    # Linux/Cygwin-native toolchain 
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
-  endif
-endif
-
-# tool versions
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
-
-# optimisation flags
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
-
-ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
-endif
-
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
-ARCHDEFINES		 = 
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# this seems to be the only way to add linker flags
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# produce partially-linked $1 from files in $2
-define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =
-
diff --git a/nuttx-configs/px4io-v1/common/setenv.sh b/nuttx-configs/px4io-v1/common/setenv.sh
deleted file mode 100755
index ff9a4bf8a..000000000
--- a/nuttx-configs/px4io-v1/common/setenv.sh
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/bin/bash
-# configs/stm3210e-eval/dfu/setenv.sh
-#
-#   Copyright (C) 2009 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-if [ "$(basename $0)" = "setenv.sh" ] ; then
-  echo "You must source this script, not run it!" 1>&2
-  exit 1
-fi
-
-if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
-
-WD=`pwd`
-export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
-export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
-export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
-
-echo "PATH : ${PATH}"
diff --git a/nuttx-configs/px4io-v1/include/drv_i2c_device.h b/nuttx-configs/px4io-v1/include/drv_i2c_device.h
deleted file mode 100644
index 02582bc09..000000000
--- a/nuttx-configs/px4io-v1/include/drv_i2c_device.h
+++ /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.
- *
- ****************************************************************************/
-
- /**
-  * @file A simple, polled I2C slave-mode driver.
-  *
-  * The master writes to and reads from a byte buffer, which the caller 
-  * can update inbetween calls to the FSM.
-  */
-
-extern void	i2c_fsm_init(uint8_t *buffer, size_t buffer_size);
-extern bool	i2c_fsm(void);
diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs
index c7f6effd9..712631f47 100644
--- a/nuttx-configs/px4io-v1/nsh/Make.defs
+++ b/nuttx-configs/px4io-v1/nsh/Make.defs
@@ -1,3 +1,166 @@
+############################################################################
+# configs/px4io-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
 include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHDEFINES		 = 
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
 
-include $(TOPDIR)/configs/px4io-v1/common/Make.defs
diff --git a/nuttx-configs/px4io-v1/common/ld.script b/nuttx-configs/px4io-v1/scripts/ld.script
index 69c2f9cb2..69c2f9cb2 100755
--- a/nuttx-configs/px4io-v1/common/ld.script
+++ b/nuttx-configs/px4io-v1/scripts/ld.script
diff --git a/nuttx-configs/px4io-v1/src/README.txt b/nuttx-configs/px4io-v1/src/README.txt
deleted file mode 100644
index d4eda82fd..000000000
--- a/nuttx-configs/px4io-v1/src/README.txt
+++ /dev/null
@@ -1 +0,0 @@
-This directory contains drivers unique to the STMicro STM3210E-EVAL development board.
diff --git a/nuttx-configs/px4io-v1/src/drv_i2c_device.c b/nuttx-configs/px4io-v1/src/drv_i2c_device.c
deleted file mode 100644
index 1f5931ae5..000000000
--- a/nuttx-configs/px4io-v1/src/drv_i2c_device.c
+++ /dev/null
@@ -1,618 +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 A simple, polled I2C slave-mode driver.
-  *
-  * The master writes to and reads from a byte buffer, which the caller 
-  * can update inbetween calls to the FSM.
-  */
-
-#include <stdbool.h>
-
-#include "stm32_i2c.h"
-
-#include <string.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)
-
-/*
- * "event" values (cr2 << 16 | cr1) as described in the ST DriverLib
- */
-#define  I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED          ((uint32_t)0x00020002) /* BUSY and ADDR flags */
-#define  I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED       ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */
-#define  I2C_EVENT_SLAVE_BYTE_RECEIVED                     ((uint32_t)0x00020040) /* BUSY and RXNE flags */
-#define  I2C_EVENT_SLAVE_STOP_DETECTED                     ((uint32_t)0x00000010) /* STOPF flag */
-#define  I2C_EVENT_SLAVE_BYTE_TRANSMITTED                  ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */
-#define  I2C_EVENT_SLAVE_BYTE_TRANSMITTING                 ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */
-#define  I2C_EVENT_SLAVE_ACK_FAILURE                       ((uint32_t)0x00000400) /* AF flag */
-
-/**
- * States implemented by the I2C FSM.
