Merge branch 'master' of https://github.com/PX4/Firmware into fw_control

9 files changed, 7 insertions, 1043 deletions

diff --git a/nuttx/configs/px4fmu/include/drv_eeprom.h b/nuttx/configs/px4fmu/include/drv_eeprom.h
deleted file mode 100644
index 57589ed84..000000000
--- a/nuttx/configs/px4fmu/include/drv_eeprom.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file drv_eeprom.h
- *
- * Config for the non-MTD EEPROM driver.
- */
-
-/* IMPORTANT: Adjust this number! */
-#define MAX_EEPROMS					2
-
-/* FMU onboard */
-#define FMU_BASEBOARD_EEPROM_ADDRESS			0x57
-#define FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES		128
-#define FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES		8
-#define FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US		3300
-#define FMU_BASEBOARD_EEPROM_BUS_CLOCK			400000    ///< 400 KHz max. clock
-
-/**
- * @brief i2c I2C bus struct
- * @brief device_address The device address as stated in the datasheet, e.g. for a Microchip 24XX128 0x50 with all ID pins tied to GND
- * @brief total_size_bytes The total size in bytes, e.g. 16K = 16000 bytes for the Microchip 24XX128
- * @brief page_size_bytes The size of one page, e.g. 64 bytes for the Microchip 24XX128
- * @brief device_name The device name to register this device to, e.g. /dev/eeprom
- * @brief fail_if_missing Returns error if the EEPROM was not found. This is helpful if the EEPROM might be attached later when the board is running
- */
-extern int
-eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing);
-
diff --git a/nuttx/configs/px4fmu/include/drv_led.h b/nuttx/configs/px4fmu/include/drv_led.h
deleted file mode 100644
index 4b7093346..000000000
--- a/nuttx/configs/px4fmu/include/drv_led.h
+++ /dev/null
@@ -1,51 +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.
- *
- ****************************************************************************/
-
-#include <sys/ioctl.h>
-
-#define _LEDCBASE	0x6800
-#define LEDC(_x)	_IOC(_LEDCBASE, _x)
-
-/* set the LED identified by the argument */
-#define LED_ON	LEDC(1)
-
-/* clear the LED identified by the argument */
-#define LED_OFF	LEDC(2)
-
-///* toggle the LED identified by the argument */
-//#define LED_TOGGLE	LEDC(3)
-
-#define LED_BLUE		  0  /* Led on first port */
-#define LED_AMBER		  1  /* Led on second port */
-
-extern int	px4fmu_led_init(void);
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 67fe69a30..c696407ea 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -52,7 +52,6 @@ CONFIGURED_APPS += systemcmds/top
 CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
 CONFIGURED_APPS += systemcmds/eeprom
-CONFIGURED_APPS += systemcmds/led
 CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/bl_update
 #CONFIGURED_APPS += systemcmds/calibration
@@ -96,6 +95,7 @@ CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
+CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/px4fmu
 
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 13b26b84f..c3d6bf543 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -40,9 +40,7 @@ CFLAGS		+= -I$(TOPDIR)/sched
 ASRCS		= 
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
-CSRCS		= up_leds.c \
-		  drv_led.c drv_eeprom.c 
-
+CSRCS		= empty.c
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 
 SRCS		= $(ASRCS) $(CSRCS)
@@ -69,6 +67,7 @@ libboard$(LIBEXT): $(OBJS)
 	@( for obj in $(OBJS) ; do \
 		$(call ARCHIVE, $@, $${obj}); \
 	done ; )
+	touch $@
 
 .depend: Makefile $(SRCS)
 	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
diff --git a/nuttx/configs/px4fmu/src/drv_eeprom.c b/nuttx/configs/px4fmu/src/drv_eeprom.c
deleted file mode 100644
index c22062ec5..000000000
