Tease the PWM driver out and fix some build issues after cleaning up behind the cpuload pieces.

6 files changed, 2 insertions, 872 deletions

diff --git a/nuttx/configs/px4fmu/include/up_cpuload.h b/nuttx/configs/px4fmu/include/up_cpuload.h
deleted file mode 100644
index b61c5c550..000000000
--- a/nuttx/configs/px4fmu/include/up_cpuload.h
+++ /dev/null
@@ -1,62 +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.
- *
- ****************************************************************************/
-
-#ifndef UP_CPULOAD_H_
-#define UP_CPULOAD_H_
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-#include <nuttx/sched.h>
-
-struct system_load_taskinfo_s {
-	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
-	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
-	uint64_t start_time;         ///< FIRST start time of task
-	FAR struct _TCB *tcb;               ///<
-	bool valid;                  ///< Task is currently active / valid
-};
-
-struct system_load_s {
-	uint64_t start_time;         ///< Global start time of measurements
-	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
-	uint8_t initialized;
-	int total_count;
-	int running_count;
-	int sleeping_count;
-};
-
-void cpuload_initialize_once(void);
-
-#endif
-
-#endif
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index b587b3386..cfd86aac1 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -95,6 +95,7 @@ CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
+CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += px4/fmu
 
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 0768a9d60..f6140fb93 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -43,7 +43,7 @@ AOBJS		= $(ASRCS:.S=$(OBJEXT))
 CSRCS		= up_boot.c up_leds.c up_spi.c \
 		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
-		  up_pwm_servo.c up_usbdev.c
+		  up_usbdev.c
 
 ifeq ($(CONFIG_ADC),y)
 CSRCS		+= up_adc.c
diff --git a/nuttx/configs/px4fmu/src/up_cpuload.c b/nuttx/configs/px4fmu/src/up_cpuload.c
deleted file mode 100644
index bf867ae8b..000000000
--- a/nuttx/configs/px4fmu/src/up_cpuload.c
+++ /dev/null
@@ -1,183 +0,0 @@
-/****************************************************************************
- * configs/px4fmu/src/up_leds.c
- * arch/arm/src/board/up_leds.c
- *
- *   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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <sys/time.h>
-#include <sched.h>
-
-#include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
-#include <arch/board/up_cpuload.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name:
- ****************************************************************************/
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-struct system_load_s system_load;
-
-extern FAR _TCB *sched_gettcb(pid_t pid);
-
-void cpuload_initialize_once(void);
-
-void cpuload_initialize_once()
-{
-//	if (!system_load.initialized)
-//	{
-		system_load.start_time = hrt_absolute_time();
-		int i;
-		for (i = 0; i < CONFIG_MAX_TASKS; i++)
-		{
-			system_load.tasks[i].valid = false;
-		}
-		system_load.total_count = 0;
-
-		uint64_t now = hrt_absolute_time();
-
-		/* initialize idle thread statically */
-		system_load.tasks[0].start_time = now;
-		system_load.tasks[0].total_runtime = 0;
-		system_load.tasks[0].curr_start_time = 0;
-		system_load.tasks[0].tcb = sched_gettcb(0);
-		system_load.tasks[0].valid = true;
-		system_load.total_count++;
-
-		/* initialize init thread statically */
-		system_load.tasks[1].start_time = now;
-		system_load.tasks[1].total_runtime = 0;
-		system_load.tasks[1].curr_start_time = 0;
-		system_load.tasks[1].tcb = sched_gettcb(1);
-		system_load.tasks[1].valid = true;
-		/* count init thread */
-		system_load.total_count++;
-		//	}
-}
-
-void sched_note_start(FAR _TCB *tcb )
-{
-	/* search first free slot */
-	int i;
-	for (i = 1; i < CONFIG_MAX_TASKS; i++)
-	{
-		if (!system_load.tasks[i].valid)
-		{
-			/* slot is available */
-			system_load.tasks[i].start_time = hrt_absolute_time();
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = tcb;
-			system_load.tasks[i].valid = true;
-			system_load.total_count++;
-			break;
-		}
-	}
-}
-
-void sched_note_stop(FAR _TCB *tcb )
-{
-	int i;
-	for (i = 1; i < CONFIG_MAX_TASKS; i++)
-	{
-		if (system_load.tasks[i].tcb->pid == tcb->pid)
-		{
-			/* mark slot as fee */
-			system_load.tasks[i].valid = false;
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = NULL;
-			system_load.total_count--;
-			break;
-		}
-	}
-}
-
-void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
-{
-	uint64_t new_time = hrt_absolute_time();
-
-	/* Kind of inefficient: find both tasks and update times */
-	uint8_t both_found = 0;
-	for (int i = 0; i < CONFIG_MAX_TASKS; i++)
-	{
-		/* Task ending its current scheduling run */
-		if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
-		{
-			//if (system_load.tasks[i].curr_start_time != 0)
-			{
-				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
-			}
-			both_found++;
-		}
-		else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
-		{
-			system_load.tasks[i].curr_start_time = new_time;
-			both_found++;
-		}
-
-		/* Do only iterate as long as needed */
-		if (both_found == 2)
-		{
-			break;
-		}
-	}
-}
-
-#endif /* CONFIG_SCHED_INSTRUMENTATION */
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c
deleted file mode 100644
index 763207d3a..000000000
--- a/nuttx/configs/px4fmu/src/up_nsh.c
+++ /dev/null
@@ -1,280 +0,0 @@
-/****************************************************************************
