Clean out old drivers we're not using anymore.

11 files changed, 1 insertions, 2334 deletions

diff --git a/nuttx/configs/px4fmu/include/drv_bma180.h b/nuttx/configs/px4fmu/include/drv_bma180.h
deleted file mode 100644
index a403415e4..000000000
--- a/nuttx/configs/px4fmu/include/drv_bma180.h
+++ /dev/null
@@ -1,99 +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.
- */
-
-/*
- * Driver for the BOSCH BMA180 MEMS accelerometer
- */
-
-/* IMPORTANT NOTES:
- *
- * SPI max. clock frequency: 25 Mhz
- * CS has to be high before transfer,
- * go low right before transfer and
- * go high again right after transfer
- *
- */
-
-#include <sys/ioctl.h>
-
-#define _BMA180BASE	0x6300
-#define BMA180C(_x)	_IOC(_BMA180BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define BMA180_SETRATE		BMA180C(1)
-
-#define BMA180_RATE_LP_10HZ		(0<<4)
-#define BMA180_RATE_LP_20HZ		(1<<4)
-#define BMA180_RATE_LP_40HZ		(2<<4)
-#define BMA180_RATE_LP_75HZ		(3<<4)
-#define BMA180_RATE_LP_150HZ	(4<<4)
-#define BMA180_RATE_LP_300HZ	(5<<4)
-#define BMA180_RATE_LP_600HZ	(6<<4)
-#define BMA180_RATE_LP_1200HZ	(7<<4)
-
-/*
- * Sets the sensor internal range.
- */
-#define BMA180_SETRANGE		BMA180C(2)
-
-#define BMA180_RANGE_1G			(0<<1)
-#define BMA180_RANGE_1_5G		(1<<1)
-#define BMA180_RANGE_2G			(2<<1)
-#define BMA180_RANGE_3G			(3<<1)
-#define BMA180_RANGE_4G			(4<<1)
-#define BMA180_RANGE_8G			(5<<1)
-#define BMA180_RANGE_16G		(6<<1)
-
-/*
- * Sets the address of a shared BMA180_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define BMA180_SETBUFFER	BMA180C(3)
-
-struct bma180_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint16_t	x;
-		uint16_t	y;
-		uint16_t	z;
-		uint8_t		temp;
-	} samples[];
-};
-
-extern int	bma180_attach(struct spi_dev_s *spi, int spi_id);
diff --git a/nuttx/configs/px4fmu/include/drv_hmc5883l.h b/nuttx/configs/px4fmu/include/drv_hmc5883l.h
deleted file mode 100644
index 741c3e154..000000000
--- a/nuttx/configs/px4fmu/include/drv_hmc5883l.h
+++ /dev/null
@@ -1,100 +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 ST HMC5883L gyroscope
- */
-
-#include <sys/ioctl.h>
-
-#define _HMC5883LBASE	0x6100
-#define HMC5883LC(_x)	_IOC(_HMC5883LBASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define HMC5883L_SETRATE		HMC5883LC(1)
-
-/* set rate (configuration A register */
-#define HMC5883L_RATE_0_75HZ		(0 << 2) /* 0.75 Hz */
-#define HMC5883L_RATE_1_50HZ		(1 << 2) /* 1.5 Hz */
-#define HMC5883L_RATE_3_00HZ		(2 << 2) /* 3 Hz */
-#define HMC5883L_RATE_7_50HZ		(3 << 2) /* 7.5 Hz */
-#define HMC5883L_RATE_15HZ			(4 << 2) /* 15 Hz (default) */
-#define HMC5883L_RATE_30HZ			(5 << 2) /* 30 Hz */
-#define HMC5883L_RATE_75HZ			(6 << 2) /* 75 Hz */
-
-/*
- * Sets the sensor internal range.
- */
-#define HMC5883L_SETRANGE		HMC5883LC(2)
-
-#define HMC5883L_RANGE_0_88GA			(0 << 5)
-#define HMC5883L_RANGE_1_33GA			(1 << 5)
-#define HMC5883L_RANGE_1_90GA			(2 << 5)
-#define HMC5883L_RANGE_2_50GA			(3 << 5)
-#define HMC5883L_RANGE_4_00GA			(4 << 5)
-
-/*
- * Set the sensor measurement mode.
- */
-#define HMC5883L_MODE_NORMAL			(0 << 0)
-#define HMC5883L_MODE_POSITIVE_BIAS		(1 << 0)
-#define HMC5883L_MODE_NEGATIVE_BIAS		(1 << 1)
-
-/*
- * Sets the address of a shared HMC5883L_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define HMC5883L_SETBUFFER		HMC5883LC(3)
-
-struct hmc5883l_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		int16_t	x;
-		int16_t	y;
-		int16_t	z;
-	} samples[];
-};
-
-#define HMC5883L_RESET			HMC5883LC(4)
-#define HMC5883L_CALIBRATION_ON		HMC5883LC(5)
-#define HMC5883L_CALIBRATION_OFF	HMC5883LC(6)
-
-extern int	hmc5883l_attach(struct i2c_dev_s *i2c);
diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h
deleted file mode 100644
index 3b284d60d..000000000
--- a/nuttx/configs/px4fmu/include/drv_l3gd20.h
+++ /dev/null
@@ -1,108 +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 ST L3GD20 gyroscope
- */
-
-/* IMPORTANT NOTES:
- *
- * SPI max. clock frequency: 10 Mhz
- * CS has to be high before transfer,
- * go low right before transfer and
- * go high again right after transfer
- *
- */
-
-#include <sys/ioctl.h>
-
-#define _L3GD20BASE	0x6200
-#define L3GD20C(_x)	_IOC(_L3GD20BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define L3GD20_SETRATE		L3GD20C(1)
-
-#define L3GD20_RATE_95HZ_LP_12_5HZ		((0<<7) | (0<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_95HZ_LP_25HZ		((0<<7) | (0<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_190HZ_LP_12_5HZ		((0<<7) | (1<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_190HZ_LP_25HZ		((0<<7) | (1<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_190HZ_LP_50HZ		((0<<7) | (1<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_190HZ_LP_70HZ		((0<<7) | (1<<6) | (1<<5) | (1<<4))
-#define L3GD20_RATE_380HZ_LP_20HZ		((1<<7) | (0<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_380HZ_LP_25HZ		((1<<7) | (0<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_380HZ_LP_50HZ		((1<<7) | (0<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_380HZ_LP_100HZ		((1<<7) | (0<<6) | (1<<5) | (1<<4))
-#define L3GD20_RATE_760HZ_LP_30HZ		((1<<7) | (1<<6) | (0<<5) | (0<<4))
-#define L3GD20_RATE_760HZ_LP_35HZ		((1<<7) | (1<<6) | (0<<5) | (1<<4))
-#define L3GD20_RATE_760HZ_LP_50HZ		((1<<7) | (1<<6) | (1<<5) | (0<<4))
-#define L3GD20_RATE_760HZ_LP_100HZ		((1<<7) | (1<<6) | (1<<5) | (1<<4))
-
-/*
- * Sets the sensor internal range.