--- a/nuttx/configs/px4fmu/src/drv_eeprom.c
+++ /dev/null
@@ -1,522 +0,0 @@
-/*
- *   Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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 driver for I2C EEPROMs with 8 bit or 16 bit addressing
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <nuttx/i2c.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_eeprom.h>
-
-/* Split I2C transfers into smaller chunks to make sure to stay within tight timeout limits */
-
-/* check defines */
-#ifndef MAX_EEPROMS
-  #error MAX_EEPROMS number must be defined (1-3)
-#endif
-
-#if (MAX_EEPROMS > 3)
-  #error Currently only a maximum of three EEPROMS is supported, add missing code around here: __FILE__:__LINE__
-#endif
-static int eeprom_open0(FAR struct file *filp);
-static int eeprom_close0(FAR struct file *filp);
-static ssize_t eeprom_read0(struct file *filp, FAR char *buffer, size_t buflen);
-static ssize_t eeprom_write0(struct file *filp, FAR const char *buffer, size_t buflen);
-static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence);
-#if (MAX_EEPROMS > 1)
-static int eeprom_open1(FAR struct file *filp);
-static int eeprom_close1(FAR struct file *filp);
-static ssize_t eeprom_read1(struct file *filp, FAR char *buffer, size_t buflen);
-static ssize_t eeprom_write1(struct file *filp, FAR const char *buffer, size_t buflen);
-static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence);
-#endif
-#if (MAX_EEPROMS > 2)
-static int eeprom_open2(FAR struct file *filp);
-static int eeprom_close2(FAR struct file *filp);
-static ssize_t eeprom_read2(struct file *filp, FAR char *buffer, size_t buflen);
-static ssize_t eeprom_write2(struct file *filp, FAR const char *buffer, size_t buflen);
-static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence);
-#endif
-
-static const struct file_operations eeprom_fops[MAX_EEPROMS] = {{
-	.open  = eeprom_open0,
-	.close = eeprom_close0,
-	.read  = eeprom_read0,
-	.write = eeprom_write0,
-	.seek  = eeprom_seek0,
-	.ioctl = 0,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-}
-#if (MAX_EEPROMS > 1)
-,{
-	.open  = eeprom_open1,
-	.close = eeprom_close1,
-	.read  = eeprom_read1,
-	.write = eeprom_write1,
-	.seek  = eeprom_seek1,
-}
-#endif
-#if (MAX_EEPROMS > 2)
-,{
-	.open  = eeprom_open2,
-	.close = eeprom_close2,
-	.read  = eeprom_read2,
-	.write = eeprom_write2,
-	.seek  = eeprom_seek2,
-}
-#endif
-};
-
-static FAR struct eeprom_dev_s
-{
-	struct i2c_dev_s	*i2c;
-	uint8_t eeprom_address;
-	uint16_t eeprom_size_bytes;
-	uint16_t eeprom_page_size_bytes;
-	uint16_t eeprom_page_write_time;
-	off_t offset;
-	bool is_open;
-} eeprom_dev[MAX_EEPROMS];
-
-static int
-eeprom_open0(FAR struct file *filp)
-{
-	/* only allow one open at a time */
-	if (eeprom_dev[0].is_open) {
-		errno = EBUSY;
-		return -EBUSY;
-	}
-	/* reset pointer */
-	//eeprom_dev[0].is_open = true;
-	eeprom_dev[0].offset = 0;
-	return OK;
-}
-#if (MAX_EEPROMS > 1)
-static int
-eeprom_open1(FAR struct file *filp)
-{
-	/* only allow one open at a time */
-	if (eeprom_dev[1].is_open) {
-		errno = EBUSY;
-		return -EBUSY;
-	}
-	/* reset pointer */
-	//eeprom_dev[1].is_open = true;
-	eeprom_dev[1].offset = 0;
-	return OK;
-}
-#endif
-#if (MAX_EEPROMS > 2)
-static int
-eeprom_open2(FAR struct file *filp)
-{
-	/* only allow one open at a time */
-	if (eeprom_dev[2].is_open) {
-		errno = EBUSY;
-		return -EBUSY;
-	}
-	/* reset pointer */
-	//eeprom_dev[2].is_open = true;
-	eeprom_dev[2].offset = 0;
-	return OK;
-}
-#endif
-
-static int
-eeprom_close0(FAR struct file *filp)
-{
-	eeprom_dev[0].is_open = false;
-	return OK;
-}
-#if (MAX_EEPROMS > 1)
-static int