- * config/px4fmu/src/up_nsh.c
- * arch/arm/src/board/up_nsh.c
- *
- *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
- *
- * 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/spi.h>
-#include <nuttx/i2c.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/arch.h>
-
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-#include "stm32_uart.h"
-
-#include <arch/board/up_hrt.h>
-#include <arch/board/up_cpuload.h>
-#include <arch/board/up_adc.h>
-#include <arch/board/board.h>
-#include <arch/board/drv_led.h>
-#include <arch/board/drv_eeprom.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/* Debug ********************************************************************/
-
-#ifdef CONFIG_CPP_HAVE_VARARGS
-#  ifdef CONFIG_DEBUG
-#    define message(...) lib_lowprintf(__VA_ARGS__)
-#  else
-#    define message(...) printf(__VA_ARGS__)
-#  endif
-#else
-#  ifdef CONFIG_DEBUG
-#    define message lib_lowprintf
-#  else
-#    define message printf
-#  endif
-#endif
-
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization
- *
- ****************************************************************************/
-
-static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi3;
-static struct i2c_dev_s *i2c1;
-static struct i2c_dev_s *i2c2;
-static struct i2c_dev_s *i2c3;
-
-#include <math.h>
-
-#ifdef __cplusplus
-int matherr(struct __exception *e) {
-  return 1;
-}
-#else
-int matherr(struct exception *e) {
-  return 1;
-}
-#endif
-
-int nsh_archinitialize(void)
-{
-  int result;
-
-  /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
-
-  /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
-
-  /* configure the high-resolution time/callout interface */
-#ifdef CONFIG_HRT_TIMER
-  hrt_init();
-#endif
-
-  /* configure CPU load estimation */
-  #ifdef CONFIG_SCHED_INSTRUMENTATION
-  cpuload_initialize_once();
-  #endif
-
-  /* set up the serial DMA polling */
-#ifdef SERIAL_HAVE_DMA
-  {
-    static struct hrt_call serial_dma_call;
-    struct timespec ts;
-
-    /* 
-     * Poll at 1ms intervals for received bytes that have not triggered
-     * a DMA event.
-     */
-    ts.tv_sec = 0;
-    ts.tv_nsec = 1000000;
-
-    hrt_call_every(&serial_dma_call, 
-                   ts_to_abstime(&ts),
-                   ts_to_abstime(&ts),
-                   (hrt_callout)stm32_serial_dma_poll,
-                   NULL);
-  }
-#endif
-
-  message("\r\n");
-
-  up_ledoff(LED_BLUE);
-  up_ledoff(LED_AMBER);
-
-  up_ledon(LED_BLUE);
-
-  /* Configure user-space led driver */
-  px4fmu_led_init();
-
-  /* Configure SPI-based devices */
-
-  spi1 = up_spiinitialize(1);
-  if (!spi1)
-  {
-	  message("[boot] FAILED to initialize SPI port 1\r\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-
-  // Default SPI1 to 1MHz and de-assert the known chip selects.
-  SPI_SETFREQUENCY(spi1, 10000000);
-  SPI_SETBITS(spi1, 8);
-  SPI_SETMODE(spi1, SPIDEV_MODE3);
-  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
-  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-  up_udelay(20);
-
-  message("[boot] Successfully initialized SPI port 1\r\n");
-
-  /* initialize I2C2 bus */
-
-  i2c2 = up_i2cinitialize(2);
-  if (!i2c2) {
-	  message("[boot] FAILED to initialize I2C bus 2\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-
-  /* set I2C2 speed */
-  I2C_SETFREQUENCY(i2c2, 400000);
-
-
-  i2c3 = up_i2cinitialize(3);
-  if (!i2c3) {
-	  message("[boot] FAILED to initialize I2C bus 3\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-
-  /* set I2C3 speed */
-  I2C_SETFREQUENCY(i2c3, 400000);
-
-  /* try to attach, don't fail if device is not responding */
-  (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
-		  FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
-		  FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
-
-#if defined(CONFIG_STM32_SPI3)
-  /* Get the SPI port */
-
-  message("[boot] Initializing SPI port 3\n");
-  spi3 = up_spiinitialize(3);
-  if (!spi3)
-    {
-      message("[boot] FAILED to initialize SPI port 3\n");
-      up_ledon(LED_AMBER);
-      return -ENODEV;
-    }
-  message("[boot] Successfully initialized SPI port 3\n");
-
-  /* Now bind the SPI interface to the MMCSD driver */
-  result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-  if (result != OK)
-  {
-	  message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-	  up_ledon(LED_AMBER);
-	  return -ENODEV;
-  }
-  message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
-#endif /* SPI3 */
-
-  /* initialize I2C1 bus */
-
-  i2c1 = up_i2cinitialize(1);
-  if (!i2c1) {
-    message("[boot] FAILED to initialize I2C bus 1\n");
-    up_ledon(LED_AMBER);
-    return -ENODEV;
-  }
-
-  /* set I2C1 speed */
-  I2C_SETFREQUENCY(i2c1, 400000);
-
-  /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
-
-  /* Get board information if available */
-
-  /* Initialize the user GPIOs */
-  px4fmu_gpio_init();
-
-#ifdef CONFIG_ADC
-  int adc_state = adc_devinit();
-  if (adc_state != OK)
-  {
-    /* Try again */
-    adc_state = adc_devinit();
-    if (adc_state != OK)
-    {
-      /* Give up */
-      message("[boot] FAILED adc_devinit: %d\n", adc_state);
-      return -ENODEV;
-    }
-  }
-#endif
-
-  return OK;
-}
diff --git a/nuttx/configs/px4fmu/src/up_pwm_servo.c b/nuttx/configs/px4fmu/src/up_pwm_servo.c
deleted file mode 100644
index d278da55c..000000000
--- a/nuttx/configs/px4fmu/src/up_pwm_servo.c
+++ /dev/null
@@ -1,346 +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.