- */
-#define L3GD20_SETRANGE		L3GD20C(2)
-
-#define L3GD20_RANGE_250DPS			(0<<4)
-#define L3GD20_RANGE_500DPS			(1<<4)
-#define L3GD20_RANGE_2000DPS		(3<<4)
-
-#define L3GD20_RATE_95HZ			((0<<6) | (0<<4))
-#define L3GD20_RATE_190HZ			((1<<6) | (0<<4))
-#define L3GD20_RATE_380HZ			((2<<6) | (1<<4))
-#define L3GD20_RATE_760HZ			((3<<6) | (2<<4))
-
-
-
-/*
- * Sets the address of a shared l3gd20_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define L3GD20_SETBUFFER	L3GD20C(3)
-
-struct l3gd20_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		int16_t	x;
-		int16_t	y;
-		int16_t	z;
-	} samples[];
-};
-
-extern int	l3gd20_attach(struct spi_dev_s *spi, int spi_id);
diff --git a/nuttx/configs/px4fmu/include/drv_lis331.h b/nuttx/configs/px4fmu/include/drv_lis331.h
deleted file mode 100644
index f4699cda0..000000000
--- a/nuttx/configs/px4fmu/include/drv_lis331.h
+++ /dev/null
@@ -1,83 +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 ST LIS331 MEMS accelerometer
- */
-
-#include <sys/ioctl.h>
-
-#define _LIS331BASE	0x6900
-#define LIS331C(_x)	_IOC(_LIS331BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define LIS331_SETRATE		LIS331C(1)
-
-#define LIS331_RATE_50Hz		(0<<3)
-#define LIS331_RATE_100Hz		(1<<3)
-#define LIS331_RATE_400Hz		(2<<3)
-#define LIS331_RATE_1000Hz		(3<<3)
-
-/*
- * Sets the sensor internal range.
- */
-#define LIS331_SETRANGE		LIS331C(2)
-
-#define LIS331_RANGE_2G			(0<<4)
-#define LIS331_RANGE_4G			(1<<4)
-#define LIS331_RANGE_8G			(3<<4)
-
-/*
- * Sets the address of a shared lis331_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define LIS331_SETBUFFER	LIS331C(3)
-
-struct lis331_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint16_t	x;
-		uint16_t	y;
-		uint16_t	z;
-	} samples[];
-};
-
-extern int	lis331_attach(struct spi_dev_s *spi, int spi_id);
diff --git a/nuttx/configs/px4fmu/include/drv_ms5611.h b/nuttx/configs/px4fmu/include/drv_ms5611.h
deleted file mode 100644
index 922a11219..000000000
--- a/nuttx/configs/px4fmu/include/drv_ms5611.h
+++ /dev/null
@@ -1,76 +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.
- */
-
-/*
- * Driver for the Meas Spec MS5611 barometric pressure sensor
- */
-
-#include <sys/ioctl.h>
-
-#define _MS5611BASE	0x6A00
-#define MS5611C(_x)	_IOC(_MS5611BASE, _x)
-
-/* 
- * Sets the sensor internal sampling rate, and if a buffer
- * has been configured, the rate at which entries will be
- * added to the buffer.
- */
-#define MS5611_SETRATE		MS5611C(1)
-
-/* set rate (configuration A register */
-#define MS5611_RATE_0_75HZ		(0 << 2) /* 0.75 Hz */
-
-/*
- * Sets the sensor internal range.
- */
-#define MS5611_SETRANGE		MS5611C(2)
-
-#define MS5611_RANGE_0_88GA			(0 << 5)
-
-/*
- * Sets the address of a shared MS5611_buffer
- * structure that is maintained by the driver.
- *
- * If zero is passed as the address, disables
- * the buffer updating.
- */
-#define MS5611_SETBUFFER	MS5611C(3)
-
-struct ms5611_buffer {
-	uint32_t	size;		/* number of entries in the samples[] array */
-	uint32_t	next;		/* the next entry that will be populated */
-	struct {
-		uint32_t	pressure;
-		uint16_t temperature;
-	} samples[];
-};
-
-extern int	ms5611_attach(struct i2c_dev_s *i2c);
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index 5a60b7d19..48b528f6a 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -41,7 +41,7 @@ ASRCS		=
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
 CSRCS		= up_boot.c up_leds.c up_spi.c up_hrt.c \
-		  drv_gpio.c drv_bma180.c drv_l3gd20.c \
+		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
 		  drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
 		  up_cpuload.c
diff --git a/nuttx/configs/px4fmu/src/drv_bma180.c b/nuttx/configs/px4fmu/src/drv_bma180.c
deleted file mode 100644
index da80cc2e2..000000000
--- a/nuttx/configs/px4fmu/src/drv_bma180.c
+++ /dev/null
@@ -1,341 +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.