-eeprom_close1(FAR struct file *filp)
-{
-	eeprom_dev[1].is_open = false;
-	return OK;
-}
-#endif
-#if (MAX_EEPROMS > 2)
-static int
-eeprom_close2(FAR struct file *filp)
-{
-	eeprom_dev[2].is_open = false;
-	return OK;
-}
-#endif
-
-static int
-eeprom_read_internal(int dev, uint16_t len, uint8_t *data)
-{
-	/* abort if the number of requested bytes exceeds the EEPROM size */
-	if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
-	{
-		errno = ENOSPC;
-		return -ENOSPC;
-	}
-
-	/* set device address */
-	I2C_SETADDRESS(eeprom_dev[dev].i2c, eeprom_dev[dev].eeprom_address, 7);
-
-	uint8_t cmd[2] = {0, 0}; /* first (or only) part of address */
-	/* second part of address, omitted if eeprom has 256 bytes or less */
-	int ret = 0;
-	int remaining = len;
-	int readcounts = 0;
-
-	while (remaining > 0)
-	{
-		/* read all requested bytes over potentially multiple pages */
-		//int readlen = (remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
-		int read_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
-		/* set read length to page border */
-		int readlen = eeprom_dev[dev].eeprom_page_size_bytes - (read_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
-		/* cap read length if not a full page read is needed */
-		if (readlen > remaining) readlen = remaining;
-
-		if (eeprom_dev[dev].eeprom_size_bytes <= 256)
-		{
-			cmd[0] = (read_offset); /* set at first byte */
-			/* 8 bit addresses */
-			ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 1, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
-		}
-		else
-		{
-			/* 16 bit addresses */
-			/* EEPROM: first address high, then address low */
-			cmd[0] = (((uint16_t)read_offset) >> 8);
-			cmd[1] = (((uint8_t)read_offset));
-			ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 2, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
-		}
-
-		/* abort on error */
-		if (ret < 0) break;
-
-		/* handled another chunk */
-		remaining -= readlen;
-		readcounts++;
-	}
-
-	/* use the negated value from I2C_TRANSFER to fill errno */
-	errno = -ret;
-
-	/* return len if data was read, < 0 else */
-	if (ret == OK)
-		eeprom_dev[dev].offset += len;
-		return len;
-
-	/* no data, return negated value from I2C_TRANSFER */
-	return ret;
-}
-
-static int
-eeprom_write_internal(int dev, uint16_t len, const uint8_t *data)
-{
-	/* abort if the number of requested bytes exceeds the EEPROM size */
-	if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
-	{
-		errno = ENOSPC;
-		return -ENOSPC;
-	}
-
-	int ret = 0;
-	int remaining = len;
-	int write_counts = 0;
-
-	uint8_t write_buf[2];
-
-	while (remaining > 0)
-	{
-		/* write all requested bytes over potentially multiple pages */
-		int write_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
-		/* set write length to page border */
-		int writelen = eeprom_dev[dev].eeprom_page_size_bytes - (write_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
-		/* cap write length if not a full page write is requested */
-		if (writelen > remaining) writelen = remaining;
-
-		if (eeprom_dev[dev].eeprom_size_bytes <= 256)
-		{
-			write_buf[0] = (write_offset); /* set at first byte */
-			/* 8 bit addresses */
-
-			const uint8_t* data_ptr = (data+(write_offset));
-
-			struct i2c_msg_s msgv_eeprom_write[2] = {
-					{
-							.addr   = eeprom_dev[dev].eeprom_address,
-							.flags  = I2C_M_NORESTART,
-							.buffer = write_buf,
-							.length = 1
-					},
-					{
-							.addr   = eeprom_dev[dev].eeprom_address,
-							.flags  = I2C_M_NORESTART,
-							.buffer = (uint8_t*)data_ptr,
-							.length = writelen
-					}
-			};
-
-
-			if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