- */
-enum fsm_state {
-	BAD_PHASE,	 // must be zero, default exit on a bad state transition
-
-	WAIT_FOR_MASTER,
-
-	/* write from master */
-	WAIT_FOR_COMMAND,
-	RECEIVE_COMMAND,
-	RECEIVE_DATA,
-	HANDLE_COMMAND,
-
-	/* read from master */
-	WAIT_TO_SEND,
-	SEND_STATUS,
-	SEND_DATA,
-
-	NUM_STATES
-};
-
-/**
- * Events recognised by the I2C FSM.
- */
-enum fsm_event {
-	/* automatic transition */
-	AUTO,
-
-	/* write from master */
-	ADDRESSED_WRITE,
-	BYTE_RECEIVED,
-	STOP_RECEIVED,
-
-	/* read from master */
-	ADDRESSED_READ,
-	BYTE_SENDABLE,
-	ACK_FAILED,
-
-	NUM_EVENTS
-};
-
-/**
- * Context for the I2C FSM
- */
-static struct fsm_context {
-	enum fsm_state		state;
-
-	/* XXX want to eliminate these */
-	uint8_t			command;
-	uint8_t			status;
-
-	uint8_t			*data_ptr;
-	uint32_t		data_count;
-
-	size_t			buffer_size;
-	uint8_t			*buffer;
-} context;
-
-/**
- * Structure defining one FSM state and its outgoing transitions.
- */
-struct fsm_transition {
-		void (*handler)(void);
-		enum fsm_state next_state[NUM_EVENTS];
-};
-
-static bool	i2c_command_received;
-
-static void	fsm_event(enum fsm_event event);
-
-static void	go_bad(void);
-static void	go_wait_master(void);
-
-static void	go_wait_command(void);
-static void	go_receive_command(void);
-static void	go_receive_data(void);
-static void	go_handle_command(void);
-
-static void	go_wait_send(void);
-static void	go_send_status(void);
-static void	go_send_buffer(void);
-
-/**
- * The FSM state graph.
- */
-static const struct fsm_transition fsm[NUM_STATES] = {
-		[BAD_PHASE] = {
-				.handler = go_bad,
-				.next_state = {
-						[AUTO] = WAIT_FOR_MASTER,
-				},
-		},
-
-		[WAIT_FOR_MASTER] = {
-				.handler = go_wait_master,
-				.next_state = {
-						[ADDRESSED_WRITE] = WAIT_FOR_COMMAND,
-						[ADDRESSED_READ] = WAIT_TO_SEND,
-				},
-		},
-
-		/* write from master*/
-		[WAIT_FOR_COMMAND] = {
-				.handler = go_wait_command,
-				.next_state = {
-						[BYTE_RECEIVED] = RECEIVE_COMMAND,
-						[STOP_RECEIVED] = WAIT_FOR_MASTER,
-				},
-		},
-		[RECEIVE_COMMAND] = {
-				.handler = go_receive_command,
-				.next_state = {
-						[BYTE_RECEIVED] = RECEIVE_DATA,
-						[STOP_RECEIVED] = HANDLE_COMMAND,
-				},
-		},
-		[RECEIVE_DATA] = {
-				.handler = go_receive_data,
-				.next_state = {
-						[BYTE_RECEIVED] = RECEIVE_DATA,
-						[STOP_RECEIVED] = HANDLE_COMMAND,
-				},
-		},
-		[HANDLE_COMMAND] = {
-				.handler = go_handle_command,
-				.next_state = {
-						[AUTO] = WAIT_FOR_MASTER,
-				},
-		},
-
-		/* buffer send */
-		[WAIT_TO_SEND] = {
-			.handler = go_wait_send,
-			.next_state = {
-					[BYTE_SENDABLE] = SEND_STATUS,
-			},
-		},
-		[SEND_STATUS] = {
-				.handler = go_send_status,
-				.next_state = {
-						[BYTE_SENDABLE] = SEND_DATA,
-						[ACK_FAILED] = WAIT_FOR_MASTER,
-				},
-		},
-		[SEND_DATA] = {
-				.handler = go_send_buffer,
-				.next_state = {
-						[BYTE_SENDABLE] = SEND_DATA,
-						[ACK_FAILED] = WAIT_FOR_MASTER,
-				},
-		},
-};
-
-
-/* debug support */
-#if 1
-struct fsm_logentry {
-	char		kind;
-	uint32_t	code;
-};
-
-#define LOG_ENTRIES	32
-static struct fsm_logentry fsm_log[LOG_ENTRIES];
-int	fsm_logptr;
-#define LOG_NEXT(_x)	(((_x) + 1) % LOG_ENTRIES)
-#define LOGx(_kind, _code)		\
-		do {					\
-			fsm_log[fsm_logptr].kind = _kind; \
-			fsm_log[fsm_logptr].code = _code; \