- */
-
-/*
- * Driver for the Bosch BMA 180 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-
-#include <stdio.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_bma180.h>
-
-/*
- * BMA180 registers
- */
-
-/* Important Notes:
- *
- *   - MAX SPI clock: 25 MHz
- *   - Readout time: 0.417 ms in high accuracy mode
- *   - Boot / ready time: 1.27 ms
- *
- */
-
-#define DIR_READ				(1<<7)
-#define DIR_WRITE				(0<<7)
-#define ADDR_INCREMENT			(1<<6)
-
-#define ADDR_CHIP_ID			0x00
-#define CHIP_ID					0x03
-#define ADDR_VERSION			0x01
-
-#define ADDR_CTRL_REG0			0x0D
-#define ADDR_CTRL_REG1			0x0E
-#define ADDR_CTRL_REG2			0x0F
-#define ADDR_BWTCS				0x20
-#define ADDR_CTRL_REG3			0x21
-#define ADDR_CTRL_REG4			0x22
-#define ADDR_OLSB1				0x35
-
-#define ADDR_ACC_X_LSB			0x02
-#define ADDR_ACC_Z_MSB			0x07
-#define ADDR_TEMPERATURE		0x08
-
-#define ADDR_STATUS_REG1		0x09
-#define ADDR_STATUS_REG2		0x0A
-#define ADDR_STATUS_REG3		0x0B
-#define ADDR_STATUS_REG4		0x0C
-
-#define ADDR_RESET				0x10
-#define SOFT_RESET				0xB6
-
-#define ADDR_DIS_I2C         	0x27
-
-#define REG0_WRITE_ENABLE		0x10
-
-#define RANGEMASK 0x0E
-#define BWMASK 0xF0
-
-
-static ssize_t	bma180_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int	bma180_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations bma180_fops = {
-	.read  = bma180_read,
-	.ioctl = bma180_ioctl,
-};
-
-struct bma180_dev_s
-{
-	struct spi_dev_s		*spi;
-	int						spi_id;
-	uint8_t					rate;
-	struct bma180_buffer	*buffer;
-};
-
-static struct bma180_dev_s	bma180_dev;
-
-static void	bma180_write_reg(uint8_t address, uint8_t data);
-static uint8_t	bma180_read_reg(uint8_t address);
-static bool	read_fifo(uint16_t *data);
-static int	bma180_set_range(uint8_t range);
-static int	bma180_set_rate(uint8_t rate);
-
-static void
-bma180_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-    
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
-    SPI_SNDBLOCK(bma180_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-}
-
-static uint8_t
-bma180_read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-    
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, true);
-	SPI_EXCHANGE(bma180_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(bma180_dev.spi, bma180_dev.spi_id, false);
-    
-	return data[1];	
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
-	struct {		/* status register and data as read back from the device */
-		uint8_t		cmd;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-		uint8_t		temp;
-	} __attribute__((packed))	report;
-
-	report.cmd = ADDR_ACC_X_LSB | DIR_READ | ADDR_INCREMENT;
-
-	SPI_LOCK(bma180_dev.spi, true);
-	report.x = bma180_read_reg(ADDR_ACC_X_LSB);
-	report.x |= (bma180_read_reg(ADDR_ACC_X_LSB+1) << 8);
-	report.y = bma180_read_reg(ADDR_ACC_X_LSB+2);
-	report.y |= (bma180_read_reg(ADDR_ACC_X_LSB+3) << 8);
-	report.z = bma180_read_reg(ADDR_ACC_X_LSB+4);
-	report.z |= (bma180_read_reg(ADDR_ACC_X_LSB+5) << 8);
-	report.temp = bma180_read_reg(ADDR_ACC_X_LSB+6);
-	SPI_LOCK(bma180_dev.spi, false);
-
-	/* Collect status and remove two top bits */
-
-	uint8_t new_data = (report.x & 0x01) + (report.x & 0x01) + (report.x & 0x01);
-	report.x = (report.x >> 2);
-	report.y = (report.y >> 2);
-	report.z = (report.z >> 2);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-    
-	/* return 1 for all three axes new */
-	return (new_data > 0); // bit funky, depends on timing
-}
-
-static int
-bma180_set_range(uint8_t range)
-{
-	/* enable writing to chip config */
-	uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 |= REG0_WRITE_ENABLE;
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	/* set range */
-	uint8_t olsb1 = bma180_read_reg(ADDR_OLSB1);
-	olsb1 &= (~RANGEMASK);
-	olsb1 |= (range);// & RANGEMASK);
-	bma180_write_reg(ADDR_OLSB1, olsb1);
-
-	// up_udelay(500);
-
-	/* block writing to chip config */
-	ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 &= (~REG0_WRITE_ENABLE);
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	uint8_t new_olsb1 = bma180_read_reg(ADDR_OLSB1);
-
-	/* return 0 on success, 1 on failure */
-	return !(olsb1 == new_olsb1);
-}
-
-static int
-bma180_set_rate(uint8_t rate)
-{
-	/* enable writing to chip config */
-	uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 |= REG0_WRITE_ENABLE;
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	/* set rate / bandwidth */
-	uint8_t bwtcs = bma180_read_reg(ADDR_BWTCS);
-	bwtcs &= (~BWMASK);
-	bwtcs |= (rate);// & BWMASK);
-	bma180_write_reg(ADDR_BWTCS, bwtcs);
-
-	// up_udelay(500);
-
-	/* block writing to chip config */
-	ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-	ctrl0 &= (~REG0_WRITE_ENABLE);
-	bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-	uint8_t new_bwtcs = bma180_read_reg(ADDR_BWTCS);
-
-	/* return 0 on success, 1 on failure */
-	return !(bwtcs == new_bwtcs);
-}
-
-static ssize_t
-bma180_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 6) {
-		if (read_fifo((uint16_t *)buffer))
-			return 6;
-
-		/* no data */
-		return 0;
-	}
-    
-	/* buffer too small */
-	errno = ENOSPC;
-	return ERROR;
-}
