Move the tone_alarm driver out of the NuttX configs area and add it as an stm32-specific driver in the PX4 apps space.

Add a new tone_alarm command that can be used to start/stop alarm tones from the shell.

5 files changed, 2 insertions, 648 deletions

diff --git a/nuttx/configs/px4fmu/include/drv_tone_alarm.h b/nuttx/configs/px4fmu/include/drv_tone_alarm.h
deleted file mode 100644
index b24c85c8d..000000000
--- a/nuttx/configs/px4fmu/include/drv_tone_alarm.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * Driver for the PX4 audio alarm port, /dev/tone_alarm.
- *
- * The tone_alarm driver supports a set of predefined "alarm" 
- * patterns and one user-supplied pattern.  Patterns are ordered by 
- * priority, with a higher-priority pattern interrupting any
- * lower-priority pattern that might be playing.
- *
- * The TONE_SET_ALARM ioctl can be used to select a predefined
- * alarm pattern, from 1 - <TBD>.  Selecting pattern zero silences
- * the alarm.
- *
- * To supply a custom pattern, write an array of 1 - <TBD> tone_note
- * structures to /dev/tone_alarm.  The custom pattern has a priority
- * of zero.
- *
- * Patterns will normally play once and then silence (if a pattern
- * was overridden it will not resume).  A pattern may be made to
- * repeat by inserting a note with the duration set to
- * DURATION_REPEAT.  This pattern will loop until either a
- * higher-priority pattern is started or pattern zero is requested
- * via the ioctl.
- */
-
-#ifndef DRV_TONE_ALARM_H_
-#define DRV_TONE_ALARM_H_
-
-#include <sys/ioctl.h>
-
-#define _TONE_ALARM_BASE	0x7400
-#define TONE_SET_ALARM		_IOC(_TONE_ALARM_BASE, 1)
-
-extern int	tone_alarm_init(void);
-
-/* structure describing one note in a tone pattern */
-struct tone_note {
-	uint8_t		pitch;
-	uint8_t		duration;	/* duration in multiples of 10ms */
-#define DURATION_END		0	/* ends the pattern */
-#define DURATION_REPEAT		255	/* resets the note counter to zero */
-};
-
-enum tone_pitch {
-	TONE_NOTE_E4,   /* E4 */
-	TONE_NOTE_F4,   /* F4 */
-	TONE_NOTE_F4S,  /* F#4/Gb4 */
-	TONE_NOTE_G4,   /* G4 */
-	TONE_NOTE_G4S,  /* G#4/Ab4 */
-	TONE_NOTE_A4,   /* A4 */
-	TONE_NOTE_A4S,  /* A#4/Bb4 */
-	TONE_NOTE_B4,   /* B4 */
-	TONE_NOTE_C5,   /* C5 */
-	TONE_NOTE_C5S,  /* C#5/Db5 */
-	TONE_NOTE_D5,   /* D5 */
-	TONE_NOTE_D5S,  /* D#5/Eb5 */
-	TONE_NOTE_E5,   /* E5 */
-	TONE_NOTE_F5,   /* F5 */
-	TONE_NOTE_F5S,  /* F#5/Gb5 */
-	TONE_NOTE_G5,   /* G5 */
-	TONE_NOTE_G5S,  /* G#5/Ab5 */
-	TONE_NOTE_A5,   /* A5 */
-	TONE_NOTE_A5S,  /* A#5/Bb5 */
-	TONE_NOTE_B5,   /* B5 */
-	TONE_NOTE_C6,   /* C6 */
-	TONE_NOTE_C6S,  /* C#6/Db6 */
-	TONE_NOTE_D6,   /* D6 */
-	TONE_NOTE_D6S,  /* D#6/Eb6 */
-	TONE_NOTE_E6,   /* E6 */
-	TONE_NOTE_F6,   /* F6 */
-	TONE_NOTE_F6S,  /* F#6/Gb6 */
-	TONE_NOTE_G6,   /* G6 */
-	TONE_NOTE_G6S,  /* G#6/Ab6 */
-	TONE_NOTE_A6,   /* A6 */
-	TONE_NOTE_A6S,  /* A#6/Bb6 */
-	TONE_NOTE_B6,   /* B6 */