-			{
-				//printf("SUCCESS WRITING EEPROM 8BIT ADDR: %d, bytes: %d\n", ret, writelen);
-			}
-		}
-		else
-		{
-			/* 16 bit addresses */
-			/* EEPROM: first address high, then address low */
-			write_buf[0] = (((uint16_t)write_offset) >> 8);
-			write_buf[1] = (((uint8_t)write_offset));
-
-			const uint8_t* data_ptr = data+(write_counts*eeprom_dev[dev].eeprom_page_size_bytes);
-
-			struct i2c_msg_s msgv_eeprom_write[2] = {
-					{
-							.addr   = eeprom_dev[dev].eeprom_address,
-							.flags  = I2C_M_NORESTART,
-							.buffer = write_buf,
-							.length = 2
-					},
-					{
-							.addr   = eeprom_dev[dev].eeprom_address,
-							.flags  = I2C_M_NORESTART,
-							.buffer = (uint8_t*)data_ptr,
-							.length = writelen
-					}
-			};
-
-
-			if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
-			{
-				//printf("SUCCESS WRITING EEPROM 16BIT ADDR: %d, bytes: %d\n", ret, writelen);
-			}
-		}
-
-		/* abort on error */
-		if (ret < 0) break;
-
-		/* handled another chunk */
-		remaining -= writelen;
-		write_counts++;
-		/* wait for the device to write the page */
-		usleep(eeprom_dev[dev].eeprom_page_write_time);
-	}
-
-	/* use the negated value from I2C_TRANSFER to fill errno */
-	errno = -ret;
-
-	/* return length if data was written, < 0 else */
-	if (ret == OK)
-		eeprom_dev[dev].offset += len;
-		return len;
-
-	/* no data, return negated value from I2C_TRANSFER */
-	return ret;
-}
-
-static ssize_t
-eeprom_read0(struct file *filp, char *buffer, size_t buflen)
-{
-	return eeprom_read_internal(0, buflen, (uint8_t *)buffer);
-}
-#if (MAX_EEPROMS > 1)
-static ssize_t
-eeprom_read1(struct file *filp, char *buffer, size_t buflen)
-{
-	return eeprom_read_internal(1, buflen, (uint8_t *)buffer);
-}
-#endif
-#if (MAX_EEPROMS > 2)
-static ssize_t
-eeprom_read2(struct file *filp, char *buffer, size_t buflen)
-{
-	return eeprom_read_internal(2, buflen, (uint8_t *)buffer);
-}
-#endif
-
-static ssize_t
-eeprom_write0(struct file *filp, const char *buffer, size_t buflen)
-{
-	return eeprom_write_internal(0, buflen, (const uint8_t *)buffer);
-}
-#if (MAX_EEPROMS > 1)
-static ssize_t
-eeprom_write1(struct file *filp, const char *buffer, size_t buflen)
-{
-	return eeprom_write_internal(1, buflen, (const uint8_t *)buffer);
-}
-#endif
-#if (MAX_EEPROMS > 2)
-static ssize_t
-eeprom_write2(struct file *filp, const char *buffer, size_t buflen)
-{
-	return eeprom_write_internal(2, buflen, (const uint8_t *)buffer);
-}
-#endif
-
-static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence)
-{
-	switch (whence)
-	{
-	case SEEK_SET:
-		if (offset < eeprom_dev[0].eeprom_size_bytes - 1) {
-			eeprom_dev[0].offset = offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_CUR:
-		if (eeprom_dev[0].offset + offset < eeprom_dev[0].eeprom_size_bytes - 1) {
-			eeprom_dev[0].offset = eeprom_dev[0].offset + offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_END:
-		errno = ESPIPE;
-		return -ESPIPE;
-		break;
-	}
-	return eeprom_dev[0].offset;
-}
-#if (MAX_EEPROMS > 1)
-static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence)
-{
-	switch (whence)
-	{
-	case SEEK_SET:
-		if (offset < eeprom_dev[1].eeprom_size_bytes - 1) {
-			eeprom_dev[1].offset = offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_CUR:
-		if (eeprom_dev[1].offset + offset < eeprom_dev[1].eeprom_size_bytes - 1) {
-			eeprom_dev[1].offset = eeprom_dev[1].offset + offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_END:
-		errno = ESPIPE;
-		return -ESPIPE;
-		break;
-	}
-	return eeprom_dev[1].offset;
-}
-#endif
-#if (MAX_EEPROMS > 2)
-static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence)
-{