-
-static int
-bma180_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-    
-	switch (cmd) {
-        case BMA180_SETRATE:
-            result = bma180_set_rate(arg);
-            break;
-
-        case BMA180_SETRANGE:
-            result = bma180_set_range(arg);
-            break;
-
-        case BMA180_SETBUFFER:
-            bma180_dev.buffer = (struct bma180_buffer *)arg;
-            result = 0;
-            break;
-	}
-    
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-bma180_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-	
-	bma180_dev.spi = spi;
-	bma180_dev.spi_id = spi_id;
-    
-	SPI_LOCK(bma180_dev.spi, true);
-
-	/* verify that the device is attached and functioning */
-	if (bma180_read_reg(ADDR_CHIP_ID) == CHIP_ID) {
-        
-		bma180_write_reg(ADDR_RESET, SOFT_RESET);       // page 48
-
-		up_udelay(13000);                               // wait 12 ms, see page 49
-
-		/* Configuring the BMA180 */
-
-		/* enable writing to chip config */
-		uint8_t ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-		ctrl0 |= REG0_WRITE_ENABLE;
-		bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-		/* disable I2C interface, datasheet page 31 */
-		uint8_t disi2c = bma180_read_reg(ADDR_DIS_I2C);
-		disi2c |= 0x01;
-		bma180_write_reg(ADDR_DIS_I2C, disi2c);
-
-		/* block writing to chip config */
-		ctrl0 = bma180_read_reg(ADDR_CTRL_REG0);
-		ctrl0 &= (~REG0_WRITE_ENABLE);
-		bma180_write_reg(ADDR_CTRL_REG0, ctrl0);
-
-		// up_udelay(500);
-
-		/* set rate */
-		result = bma180_set_rate(BMA180_RATE_LP_600HZ);
-
-		// up_udelay(500);
-
-		/* set range */
-		result += bma180_set_range(BMA180_RANGE_4G);
-
-		// up_udelay(500);
-
-		if (result == 0) {
-			/* make ourselves available */
-			register_driver("/dev/bma180", &bma180_fops, 0666, NULL);
-		}
-	} else {
-		errno = EIO;
-	}
-
-	SPI_LOCK(bma180_dev.spi, false);
-    
-	return result;
-}
-
diff --git a/nuttx/configs/px4fmu/src/drv_hmc5833l.c b/nuttx/configs/px4fmu/src/drv_hmc5833l.c
deleted file mode 100644
index d51d654f7..000000000
--- a/nuttx/configs/px4fmu/src/drv_hmc5833l.c
+++ /dev/null
@@ -1,386 +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.
- */
-
-/**
- * @file drv_hmc5883l.c
- * Driver for the Honeywell/ST HMC5883L MEMS magnetometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/i2c.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_hmc5883l.h>
-
-#define ADDR_CONF_A				0x00
-#define ADDR_CONF_B				0x01
-#define ADDR_MODE				0x02
-#define ADDR_DATA_OUT_X_MSB		0x03
-#define ADDR_DATA_OUT_X_LSB		0x04
-#define ADDR_DATA_OUT_Z_MSB		0x05
-#define ADDR_DATA_OUT_Z_LSB		0x06
-#define ADDR_DATA_OUT_Y_MSB		0x07
-#define ADDR_DATA_OUT_Y_LSB		0x08
-#define ADDR_STATUS				0x09
-#define ADDR_ID_A				0x10
-#define ADDR_ID_B				0x11
-#define ADDR_ID_C				0x12
-
-#define HMC5883L_ADDRESS		0x1E
-
-/* modes not changeable outside of driver */
-#define HMC5883L_MODE_NORMAL			(0 << 0)  /* default */
-#define HMC5883L_MODE_POSITIVE_BIAS		(1 << 0)  /* positive bias */
-#define HMC5883L_MODE_NEGATIVE_BIAS		(1 << 1)  /* negative bias */
-
-#define HMC5883L_AVERAGING_1		(0 << 5) /* conf a register */
-#define HMC5883L_AVERAGING_2		(1 << 5)
-#define HMC5883L_AVERAGING_4		(2 << 5)
-#define HMC5883L_AVERAGING_8		(3 << 5)
-
-#define MODE_REG_CONTINOUS_MODE		(0 << 0)
-#define MODE_REG_SINGLE_MODE		(1 << 0) /* default */
-
-#define STATUS_REG_DATA_OUT_LOCK	(1 << 1) /* page 16: set if data is only partially read, read device to reset */
-#define STATUS_REG_DATA_READY		(1 << 0) /* page 16: set if all axes have valid measurements */
-
-#define ID_A_WHO_AM_I			'H'
-#define ID_B_WHO_AM_I			'4'
-#define ID_C_WHO_AM_I			'3'
-
-static FAR struct hmc5883l_dev_s	hmc5883l_dev;
-
-static ssize_t hmc5883l_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations hmc5883l_fops = {
-	.open  = 0,
-	.close = 0,
-	.read  = hmc5883l_read,
-	.write = 0,
-	.seek  = 0,
-	.ioctl = hmc5883l_ioctl,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-};
-
-struct hmc5883l_dev_s
-{
-	struct i2c_dev_s	*i2c;
-	uint8_t			rate;
-	struct hmc5883l_buffer	*buffer;
-};
-static bool hmc5883l_calibration_enabled = false;
-
-static int hmc5883l_write_reg(uint8_t address, uint8_t data);
-static int hmc5883l_read_reg(uint8_t address);
-static int hmc5883l_reset(void);
-
-static int
-hmc5883l_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[] = {address, data};
-	return I2C_WRITE(hmc5883l_dev.i2c, cmd, 2);
-}
-
-static int
-hmc5883l_read_reg(uint8_t address)
-{
-	uint8_t cmd = address;
-	uint8_t data;
-
-	int ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, &data, 1);
-	/* return data on success, error code on failure */
-	if (ret == OK) {
-		ret = data;
-	}
-	return ret;
-}
-
-static int
-hmc5883l_set_range(uint8_t range)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-
-	/* mask out illegal bit positions */
-	uint8_t write_range = range; //& REG4_RANGE_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_range != range) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_range |= REG4_BDU;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_B, write_range);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_B) == write_range);