-			fsm_logptr = LOG_NEXT(fsm_logptr); \
-			fsm_log[fsm_logptr].kind = 0; \
-		} while(0)
-
-#define LOG(_kind, _code) \
-		do {\
-			if (fsm_logptr < LOG_ENTRIES) { \
-				fsm_log[fsm_logptr].kind = _kind; \
-				fsm_log[fsm_logptr].code = _code; \
-				fsm_logptr++;\
-			}\
-		}while(0)
-
-#else
-#define LOG(_kind, _code)
-#endif
-
-
-static void i2c_setclock(uint32_t frequency);
-
-/**
- * Initialise I2C
- *
- */
-void
-i2c_fsm_init(uint8_t *buffer, size_t buffer_size)
-{
-	/* save the buffer */
-	context.buffer = buffer;
-	context.buffer_size = buffer_size;
-
-	// initialise the FSM
-	context.status = 0;
-	context.command = 0;
-	context.state = BAD_PHASE;
-	fsm_event(AUTO);
-
-#if 0
-	// 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);
-
-	// set the peripheral clock to match the APB clock
-	rCR2 = STM32_PCLK1_FREQUENCY / 1000000;
-
-	// configure for 100kHz operation
-	i2c_setclock(100000);
-
-	// enable i2c
-	rCR1 = I2C_CR1_PE;
-#endif
-}
-
-/**
- * Run the I2C FSM for some period.
- *
- * @return True if the buffer has been updated by a command.
- */
-bool
-i2c_fsm(void)
-{
-	uint32_t	event;
-	int		idle_iterations = 0;
-
-	for (;;) {
-		// handle bus error states by discarding the current operation
-		if (rSR1 & I2C_SR1_BERR) {
-			context.state = WAIT_FOR_MASTER;
-			rSR1 = ~I2C_SR1_BERR;
-		}
-
-		// we do not anticipate over/underrun errors as clock-stretching is enabled
-
-		// fetch the most recent event
-		event = ((rSR2 << 16) | rSR1) & 0x00ffffff;
-
-		// generate FSM events based on I2C events
-		switch (event) {
-		case I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED:
-			LOG('w', 0);
-			fsm_event(ADDRESSED_WRITE);
-			break;
-
-		case I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED:
-			LOG('r', 0);
-			fsm_event(ADDRESSED_READ);
-			break;
-
-		case I2C_EVENT_SLAVE_BYTE_RECEIVED:
-			LOG('R', 0);
-			fsm_event(BYTE_RECEIVED);
-			break;
-
-		case I2C_EVENT_SLAVE_STOP_DETECTED:
-			LOG('s', 0);
-			fsm_event(STOP_RECEIVED);
-			break;
-
-		case I2C_EVENT_SLAVE_BYTE_TRANSMITTING:
-		//case I2C_EVENT_SLAVE_BYTE_TRANSMITTED:
-			LOG('T', 0);
-			fsm_event(BYTE_SENDABLE);
-			break;
-
-		case I2C_EVENT_SLAVE_ACK_FAILURE:
-			LOG('a', 0);
-			fsm_event(ACK_FAILED);
-			break;
-
-		default:
-			idle_iterations++;
-//			if ((event) && (event != 0x00020000))
-//				LOG('e', event);
-			break;
-		}
-
-		/* if we have just received something, drop out and let the caller handle it */
-		if (i2c_command_received) {
-			i2c_command_received = false;
-			return true;
-		}
-
-		/* if we have done nothing recently, drop out and let the caller have a slice */
-		if (idle_iterations > 1000)
-			return false;
-	}
-}
-
-/**
- * Update the FSM with an event
- *
- * @param event	New event.
- */
-static void
-fsm_event(enum fsm_event event)
-{
-	// move to the next state
-	context.state = fsm[context.state].next_state[event];
-
-	LOG('f', context.state);
-
-	// call the state entry handler
-	if (fsm[context.state].handler) {
-		fsm[context.state].handler();
-	}
-}
-
-static void
-go_bad()
-{
-	LOG('B', 0);
-	fsm_event(AUTO);
-}
-
-/**
- * Wait for the master to address us.
- *
- */
-static void
-go_wait_master()
-{
-	// We currently don't have a command byte.
-	//
-	context.command = '\0';
-
-	// The data pointer starts pointing to the start of the data buffer.