-	TONE_NOTE_C7,   /* C7 */
-	TONE_NOTE_C7S,  /* C#7/Db7 */
-	TONE_NOTE_D7,   /* D7 */
-	TONE_NOTE_D7S,  /* D#7/Eb7 */
-	TONE_NOTE_E7,   /* E7 */
-	TONE_NOTE_F7,   /* F7 */
-	TONE_NOTE_F7S,  /* F#7/Gb7 */
-	TONE_NOTE_G7,   /* G7 */
-	TONE_NOTE_G7S,  /* G#7/Ab7 */
-	TONE_NOTE_A7,   /* A7 */
-	TONE_NOTE_A7S,  /* A#7/Bb7 */
-	TONE_NOTE_B7,   /* B7 */
-	TONE_NOTE_C8,   /* C8 */
-	TONE_NOTE_C8S,  /* C#8/Db8 */
-	TONE_NOTE_D8,   /* D8 */
-	TONE_NOTE_D8S,  /* D#8/Eb8 */
-
-	TONE_NOTE_SILENCE,
-	TONE_NOTE_MAX
-};
-
-#endif /* DRV_TONE_ALARM_H_ */
\ No newline at end of file
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index be0a3d1d7..629d9877f 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -93,6 +93,7 @@ CONFIGURED_APPS += drivers/hmc5883
 CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
+CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS	+= px4/px4io/driver
 CONFIGURED_APPS += px4/fmu
 
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 48b528f6a..338f364fc 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 up_hrt.c \
 		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
-		  drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
+		  up_pwm_servo.c up_usbdev.c \
 		  up_cpuload.c
 
 ifeq ($(CONFIG_NSH_ARCHINIT),y)
diff --git a/nuttx/configs/px4fmu/src/drv_tone_alarm.c b/nuttx/configs/px4fmu/src/drv_tone_alarm.c
deleted file mode 100644
index 958a18904..000000000
--- a/nuttx/configs/px4fmu/src/drv_tone_alarm.c
+++ /dev/null
@@ -1,511 +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.
- *
- ****************************************************************************/
-
-/*
- * Speaker driver supporting alarm sequences.
- *
- * Works with any of the 'generic' STM32 timers that has an output
- * pin, does not require an interrupt.
- *
- * Depends on the HRT timer.
- */
-
-#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/drv_tone_alarm.h>
-#include <arch/board/up_hrt.h>
-
-#include "chip.h"
-#include "up_internal.h"
-#include "up_arch.h"
-
-#include "stm32_internal.h"
-#include "stm32_gpio.h"
-#include "stm32_tim.h"
-
-#ifdef CONFIG_TONE_ALARM
-# ifndef CONFIG_HRT_TIMER
-#  error CONFIG_TONE_ALARM requires CONFIG_HRT_TIMER
-# endif
-
-/* Tone alarm configuration */
-#if   TONE_ALARM_TIMER == 2
-# define TONE_ALARM_BASE		STM32_TIM2_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM2_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM2EN
-# ifdef CONFIG_STM32_TIM2
-#  error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2
-# endif
-#elif TONE_ALARM_TIMER == 3
-# define TONE_ALARM_BASE		STM32_TIM3_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM3_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM3EN
-# ifdef CONFIG_STM32_TIM3
-#  error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3
-# endif
-#elif TONE_ALARM_TIMER == 4
-# define TONE_ALARM_BASE		STM32_TIM4_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM4_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM4EN