-}
-
-static int
-hmc5883l_set_rate(uint8_t rate)
-{
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	/* mask out illegal bit positions */
-	uint8_t write_rate = rate;// & REG1_RATE_LP_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_rate != rate) return EINVAL;
-	/* set remaining bits to a sane value */
-//	write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
-	write_rate |= HMC5883L_AVERAGING_8;
-	/* write to device */
-	hmc5883l_write_reg(ADDR_CONF_A, write_rate);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(hmc5883l_read_reg(ADDR_CONF_A) == write_rate);
-}
-
-static int
-hmc5883l_set_mode(uint8_t mode)
-{
-	// I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-	// /* mask out illegal bit positions */
-	// uint8_t write_mode = mode & 0x03;
-	// /* immediately return if user supplied invalid value */
-	// if (write_mode != mode) return EINVAL;
-	// /* set mode */
-	// write_mode |= hmc5883l_read_reg(ADDR_CONF_A);
-	// /* set remaining bits to a sane value */
-	// write_mode |= HMC5883L_AVERAGING_8;
-	// /* write to device */
-	// hmc5883l_write_reg(ADDR_CONF_A, write_mode);
-	// /* return 0 if register value is now written value, 1 if unchanged */
-	// return !(hmc5883l_read_reg(ADDR_CONF_A) == write_mode);
-}
-
-static bool
-read_values(int16_t *data)
-{
-	struct { /* status register and data as read back from the device */
-		int16_t		x;
-		int16_t		z;
-		int16_t		y;
-		uint8_t		status;
-	} __attribute__((packed))	hmc_report;
-	hmc_report.status = 0;
-
-	static int read_err_count = 0;
-
-	/* exchange the report structure with the device */
-
-	uint8_t cmd = ADDR_DATA_OUT_X_MSB;
-
-	int ret = 0;
-
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	/* set device into single mode, trigger next measurement */
-	ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-	/* Only execute consecutive steps on success */
-	if (ret == OK)
-	  {
-		cmd = ADDR_DATA_OUT_X_MSB;
-		ret = I2C_WRITEREAD(hmc5883l_dev.i2c, &cmd, 1, (uint8_t*)&hmc_report, 6);
-		if (ret == OK)
-		  {
-			/* Six bytes to read, stop if timed out */
-			int hmc_status = hmc5883l_read_reg(ADDR_STATUS);
-			if (hmc_status < 0)
-			  {
-			  	//if (hmc_status == ETIMEDOUT)
-			  	hmc5883l_reset();
-			  	ret = hmc_status;
-			  }
-			else
-			  {
-			  	hmc_report.status = hmc_status;
-			  	ret = OK;
-			  }
-		  }
-		  else
-		  {
-		  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-		  }
-	  }
-	  else
-	  {
-	  	if (ret == ETIMEDOUT || ret == -ETIMEDOUT) hmc5883l_reset();
-	  }
-
-	if (ret != OK)
-	{
-		read_err_count++;
-		/* If the last reads failed as well, reset the bus and chip */
-		if (read_err_count > 3) hmc5883l_reset();
-
-		*get_errno_ptr() = -ret;
-	} else {
-		read_err_count = 0;
-		/* write values, and exchange the two 8bit blocks (big endian to little endian) */
-		data[0] = ((hmc_report.x & 0x00FF) << 8) | ((hmc_report.x & 0xFF00) >> 8);
-		data[1] = ((hmc_report.y & 0x00FF) << 8) | ((hmc_report.y & 0xFF00) >> 8);
-		data[2] = ((hmc_report.z & 0x00FF) << 8) | ((hmc_report.z & 0xFF00) >> 8);
-		// XXX TODO
-		// write mode, range and lp-frequency enum values into data[3]-[6]
-		if ((hmc_report.status & STATUS_REG_DATA_READY) > 0)
-		{
-			ret = 14;
-		} else {
-			ret = -EAGAIN;
-		}
-	}
-
-	/* return len if new data is available, error else. hmc_report.status is 0 on errors */
-	return ret;
-}
-
-static ssize_t
-hmc5883l_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 14) {
-		return read_values((int16_t *)buffer);
-	}
-
-	/* buffer too small */
-	*get_errno_ptr() = ENOSPC;
-	return -ERROR;
-}
-
-static int
-hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case HMC5883L_SETRATE:
-        	result = hmc5883l_set_rate(arg);
-        	break;
-
-	case HMC5883L_SETRANGE:
-		result = hmc5883l_set_range(arg);
-		break;
-
-	case HMC5883L_CALIBRATION_ON:
-		hmc5883l_calibration_enabled = true;
-		result = OK;
-		break;
-
-	case HMC5883L_CALIBRATION_OFF:
-		hmc5883l_calibration_enabled = false;
-		result = OK;
-		break;
-//
-//    case HMC5883L_SETBUFFER:
-//        hmc5883l_dev.buffer = (struct hmc5883l_buffer *)arg;
-//        result = 0;
-//        break;
-
-	case HMC5883L_RESET:
-            result = hmc5883l_reset();
-            break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-extern int up_i2creset(FAR struct i2c_dev_s * dev);
-
-int hmc5883l_reset()
-{
-	int ret;
-#if 1
-	ret = up_i2creset(hmc5883l_dev.i2c);
-	printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK");
-#else
-	printf("[hmc5883l drv] Resettet I2C2 BUS\n");
-	up_i2cuninitialize(hmc5883l_dev.i2c);
-	hmc5883l_dev.i2c = up_i2cinitialize(2);
-	I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
-#endif
-	return ret;
-}
-
-int
-hmc5883l_attach(struct i2c_dev_s *i2c)
-{
-	int	result = ERROR;
-
-	hmc5883l_dev.i2c = i2c;
-
-//	I2C_LOCK(hmc5883l_dev.i2c, true);
-	I2C_SETADDRESS(hmc5883l_dev.i2c, HMC5883L_ADDRESS, 7);
-
-	uint8_t cmd = ADDR_STATUS;
-	uint8_t status_id[4] = {0, 0, 0, 0};
-
-
-	int ret = I2C_WRITEREAD(i2c, &cmd, 1, status_id, 4);