- *
- ****************************************************************************/
-
-/*
- * 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 <arch/board/up_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"
-
-/* configuration limits */
-#define PWM_SERVO_MAX_TIMERS	2
-#define PWM_SERVO_MAX_CHANNELS	8
-
-/* default rate (in Hz) of PWM updates */
-static uint32_t	pwm_update_rate = 50;
-
-/*
- * Servo configuration for all of the pins that can be used as
- * PWM outputs on FMU.
- */
-
-/* array of timers dedicated to PWM servo use */
-static const struct pwm_servo_timer {
-	uint32_t	base;
-	uint32_t	clock_register;
-	uint32_t	clock_bit;
-	uint32_t	clock_freq;
-} pwm_timers[] = {
-	{
-		.base = STM32_TIM2_BASE,
-		.clock_register = STM32_RCC_APB1ENR,
-		.clock_bit = RCC_APB1ENR_TIM2EN,
-		.clock_freq = STM32_APB1_TIM2_CLKIN
-	}
-};
-
-/* array of channels in logical order */
-static const struct pwm_servo_channel {
-	uint32_t	gpio;
-	uint8_t		timer_index;
-	uint8_t		timer_channel;
-	servo_position_t default_value;
-} pwm_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_TIM2_CH3OUT,
-		.timer_index = 0,
-		.timer_channel = 3,
-		.default_value = 1000,
-	},
-	{
-		.gpio = GPIO_TIM2_CH4OUT,
-		.timer_index = 0,
-		.timer_channel = 4,
-		.default_value = 1000,
-	}
-};
-
-
-#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)
-{
-	/* 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;
-
-	/* and update at the desired rate */
-	rARR(timer) = (1000000 / pwm_update_rate) - 1;
-
-	/* generate an update event; reloads the counter and all registers */
-	rEGR(timer) = GTIM_EGR_UG;
-
-	/* 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) |= (6 << 4);
-			rCCR1(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 0);
-			break;
-		case 2:
-			rCCMR1(timer) |= (6 << 12);
-			rCCR2(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 4);
-			break;
-		case 3:
-			rCCMR2(timer) |= (6 << 4);
-			rCCR3(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 8);
-			break;
-		case 4:
-			rCCMR2(timer) |= (6 << 12);
-			rCCR4(timer) = pwm_channels[channel].default_value;
-			rCCER(timer) |= (1 << 12);
-			break;
-	}
-}
-
-int
-up_pwm_servo_set(unsigned channel, servo_position_t value)
-{
-	if (channel >= PWM_SERVO_MAX_CHANNELS) {
-		lldbg("pwm_channel_set: bogus channel %u\n", channel);
-		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) {
-		lldbg("pwm_channel_get: bogus channel %u\n", channel);
-		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].gpio == 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;
-}
-
-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].gpio != 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(unsigned rate)
-{
-	if ((rate < 50) || (rate > 400))
-		return -ERANGE;
-
-	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
-		if (pwm_timers[i].base != 0)
-			pwm_timer_set_rate(i, rate);
-	}
-	return OK;
-}
-
-void
-up_pwm_servo_arm(bool armed)
-{
-	/* 
-	 * XXX this is inelgant and in particular will either jam outputs at whatever level
-	 * they happen to be at at the time the timers stop or generate runts.
-	 * The right thing is almost certainly to kill auto-reload on the timers so that 
-	 * they just stop at the end of their count for disable, and to reset/restart them 
-	 * for enable.
-	 */
-
-	/* iterate timers and arm/disarm appropriately */
-	for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
-		if (pwm_timers[i].base != 0)
-			rCR1(i) = armed ? GTIM_CR1_CEN : 0;
-	}
-}