-# ifdef CONFIG_STM32_TIM4
-#  error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4
-# endif
-#elif TONE_ALARM_TIMER == 5
-# define TONE_ALARM_BASE		STM32_TIM5_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM5_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM5EN
-# ifdef CONFIG_STM32_TIM5
-#  error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5
-# endif
-#elif TONE_ALARM_TIMER == 9
-# define TONE_ALARM_BASE		STM32_TIM9_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM9_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM9EN
-# ifdef CONFIG_STM32_TIM9
-#  error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9
-# endif
-#elif TONE_ALARM_TIMER == 10
-# define TONE_ALARM_BASE		STM32_TIM10_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM10_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM10EN
-# ifdef CONFIG_STM32_TIM10
-#  error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10
-# endif
-#elif TONE_ALARM_TIMER == 11
-# define TONE_ALARM_BASE		STM32_TIM11_BASE
-# define TONE_ALARM_CLOCK		STM32_APB1_TIM11_CLKIN
-# define TONE_ALARM_CLOCK_ENABLE	RCC_APB1ENR_TIM11EN
-# ifdef CONFIG_STM32_TIM11
-#  error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
-# endif
-#else
-# error Must set TONE_ALARM_TIMER to a generic timer if CONFIG_TONE_ALARM is set
-#endif
-
-#if TONE_ALARM_CHANNEL == 1
-# define TONE_CCMR1	(3 << 4)
-# define TONE_CCMR2	0
-# define TONE_CCER	(1 << 0)
-# define TONE_rCCR	rCCR1
-#elif TONE_ALARM_CHANNEL == 2
-# define TONE_CCMR1	(3 << 12)
-# define TONE_CCMR2	0
-# define TONE_CCER	(1 << 4)
-# define TONE_rCCR	rCCR2
-#elif TONE_ALARM_CHANNEL == 3
-# define TONE_CCMR1	0
-# define TONE_CCMR2	(3 << 4)
-# define TONE_CCER	(1 << 8)
-# define TONE_rCCR	rCCR3
-#elif TONE_ALARM_CHANNEL == 4
-# define TONE_CCMR1	0
-# define TONE_CCMR2	(3 << 12)
-# define TONE_CCER	(1 << 12)
-# define TONE_rCCR	rCCR4
-#else
-# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4
-#endif
-
-/*
- * Timer register accessors
- */
-#define REG(_reg)	(*(volatile uint32_t *)(TONE_ALARM_BASE + _reg))
-
-#define rCR1     	REG(STM32_GTIM_CR1_OFFSET)
-#define rCR2     	REG(STM32_GTIM_CR2_OFFSET)
-#define rSMCR    	REG(STM32_GTIM_SMCR_OFFSET)
-#define rDIER    	REG(STM32_GTIM_DIER_OFFSET)
-#define rSR      	REG(STM32_GTIM_SR_OFFSET)
-#define rEGR     	REG(STM32_GTIM_EGR_OFFSET)
-#define rCCMR1   	REG(STM32_GTIM_CCMR1_OFFSET)
-#define rCCMR2   	REG(STM32_GTIM_CCMR2_OFFSET)
-#define rCCER    	REG(STM32_GTIM_CCER_OFFSET)
-#define rCNT     	REG(STM32_GTIM_CNT_OFFSET)
-#define rPSC     	REG(STM32_GTIM_PSC_OFFSET)
-#define rARR     	REG(STM32_GTIM_ARR_OFFSET)
-#define rCCR1    	REG(STM32_GTIM_CCR1_OFFSET)
-#define rCCR2    	REG(STM32_GTIM_CCR2_OFFSET)
-#define rCCR3    	REG(STM32_GTIM_CCR3_OFFSET)
-#define rCCR4    	REG(STM32_GTIM_CCR4_OFFSET)
-#define rDCR     	REG(STM32_GTIM_DCR_OFFSET)