-
-	/* verify that the device is attached and functioning */
-	if ((ret >= 0) && (status_id[1] == ID_A_WHO_AM_I) && (status_id[2] == ID_B_WHO_AM_I) && (status_id[3] == ID_C_WHO_AM_I)) {
-
-		/* set update rate to 75 Hz */
-		/* set 0.88 Ga range */
-		if ((ret != 0) || (hmc5883l_set_range(HMC5883L_RANGE_0_88GA) != 0) ||
-				(hmc5883l_set_rate(HMC5883L_RATE_75HZ) != 0))
-		{
-			errno = EIO;
-		} else {
-
-			/* set device into single mode, start measurement */
-			ret = hmc5883l_write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE);
-
-			/* make ourselves available */
-			register_driver("/dev/hmc5883l", &hmc5883l_fops, 0666, NULL);
-
-			result = 0;
-		}
-
-	} else {
-		errno = EIO;
-	}
-
-
-
-	return result;
-}
diff --git a/nuttx/configs/px4fmu/src/drv_l3gd20.c b/nuttx/configs/px4fmu/src/drv_l3gd20.c
deleted file mode 100644
index 19f2d032f..000000000
--- a/nuttx/configs/px4fmu/src/drv_l3gd20.c
+++ /dev/null
@@ -1,364 +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 ST L3GD20 MEMS gyroscope
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-#include <nuttx/arch.h>
-#include <arch/board/drv_l3gd20.h>
-
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#define DIR_READ					(1<<7)
-#define DIR_WRITE					(0<<7)
-#define ADDR_INCREMENT				(1<<6)
-
-#define ADDR_WHO_AM_I				0x0F
-#define WHO_I_AM					0xD4
-#define ADDR_CTRL_REG1				0x20
-#define ADDR_CTRL_REG2				0x21
-#define ADDR_CTRL_REG3				0x22
-#define ADDR_CTRL_REG4				0x23
-#define ADDR_CTRL_REG5				0x24
-#define ADDR_REFERENCE				0x25
-#define ADDR_OUT_TEMP				0x26
-#define ADDR_STATUS_REG				0x27
-#define ADDR_OUT_X_L				0x28
-#define ADDR_OUT_X_H				0x29
-#define ADDR_OUT_Y_L				0x2A
-#define ADDR_OUT_Y_H				0x2B
-#define ADDR_OUT_Z_L				0x2C
-#define ADDR_OUT_Z_H				0x2D
-#define ADDR_FIFO_CTRL_REG			0x2E
-#define ADDR_FIFO_SRC_REG			0x2F
-#define ADDR_INT1_CFG				0x30
-#define ADDR_INT1_SRC				0x31
-#define ADDR_INT1_TSH_XH			0x32
-#define ADDR_INT1_TSH_XL			0x33
-#define ADDR_INT1_TSH_YH			0x34
-#define ADDR_INT1_TSH_YL			0x35
-#define ADDR_INT1_TSH_ZH			0x36
-#define ADDR_INT1_TSH_ZL			0x37
-#define ADDR_INT1_DURATION			0x38
-
-#define REG1_RATE_LP_MASK			0xF0 /* Mask to guard partial register update */
-#define REG4_RANGE_MASK				0x30 /* Mask to guard partial register update */
-
-/* Internal configuration values */
-#define REG1_POWER_NORMAL			(1<<3)
-#define REG1_Z_ENABLE				(1<<2)
-#define REG1_Y_ENABLE				(1<<1)
-#define REG1_X_ENABLE				(1<<0)
-
-#define REG4_BDU					(1<<7)
-#define REG4_BLE					(1<<6)
-//#define REG4_SPI_3WIRE				(1<<0)
-
-#define REG5_FIFO_ENABLE			(1<<6)
-#define REG5_REBOOT_MEMORY			(1<<7)
-
-#define STATUS_ZYXOR				(1<<7)
-#define STATUS_ZOR					(1<<6)
-#define STATUS_YOR					(1<<5)
-#define STATUS_XOR					(1<<4)
-#define STATUS_ZYXDA				(1<<3)
-#define STATUS_ZDA					(1<<2)
-#define STATUS_YDA					(1<<1)
-#define STATUS_XDA					(1<<0)
-
-#define FIFO_CTRL_BYPASS_MODE				(0<<5)
-#define FIFO_CTRL_FIFO_MODE					(1<<5)
-#define FIFO_CTRL_STREAM_MODE				(1<<6)
-#define FIFO_CTRL_STREAM_TO_FIFO_MODE		(3<<5)
-#define FIFO_CTRL_BYPASS_TO_STREAM_MODE		(1<<7)
-
-static FAR struct l3gd20_dev_s	l3gd20_dev;
-
-static ssize_t l3gd20_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations l3gd20_fops = {
-	.open  = 0,
-	.close = 0,
-	.read  = l3gd20_read,
-	.write = 0,
-	.seek  = 0,
-	.ioctl = l3gd20_ioctl,
-#ifndef CONFIG_DISABLE_POLL
-	.poll  = 0
-#endif
-};
-
-struct l3gd20_dev_s
-{
-	struct spi_dev_s	*spi;
-	int			spi_id;
-	uint8_t			rate;
-	struct l3gd20_buffer	*buffer;
-};
-
-static void	l3gd20_write_reg(uint8_t address, uint8_t data);
-static uint8_t	l3gd20_read_reg(uint8_t address);
-
-static void
-l3gd20_write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
-	SPI_SNDBLOCK(l3gd20_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
-}
-
-static uint8_t
-l3gd20_read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, true);
-	SPI_EXCHANGE(l3gd20_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(l3gd20_dev.spi, l3gd20_dev.spi_id, false);
-
-	return data[1];
-}
-
-static int
-set_range(uint8_t range)
-{
-	/* mask out illegal bit positions */
-	uint8_t write_range = range & REG4_RANGE_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_range != range) return EINVAL;
-	/* set remaining bits to a sane value */
-	write_range |= REG4_BDU;
-	/* write to device */
-	l3gd20_write_reg(ADDR_CTRL_REG4, write_range);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(l3gd20_read_reg(ADDR_CTRL_REG4) == write_range);
-}
-
-static int
-set_rate(uint8_t rate)
-{
-	/* mask out illegal bit positions */
-	uint8_t write_rate = rate & REG1_RATE_LP_MASK;
-	/* immediately return if user supplied invalid value */
-	if (write_rate != rate) return EINVAL;
-	/* set remaining bits to a sane value */
-	write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
-	/* write to device */
-	l3gd20_write_reg(ADDR_CTRL_REG1, write_rate);
-	/* return 0 if register value is now written value, 1 if unchanged */
-	return !(l3gd20_read_reg(ADDR_CTRL_REG1) == write_rate);
-}
-
-static int
-read_fifo(int16_t *data)