-	switch (whence)
-	{
-	case SEEK_SET:
-		if (offset < eeprom_dev[2].eeprom_size_bytes - 1) {
-			eeprom_dev[2].offset = offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_CUR:
-		if (eeprom_dev[2].offset + offset < eeprom_dev[2].eeprom_size_bytes - 1) {
-			eeprom_dev[2].offset = eeprom_dev[2].offset + offset;
-		} else {
-			errno = ESPIPE;
-			return -ESPIPE;
-		}
-		break;
-	case SEEK_END:
-		errno = ESPIPE;
-		return -ESPIPE;
-		break;
-	}
-	return eeprom_dev[2].offset;
-}
-#endif
-
-int
-eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing)
-{
-	static int eeprom_dev_counter = 0;
-	eeprom_dev[eeprom_dev_counter].i2c = i2c;
-	eeprom_dev[eeprom_dev_counter].eeprom_address = device_address;
-	eeprom_dev[eeprom_dev_counter].eeprom_size_bytes = total_size_bytes;
-	eeprom_dev[eeprom_dev_counter].eeprom_page_size_bytes = page_size_bytes;
-	eeprom_dev[eeprom_dev_counter].eeprom_page_write_time = page_write_time_us;
-	eeprom_dev[eeprom_dev_counter].offset = 0;
-	eeprom_dev[eeprom_dev_counter].is_open = false;
-
-	int ret;
-
-	if (fail_if_missing) {
-		/* read first value */
-		uint8_t read_test;
-		ret = (eeprom_read_internal(eeprom_dev_counter, 1, &read_test) == 1) ? OK : ERROR;
-	} else {
-		ret = OK;
-	}
-
-	/* make ourselves available */
-	if (ret == OK)
-	{
-		register_driver(device_name, &(eeprom_fops[eeprom_dev_counter]), 0666, NULL);
-		eeprom_dev_counter++;
-	}
-
-	/* Return 0 for device found, error number else */
-	return ret;
-}
diff --git a/nuttx/configs/px4fmu/src/drv_led.c b/nuttx/configs/px4fmu/src/drv_led.c
deleted file mode 100644
index 13d8eb22a..000000000
--- a/nuttx/configs/px4fmu/src/drv_led.c
+++ /dev/null
@@ -1,113 +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.
- *
- ****************************************************************************/
-
-/*
- * led driver for PX4FMU
- *
- * This is something of an experiment currently (ha, get it?)
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_led.h>
-
-static int	px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg);
-static ssize_t	px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen);
-
-static const struct file_operations px4fmu_led_fops = {
-	.read  = px4fmu_led_pseudoread,
-	.ioctl = px4fmu_led_ioctl,
-};
-
-int
-px4fmu_led_init(void)
-{
-	/* register the driver */
-	return register_driver("/dev/led", &px4fmu_led_fops, 0666, NULL);
-}
-
-static ssize_t
-px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen)
-{
-	return 0;
-}
-
-static int
-px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg)
-{
-	int	result = 0;
-
-	switch (cmd) {
-
-	case LED_ON:
-		switch (arg) {
-		case 0:
-		case 1:
-			up_ledon(arg);
-			break;
-		default:
-			result = -1;
-			break;
-		}
-		break;
-
-	case LED_OFF:
-		switch (arg) {
-		case 0:
-		case 1:
-			up_ledoff(arg);
-			break;
-		default:
-			result = -1;
-			break;
-		}
-		break;
-		default:
-			result = -1;
-			break;
-	}
-	return result;
-}
-
diff --git a/nuttx/configs/px4fmu/src/empty.c b/nuttx/configs/px4fmu/src/empty.c
new file mode 100644
index 000000000..ace900866
--- /dev/null
+++ b/nuttx/configs/px4fmu/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */
diff --git a/nuttx/configs/px4fmu/src/px4fmu-internal.h b/nuttx/configs/px4fmu/src/px4fmu-internal.h
deleted file mode 100644
index f48b1bf5e..000000000
--- a/nuttx/configs/px4fmu/src/px4fmu-internal.h
+++ /dev/null
@@ -1,166 +0,0 @@
-/****************************************************************************************************
- * configs/px4fmu/src/px4fmu_internal.h
- * arch/arm/src/board/px4fmu_internal.n
- *
- *   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.