-#define rDMAR    	REG(STM32_GTIM_DMAR_OFFSET)
-
-#define TONE_MAX_PATTERN	6
-#define TONE_MAX_PATTERN_LEN	40
-
-/* predefined patterns for alarms 1-TONE_MAX_PATTERN */
-const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
-	{
-		{TONE_NOTE_A7, 12},
-		{TONE_NOTE_D8, 12},
-		{TONE_NOTE_C8, 12},
-		{TONE_NOTE_A7, 12},
-		{TONE_NOTE_D8, 12},
-		{TONE_NOTE_C8, 12},
-		{TONE_NOTE_D8, 4},
-		{TONE_NOTE_C8, 4},
-		{TONE_NOTE_D8, 4},
-		{TONE_NOTE_C8, 4},
-		{TONE_NOTE_D8, 4},
-		{TONE_NOTE_C8, 4},
-	},
-	{{TONE_NOTE_B6, 100}},
-	{{TONE_NOTE_C7, 100}},
-	{{TONE_NOTE_D7, 100}},
-	{{TONE_NOTE_E7, 100}},
-	{	//This is tetris ;)
-		{TONE_NOTE_C6, 40},
-		{TONE_NOTE_G5, 20},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_A5S, 40},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_G5, 20},
-		{TONE_NOTE_F5, 40},
-		{TONE_NOTE_F5, 20},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_C6, 40},
-		{TONE_NOTE_A5S, 20},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_G5, 60},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_A5S, 40},
-		{TONE_NOTE_C6, 40},
-		{TONE_NOTE_G5S, 40},
-		{TONE_NOTE_F5, 40},
-		{TONE_NOTE_F5, 60},
-
-		{TONE_NOTE_A5S, 40},
-		{TONE_NOTE_C6S, 20},
-		{TONE_NOTE_F6, 40},
-		{TONE_NOTE_D6S, 20},
-		{TONE_NOTE_C6S, 20},
-		{TONE_NOTE_C6, 60},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_C6, 40},
-		{TONE_NOTE_A5S, 20},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_G5, 40},
-		{TONE_NOTE_G5, 20},
-		{TONE_NOTE_G5S, 20},
-		{TONE_NOTE_A5S, 40},
-		{TONE_NOTE_C6, 40},
-		{TONE_NOTE_G5S, 40},
-		{TONE_NOTE_F5, 40},
-		{TONE_NOTE_F5, 60},
-	}
-};
-
-static uint16_t notes[TONE_NOTE_MAX] = {
-	63707, /* E4 */
-	60132, /* F4 */
-	56758, /* F#4/Gb4 */
-	53571, /* G4 */
-	50565, /* G#4/Ab4 */
-	47727, /* A4 */
-	45048, /* A#4/Bb4 */
-	42520, /* B4 */
-	40133, /* C5 */
-	37880, /* C#5/Db5 */
-	35755, /* D5 */
-	33748, /* D#5/Eb5 */
-	31853, /* E5 */
-	30066, /* F5 */
-	28378, /* F#5/Gb5 */
-	26786, /* G5 */
-	25282, /* G#5/Ab5 */
-	23863, /* A5 */
-	22524, /* A#5/Bb5 */
-	21260, /* B5 */
-	20066, /* C6 */
-	18940, /* C#6/Db6 */
-	17877, /* D6 */
-	16874, /* D#6/Eb6 */
-	15927, /* E6 */
-	15033, /* F6 */
-	14189, /* F#6/Gb6 */
-	13393, /* G6 */
-	12641, /* G#6/Ab6 */
-	11931, /* A6 */
-	11262, /* A#6/Bb6 */
-	10630, /* B6 */
-	10033, /* C7 */
-	9470, /* C#7/Db7 */
-	8938, /* D7 */
-	8437, /* D#7/Eb7 */
-	7963, /* E7 */
-	7516, /* F7 */
-	7094, /* F#7/Gb7 */
-	6696, /* G7 */
-	6320, /* G#7/Ab7 */
-	5965, /* A7 */
-	5631, /* A#7/Bb7 */
-	5315, /* B7 */
-	5016, /* C8 */
-	4735, /* C#8/Db8 */
-	4469, /* D8 */
-	4218  /* D#8/Eb8 */
-};
-
-/* current state of the tone driver */
-struct state {
-	int		pattern;				/* current pattern */
-#define PATTERN_NONE	-1
-#define PATTERN_USER	0
-	int		note;					/* next note to play */
-	struct hrt_call	note_end;
-	struct tone_note user_pattern[TONE_MAX_PATTERN_LEN];	/* user-supplied pattern (plays at pattern 0) */
-};
-
-static struct state tone_state;
-
-static int	tone_write(struct file *filp, const char *buffer, size_t len);
-static int	tone_ioctl(struct file *filep, int cmd, unsigned long arg);
-
-static const struct file_operations tone_fops = {
-	.write = tone_write,
-	.ioctl = tone_ioctl
-};
-
-static void	tone_next(void);
-static bool	tone_ok(struct tone_note *pattern);
-int
-tone_alarm_init(void)
-{
-	/* configure the GPIO */
-	stm32_configgpio(GPIO_TONE_ALARM);
-
-	/* clock/power on our timer */
-        modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
-
-	/* default the state */
-	tone_state.pattern = -1;
-
-	/* initialise the timer */
-        rCR1 = 0;
-        rCR2 = 0;
-        rSMCR = 0;
-        rDIER = 0;
-        rCCER = 0;		/* unlock CCMR* registers */
-        rCCMR1 = TONE_CCMR1;
-        rCCMR2 = TONE_CCMR2;
-        rCCER = TONE_CCER;
-        rDCR = 0;
-
-        /* toggle the CC output each time the count passes 1 */
-        TONE_rCCR = 1;
-
-        /* 
-         * Configure the timebase to free-run at half max frequency.
-         * XXX this should be more flexible in order to get a better
-         * frequency range, but for the F4 with the APB1 timers based
-         * at 42MHz, this gets us down to ~320Hz or so.
-         */
-        rPSC = 1;
-
-        tone_state.pattern = PATTERN_NONE;
-        tone_state.note = 0;
-
-	/* play the startup tune */
-    tone_ioctl(NULL, TONE_SET_ALARM, 1);
-
-	/* register the device */
-	return register_driver("/dev/tone_alarm", &tone_fops, 0666, NULL);
-}
-
-static int
-tone_ioctl(struct file *filep, int cmd, unsigned long arg)
-{
-	int result = 0;
-	int new = (int)arg;
-
-	irqstate_t flags = irqsave();
-
-	/* decide whether to increase the alarm level to cmd or leave it alone */
-	switch (cmd) {
-	case TONE_SET_ALARM:
-		if (new == 0) {
-			/* cancel any current alarm */
-			tone_state.pattern = PATTERN_NONE;
-			tone_next();
-
-		} else if (new > TONE_MAX_PATTERN) {
-
-			/* not a legal alarm value */
-			result = -ERANGE;
-
-		} else if (new > tone_state.pattern) {
-
-			/* higher priority than the current alarm */
-			tone_state.pattern = new;
-			tone_state.note = 0;
-
-			/* and start playing it */
-			tone_next();
-		}
-		break;
-	default:
-		result = -EINVAL;
-		break;
-	}
-
-	irqrestore(flags);
-	return result;
-}
-
-static int
-tone_write(struct file *filp, const char *buffer, size_t len)
-{
-	irqstate_t flags;
-
-	/* sanity-check the size of the write */
-	if (len > (TONE_MAX_PATTERN_LEN * sizeof(struct tone_note)))
-		return -EFBIG;
-	if ((len % sizeof(struct tone_note)) || (len == 0))
-		return -EIO;
-	if (!tone_ok((struct tone_note *)buffer))
-		return -EIO;
-
-	flags = irqsave();
-
-	/* if we aren't playing an alarm tone */
-	if (tone_state.pattern <= PATTERN_USER) {
-
-		/* reset the tone state to play the new user pattern */
-		tone_state.pattern = PATTERN_USER;