-{
-
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		temp;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report = {.status = 11};
-
-	report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-	SPI_LOCK(l3gd20_dev.spi, true);
-	SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, true);
-	SPI_SETFREQUENCY(l3gd20_dev.spi, 25000000);
-
-	SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
-
-	/* XXX if the status value is unchanged, attempt a second exchange */
-	if (report.status == 11) SPI_EXCHANGE(l3gd20_dev.spi, &report, &report, sizeof(report));
-	/* XXX set magic error value if this still didn't succeed */
-	if (report.status == 11) report.status = 12;
-
-	SPI_SETFREQUENCY(l3gd20_dev.spi, 10000000);
-	SPI_SELECT(l3gd20_dev.spi, PX4_SPIDEV_GYRO, false);
-	SPI_LOCK(l3gd20_dev.spi, false);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-
-	/* if all axes are valid, return buflen (6), else return negative status */
-	int ret = -((int)report.status);
-	if (STATUS_ZYXDA == (report.status & STATUS_ZYXDA) || STATUS_ZYXOR == (report.status & STATUS_ZYXOR))
-	{
-		ret = 6;
-	}
-
-	return ret;
-}
-
-static ssize_t
-l3gd20_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 6) {
-		/* return buflen or a negative value */
-		int ret = read_fifo((int16_t *)buffer);
-		if (ret != 6) *get_errno_ptr() = EAGAIN;
-		return ret;
-	}
-
-	/* buffer too small */
-	*get_errno_ptr() = ENOSPC;
-	return ERROR;
-}
-
-static int
-l3gd20_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-        case L3GD20_SETRATE:
-            if ((arg & REG1_RATE_LP_MASK) == arg) {
-            	SPI_LOCK(l3gd20_dev.spi, true);
-                set_rate(arg);
-                SPI_LOCK(l3gd20_dev.spi, false);
-                result = 0;
-                l3gd20_dev.rate = arg;
-            }
-            break;
-
-        case L3GD20_SETRANGE:
-            if ((arg & REG4_RANGE_MASK) == arg) {
-            	SPI_LOCK(l3gd20_dev.spi, true);
-                set_range(arg);
-                SPI_LOCK(l3gd20_dev.spi, false);
-                result = 0;
-            }
-            break;
-
-        case L3GD20_SETBUFFER:
-            l3gd20_dev.buffer = (struct l3gd20_buffer *)arg;
-            result = 0;
-            break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-l3gd20_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-
-	l3gd20_dev.spi = spi;
-	l3gd20_dev.spi_id = spi_id;
-
-	SPI_LOCK(l3gd20_dev.spi, true);
-	/* read dummy value to void to clear SPI statemachine on sensor */
-	(void)l3gd20_read_reg(ADDR_WHO_AM_I);
-
-	/* verify that the device is attached and functioning */
-	if (l3gd20_read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
-		/* reset device memory */
-		//l3gd20_write_reg(ADDR_CTRL_REG5, REG5_REBOOT_MEMORY);
-		//up_udelay(1000);
-
-		/* set default configuration */
- 	 	l3gd20_write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-		l3gd20_write_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
-		l3gd20_write_reg(ADDR_CTRL_REG3, 0);		/* no interrupts - we don't use them */
-		l3gd20_write_reg(ADDR_CTRL_REG4, 0x10);
-		l3gd20_write_reg(ADDR_CTRL_REG5, 0);
-
-		l3gd20_write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE);	  /* disable wake-on-interrupt */
-		l3gd20_write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
-
-		if ((set_range(L3GD20_RANGE_500DPS) != 0) ||
-				(set_rate(L3GD20_RATE_760HZ_LP_100HZ) != 0))	/* takes device out of low-power mode */
-		{
-			errno = EIO;
-		} else {
-			/* Read out the first few funky values */
-			struct {					/* status register and data as read back from the device */
-				uint8_t		cmd;
-				uint8_t		temp;
-				uint8_t		status;
-				int16_t		x;
-				int16_t		y;
-				int16_t		z;
-			} __attribute__((packed))	report;
-
-			report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
-
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-			SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-			up_udelay(500);
-			/* And read another set */
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, true);
-			SPI_EXCHANGE(spi, &report, &report, sizeof(report));
-			SPI_SELECT(spi, PX4_SPIDEV_GYRO, false);
-
-
-			/* make ourselves available */
-			register_driver("/dev/l3gd20", &l3gd20_fops, 0666, NULL);
-
-			result = 0;
-		}
-
-	} else {
-
-		errno = EIO;
-	}
-
-	SPI_LOCK(l3gd20_dev.spi, false);
-
-	return result;
-}
diff --git a/nuttx/configs/px4fmu/src/drv_lis331.c b/nuttx/configs/px4fmu/src/drv_lis331.c
deleted file mode 100644
index fd477b46f..000000000
--- a/nuttx/configs/px4fmu/src/drv_lis331.c
+++ /dev/null
@@ -1,272 +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 ST LIS331 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.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_lis331.h>
-
-/*
- * LIS331 registers
- */
-
-#define DIR_READ		(1<<7)
-#define DIR_WRITE		(0<<7)
-#define ADDR_INCREMENT		(1<<6)
-
-#define ADDR_WHO_AM_I		0x0f
-#define WHO_I_AM		0x32
-
-#define ADDR_CTRL_REG1		0x20		/* sample rate constants are in the public header */
-#define REG1_POWER_NORMAL		(1<<5)