- *
- ****************************************************************************************************/
-
-#ifndef __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
-#define __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-#ifdef CONFIG_STM32_SPI2
-#  error "SPI2 is not supported on this board"
-#endif
-
-#if defined(CONFIG_STM32_CAN1)
-#  warning "CAN1 is not supported on this board"
-#endif
-
-/* PX4FMU GPIOs ***********************************************************************************/
-/* LEDs */
-
-#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-
-/* External interrupts */
-#define GPIO_EXTI_COMPASS	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
-// XXX MPU6000 DRDY?
-
-/* SPI chip selects */
-#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
-#define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
-
-/* User GPIOs
- *
- * GPIO0-1 are the buffered high-power GPIOs.
- * GPIO2-5 are the USART2 pins.
- * GPIO6-7 are the CAN2 pins.
- */
-#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_GPIO6_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_GPIO7_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
-#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
-#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
-#define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
-#define GPIO_GPIO_DIR		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
- */
-#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
-
-/* PWM
- *
- * The PX4FMU has five PWM outputs, of which only the output on
- * pin PC8 is fixed assigned to this function. The other four possible
- * pwm sources are the TX, RX, RTS and CTS pins of USART2
- *
- * Alternate function mapping:
- * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
- */
-
-#ifdef CONFIG_PWM
-#  if defined(CONFIG_STM32_TIM3_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#	 define BUZZER_PWMTIMER 3
-#  elif defined(CONFIG_STM32_TIM8_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#    define BUZZER_PWMTIMER 8
-#  endif
-#endif
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-/****************************************************************************************************
- * Name: px4fmu_gpio_init
- *
- * Description:
- *   Called to configure the PX4FMU user GPIOs
- *
- ****************************************************************************************************/
-
-extern void px4fmu_gpio_init(void);
-
-
-// XXX additional SPI chipselect functions required?
-
-#endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H */
-
diff --git a/nuttx/configs/px4fmu/src/up_leds.c b/nuttx/configs/px4fmu/src/up_leds.c
deleted file mode 100644
index f7b76aa58..000000000
--- a/nuttx/configs/px4fmu/src/up_leds.c
+++ /dev/null
@@ -1,127 +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 <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* Enables debug output from this file (needs CONFIG_DEBUG with
- * CONFIG_DEBUG_VERBOSE too)
- */
-
-#undef LED_DEBUG  /* Define to enable debug */
-
-#ifdef LED_DEBUG
-#  define leddbg  lldbg
-#  define ledvdbg llvdbg
-#else
-#  define leddbg(x...)
-#  define ledvdbg(x...)
-#endif
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_ledinit
- ****************************************************************************/
-
-#ifdef CONFIG_ARCH_LEDS
-void up_ledinit(void)
-{
-   /* Configure LED1-2 GPIOs for output */
-
-   stm32_configgpio(GPIO_LED1);
-   stm32_configgpio(GPIO_LED2);
-}
-
-/****************************************************************************
- * Name: up_ledon
- ****************************************************************************/
-
-void up_ledon(int led)
-{
-	if (led == 0)
-	{
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
-	if (led == 1)
-	{
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED2, false);
-	}
-}
-
-/****************************************************************************
- * Name: up_ledoff
- ****************************************************************************/
-
-void up_ledoff(int led)
-{
-	if (led == 0)
-	{
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
-	if (led == 1)
-	{
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED2, true);
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */