XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue

6 files changed, 12 insertions, 755 deletions

diff --git a/nuttx/configs/px4fmuv2/nsh/appconfig b/nuttx/configs/px4fmuv2/nsh/appconfig
index d945f3d88..0e18aa8ef 100644
--- a/nuttx/configs/px4fmuv2/nsh/appconfig
+++ b/nuttx/configs/px4fmuv2/nsh/appconfig
@@ -41,92 +41,6 @@ CONFIGURED_APPS	+= examples/nsh
 CONFIGURED_APPS += nshlib
 CONFIGURED_APPS += system/readline
 
-# System library - utility functions
-CONFIGURED_APPS += systemlib
-CONFIGURED_APPS += systemlib/mixer
-
-# Math library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += mathlib
-CONFIGURED_APPS += mathlib/CMSIS
-CONFIGURED_APPS += examples/math_demo
-endif
-
-# Control library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS	+= controllib
-CONFIGURED_APPS += examples/control_demo
-CONFIGURED_APPS += examples/kalman_demo
-endif
-
-# System utility commands
-CONFIGURED_APPS += systemcmds/reboot
-CONFIGURED_APPS += systemcmds/perf
-CONFIGURED_APPS += systemcmds/top
-CONFIGURED_APPS += systemcmds/boardinfo
-CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/param
-CONFIGURED_APPS += systemcmds/pwm
-CONFIGURED_APPS += systemcmds/bl_update
-CONFIGURED_APPS += systemcmds/preflight_check
-CONFIGURED_APPS += systemcmds/delay_test
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-# CONFIGURED_APPS += examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/deamon
-# CONFIGURED_APPS += examples/px4_deamon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-# CONFIGURED_APPS += examples/px4_mavlink_debug
-
-# Shared object broker; required by many parts of the system.
-CONFIGURED_APPS += uORB
-
-CONFIGURED_APPS += mavlink
-CONFIGURED_APPS += mavlink_onboard
-CONFIGURED_APPS += commander
-CONFIGURED_APPS += sdlog
-CONFIGURED_APPS += sensors
-
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += multirotor_att_control
-CONFIGURED_APPS += multirotor_pos_control
-CONFIGURED_APPS += fixedwing_att_control
-CONFIGURED_APPS += fixedwing_pos_control
-CONFIGURED_APPS += position_estimator
-CONFIGURED_APPS += attitude_estimator_ekf
-CONFIGURED_APPS += hott_telemetry
-endif
-
-# Hacking tools
-# XXX needs updating for new i2c config
-#CONFIGURED_APPS += systemcmds/i2c
-
-# Communication and Drivers
-CONFIGURED_APPS += drivers/boards/px4fmuv2
-CONFIGURED_APPS	+= drivers/device
-# XXX needs conversion to SPI
-#CONFIGURED_APPS += drivers/ms5611
-# XXX needs conversion to serial
-#CONFIGURED_APPS	+= drivers/px4io
-CONFIGURED_APPS += drivers/stm32
-#CONFIGURED_APPS += drivers/led
-CONFIGURED_APPS += drivers/blinkm
-CONFIGURED_APPS += drivers/stm32/tone_alarm
-CONFIGURED_APPS += drivers/stm32/adc
-#CONFIGURED_APPS += drivers/px4fmu
-CONFIGURED_APPS += drivers/hil
-CONFIGURED_APPS += drivers/gps
-CONFIGURED_APPS += drivers/mb12xx
-
-# Testing stuff
-CONFIGURED_APPS += px4/sensors_bringup
-CONFIGURED_APPS += px4/tests
-
 ifeq ($(CONFIG_CAN),y)
 #CONFIGURED_APPS += examples/can
 endif
diff --git a/nuttx/configs/px4iov2/include/board.h b/nuttx/configs/px4iov2/include/board.h
index b8dc71144..21aacda87 100755
--- a/nuttx/configs/px4iov2/include/board.h
+++ b/nuttx/configs/px4iov2/include/board.h
@@ -100,12 +100,19 @@
  * Some of the USART pins are not available; override the GPIO
  * definitions with an invalid pin configuration.
  */
+#undef GPIO_USART2_CTS
 #define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
 #define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
 #define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
 #define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
 #define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
 #define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
 #define GPIO_USART3_RTS	0xffffffff
 
 /* 
@@ -168,6 +175,10 @@ extern "C" {
  ************************************************************************************/
 
 EXTERN void stm32_boardinitialize(void);
+    
+#if defined(__cplusplus)
+}
+#endif
 
 #endif /* __ASSEMBLY__ */
 #endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx/configs/px4iov2/include/drv_i2c_device.h b/nuttx/configs/px4iov2/include/drv_i2c_device.h
deleted file mode 100644
index 02582bc09..000000000
--- a/nuttx/configs/px4iov2/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/px4iov2/io/appconfig b/nuttx/configs/px4iov2/io/appconfig
index 628607a51..48a41bcdb 100644
--- a/nuttx/configs/px4iov2/io/appconfig
+++ b/nuttx/configs/px4iov2/io/appconfig
@@ -30,11 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-CONFIGURED_APPS += drivers/boards/px4io
-CONFIGURED_APPS += drivers/stm32
-
-CONFIGURED_APPS += px4io
-
-# Mixer library from systemlib
-CONFIGURED_APPS += systemlib/mixer
diff --git a/nuttx/configs/px4iov2/io/defconfig b/nuttx/configs/px4iov2/io/defconfig
index bb937cf4e..c73f0df89 100755
--- a/nuttx/configs/px4iov2/io/defconfig
+++ b/nuttx/configs/px4iov2/io/defconfig
@@ -127,7 +127,7 @@ CONFIG_STM32_WWDG=n
 CONFIG_STM32_SPI2=n
 CONFIG_STM32_USART2=y
 CONFIG_STM32_USART3=y
-CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C1=n
 CONFIG_STM32_I2C2=n
 CONFIG_STM32_BKP=n
 CONFIG_STM32_PWR=n
diff --git a/nuttx/configs/px4iov2/src/drv_i2c_device.c b/nuttx/configs/px4iov2/src/drv_i2c_device.c
deleted file mode 100644
index 1f5931ae5..000000000
--- a/nuttx/configs/px4iov2/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;
-}