-	//
-	context.data_ptr = context.buffer;
-
-	// The data count is either:
-	// - the size of the data buffer
-	// - some value less than or equal the size of the data buffer during a write or a read
-	//
-	context.data_count = context.buffer_size;
-
-	// (re)enable the peripheral, clear the stop event flag in
-	// case we just finished receiving data
-	rCR1 |= I2C_CR1_PE;
-
-	// clear the ACK failed flag in case we just finished sending data
-	rSR1 = ~I2C_SR1_AF;
-}
-
-/**
- * Prepare to receive a command byte.
- *
- */
-static void
-go_wait_command()
-{
-	// NOP
-}
-
-/**
- * Command byte has been received, save it and prepare to handle the data.
- *
- */
-static void
-go_receive_command()
-{
-
-	// fetch the command byte
-	context.command = (uint8_t)rDR;
-	LOG('c', context.command);
-
-}
-
-/**
- * Receive a data byte.
- *
- */
-static void
-go_receive_data()
-{
-	uint8_t	d;
-
-	// fetch the byte
-	d = (uint8_t)rDR;
-	LOG('d', d);
-
-	// if we have somewhere to put it, do so
-	if (context.data_count) {
-		*context.data_ptr++ = d;
-		context.data_count--;
-	}
-}
-
-/**
- * Handle a command once the host is done sending it to us.
- *
- */
-static void
-go_handle_command()
-{
-	// presume we are happy with the command
-	context.status = 0;
-
-	// make a note that the buffer contains a fresh command
-	i2c_command_received = true;
-
-	// kick along to the next state
-	fsm_event(AUTO);
-}
-
-/**
- * Wait to be able to send the status byte.
- *
- */
-static void
-go_wait_send()
-{
-	// NOP
-}
-
-/**
- * Send the status byte.
- *
- */
-static void
-go_send_status()
-{
-	rDR = context.status;
-	LOG('?', context.status);
-}
-
-/**
- * Send a data or pad byte.
- *
- */
-static void
-go_send_buffer()
-{
-	if (context.data_count) {
-		LOG('D', *context.data_ptr);
-		rDR = *(context.data_ptr++);
-		context.data_count--;
-	} else {
-		LOG('-', 0);
-		rDR = 0xff;
-	}
-}
-
-/* cribbed directly from the NuttX master driver */
-static void 
-i2c_setclock(uint32_t frequency)
-{
-	uint16_t cr1;
-	uint16_t ccr;
-	uint16_t trise;
-	uint16_t freqmhz;
-	uint16_t speed;
-
-	/* Disable the selected I2C peripheral to configure TRISE */
-
-	cr1 = rCR1;
-	rCR1 &= ~I2C_CR1_PE;
-
-	/* Update timing and control registers */
-
-	freqmhz = (uint16_t)(STM32_PCLK1_FREQUENCY / 1000000);
-	ccr = 0;
-
-	/* Configure speed in standard mode */
-
-	if (frequency <= 100000) {
-		/* Standard mode speed calculation */
-
-		speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency << 1));
-
-		/* The CCR fault must be >= 4 */
-
-		if (speed < 4) {
-			/* Set the minimum allowed value */
-
-			speed = 4;  
-		}
-		ccr |= speed;
-
-		/* Set Maximum Rise Time for standard mode */
-
-		trise = freqmhz + 1; 
-				
-	/* Configure speed in fast mode */
-	} else { /* (frequency <= 400000) */
-		/* Fast mode speed calculation with Tlow/Thigh = 16/9 */
-
-#ifdef CONFIG_I2C_DUTY16_9
-	      speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 25));
-
-		/* Set DUTY and fast speed bits */
-
-		ccr |= (I2C_CCR_DUTY|I2C_CCR_FS);
-#else
-		/* Fast mode speed calculation with Tlow/Thigh = 2 */
-
-		speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 3));
-
-		/* Set fast speed bit */
-
-		ccr |= I2C_CCR_FS;
-#endif
-
-		/* Verify that the CCR speed value is nonzero */
-
-		if (speed < 1) {
-	        	/* Set the minimum allowed value */
-
-	        	speed = 1;  
-	        }
-		ccr |= speed;
-
-		/* Set Maximum Rise Time for fast mode */
-
-		trise = (uint16_t)(((freqmhz * 300) / 1000) + 1);  
-	}
-
-	/* Write the new values of the CCR and TRISE registers */
-
-	rCCR = ccr;
-	rTRISE = trise;
-
-	/* Bit 14 of OAR1 must be configured and kept at 1 */
-
-	rOAR1 = I2C_OAR1_ONE);
-
-	/* Re-enable the peripheral (or not) */
-
-	rCR1 = cr1;
-}