-		tone_state.note = 0;
-
-		/* copy in the new pattern */
-		memset(tone_state.user_pattern, 0, sizeof(tone_state.user_pattern));
-		memcpy(tone_state.user_pattern, buffer, len);
-
-		/* and start it */
-		tone_next();
-	}
-	irqrestore(flags);
-
-	return len;
-}
-
-static void
-tone_next(void)
-{
-	const struct tone_note *np;
-
-	/* stop the current note */
-	rCR1 = 0;
-
-	/* if we are no longer playing a pattern, we have nothing else to do here */
-	if (tone_state.pattern == PATTERN_NONE) {
-		return;
-	}
-
-	/* if the current pattern has ended, clear the pattern and stop */
-	if (tone_state.note == TONE_NOTE_MAX) {
-		tone_state.pattern = PATTERN_NONE;
-		return;
-	}
-
-	/* find the note to play */
-	if (tone_state.pattern == PATTERN_USER) {
-		np = &tone_state.user_pattern[tone_state.note];
-	} else {
-		np = &patterns[tone_state.pattern - 1][tone_state.note];
-	}
-
-	/* work out which note is next */
-	tone_state.note++;
-	if (tone_state.note >= TONE_NOTE_MAX) {
-		/* hit the end of the pattern, stop */
-		tone_state.pattern = PATTERN_NONE;
-	} else if (np[1].duration == DURATION_END) {
-		/* hit the end of the pattern, stop */
-		tone_state.pattern = PATTERN_NONE;
-	} else if (np[1].duration == DURATION_REPEAT) {
-		/* next note is a repeat, rewind in preparation */
-		tone_state.note = 0;
-	}
-
-	/* set the timer to play the note, if required */
-	if (np->pitch <= TONE_NOTE_SILENCE) {
-
-		/* set reload based on the pitch */
-		rARR = notes[np->pitch];
-
-	        /* force an update, reloads the counter and all registers */
-	        rEGR = GTIM_EGR_UG;
-
-	        /* start the timer */
-	        rCR1 = GTIM_CR1_CEN;
-	}
-
-	/* arrange a callback when the note/rest is done */
-	hrt_call_after(&tone_state.note_end, (hrt_abstime)10000 * np->duration, (hrt_callout)tone_next, NULL);
-
-}
-
-static bool
-tone_ok(struct tone_note *pattern)
-{
-	int	i;
-
-	for (i = 0; i < TONE_NOTE_MAX; i++) {
-
-		/* first note must not be repeat or end */
-		if ((i == 0) &&
-		    ((pattern[i].duration == DURATION_END) || (pattern[i].duration == DURATION_REPEAT)))
-			return false;
-		if (pattern[i].duration == DURATION_END)
-			break;
-
-		/* pitch must be legal */
-		if (pattern[i].pitch >= TONE_NOTE_MAX)
-			return false;
-	}
-	return true;
-}
-
-#endif /* CONFIG_TONE_ALARM */
\ No newline at end of file
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c
index af8253181..763207d3a 100644
--- a/nuttx/configs/px4fmu/src/up_nsh.c
+++ b/nuttx/configs/px4fmu/src/up_nsh.c
@@ -58,7 +58,6 @@
 
 #include <arch/board/up_hrt.h>
 #include <arch/board/up_cpuload.h>
-#include <arch/board/drv_tone_alarm.h>
 #include <arch/board/up_adc.h>
 #include <arch/board/board.h>
 #include <arch/board/drv_led.h>
@@ -277,10 +276,5 @@ int nsh_archinitialize(void)
   }
 #endif
 
-    /* configure the tone generator */
-#ifdef CONFIG_TONE_ALARM
-  tone_alarm_init();
-#endif
-
   return OK;
 }