-#define REG1_RATE_MASK			(3<<3)
-#define REG1_Z_ENABLE			(1<<2)
-#define REG1_Y_ENABLE			(1<<1)
-#define REG1_X_ENABLE			(1<<0)
-
-#define ADDR_CTRL_REG2		0x21
-
-#define ADDR_CTRL_REG3		0x22
-
-#define ADDR_CTRL_REG4		0x23
-#define REG4_BDU			(1<<7)
-#define REG4_BIG_ENDIAN			(1<<6)
-#define REG4_RANGE_MASK			(3<<4)
-#define REG4_SPI_3WIRE			(1<<0)
-
-#define ADDR_CTRL_REG5		0x24
-
-#define ADDR_HP_FILTER_RESET	0x25
-#define ADDR_REFERENCE		0x26
-#define ADDR_STATUS_REG		0x27
-#define STATUS_ZYXOR			(1<<7)
-#define STATUS_ZOR				(1<<6)
-#define STATUS_YOR				(1<<5)
-#define STATUS_XOR				(1<<4)
-#define STATUS_ZYXDA			(1<<3)
-#define STATUS_ZDA				(1<<2)
-#define STATUS_YDA				(1<<1)
-#define STATUS_XDA				(1<<0)
-
-#define ADDR_OUT_X		0x28	/* 16 bits */
-#define ADDR_OUT_Y		0x2A	/* 16 bits */
-#define ADDR_OUT_Z		0x2C	/* 16 bits */
-
-
-static ssize_t	lis331_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int	lis331_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations lis331_fops = {
-	.read  = lis331_read,
-	.ioctl = lis331_ioctl,
-};
-
-struct lis331_dev_s
-{
-	struct spi_dev_s	*spi;
-	int			spi_id;
-
-	uint8_t			rate;
-	struct lis331_buffer	*buffer;
-};
-
-static struct lis331_dev_s	lis331_dev;
-
-static void	write_reg(uint8_t address, uint8_t data);
-static uint8_t	read_reg(uint8_t address);
-static bool	read_fifo(uint16_t *data);
-static void	set_range(uint8_t range);
-static void	set_rate(uint8_t rate);
-
-static void
-write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-      	SPI_SNDBLOCK(lis331_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-}
-
-static uint8_t
-read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-
-	return data[1];	
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report;
-
-	report.cmd = ADDR_STATUS_REG | DIR_READ | ADDR_INCREMENT;
-
-	/* exchange the report structure with the device */
-	SPI_LOCK(lis331_dev.spi, true);
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, &report, &report, sizeof(report));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-	SPI_LOCK(lis331_dev.spi, false);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-
-	return report.status & STATUS_ZYXDA;
-}
-
-static void
-set_range(uint8_t range)
-{
-	range &= REG4_RANGE_MASK;
-	write_reg(ADDR_CTRL_REG4, range | REG4_BDU);
-}
-
-static void
-set_rate(uint8_t rate)
-{
-	rate &= REG1_RATE_MASK;
-	write_reg(ADDR_CTRL_REG1, rate | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-}
-
-static ssize_t
-lis331_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 12) {
-		if (read_fifo((uint16_t *)buffer))
-			return 12;
-
-		/* no data */
-		return 0;
-	}
-
-	/* buffer too small */
-	errno = ENOSPC;
-	return ERROR;
-}
-
-static int
-lis331_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case LIS331_SETRATE:
-		if ((arg & REG1_RATE_MASK) == arg) {
-			set_rate(arg);
-			result = 0;
-			lis331_dev.rate = arg;
-		}
-		break;
-
-	case LIS331_SETRANGE:
-		if ((arg & REG4_RANGE_MASK) == arg) {
-			set_range(arg);
-			result = 0;
-		}
-		break;
-
-	case LIS331_SETBUFFER:
-		lis331_dev.buffer = (struct lis331_buffer *)arg;
-		result = 0;
-		break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-lis331_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-	
-	lis331_dev.spi = spi;
-
-	SPI_LOCK(lis331_dev.spi, true);
-
-	/* verify that the device is attached and functioning */
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
-		/* set default configuration */
-		write_reg(ADDR_CTRL_REG2, 0);	/* disable interrupt-generating high-pass filters */
-		write_reg(ADDR_CTRL_REG3, 0);	/* no interrupts - we don't use them */
-		write_reg(ADDR_CTRL_REG5, 0);	/* disable wake-on-interrupt */
-
-		set_range(LIS331_RANGE_4G);
-		set_rate(LIS331_RATE_400Hz);	/* takes device out of low-power mode */
-
-		/* make ourselves available */
-		register_driver("/dev/lis331", &lis331_fops, 0666, NULL);
-
-		result = 0;
-	} else {
-		errno = EIO;
-	}
-
-	SPI_LOCK(lis331_dev.spi, false);
-
-	return result;
-}
-
diff --git a/nuttx/configs/px4fmu/src/drv_ms5611.c b/nuttx/configs/px4fmu/src/drv_ms5611.c
deleted file mode 100644
index c7e91c5ea..000000000
--- a/nuttx/configs/px4fmu/src/drv_ms5611.c
+++ /dev/null
@@ -1,504 +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.
- */
-
-/*
- * Driver for the Measurement Specialties MS5611 barometric pressure sensor
- */
-
-#include <nuttx/config.h>
-#include <nuttx/i2c.h>
-#include <nuttx/arch.h>
-#include <arch/board/board.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "chip.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/up_hrt.h>
-#include <arch/board/drv_ms5611.h>
-
-/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
-#define MS5611_MIN_INTER_MEASUREMENT_INTERVAL 9200
-
-#define MS5611_ADDRESS_1		0x76    /* address select pins pulled high (PX4FMU series v1.6+) */
-#define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
-
-#define ADDR_RESET_CMD			0x1E /* read from this address to reset chip (0b0011110 on bus) */
-#define ADDR_CMD_CONVERT_D1		0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
-#define ADDR_CMD_CONVERT_D2		0x58 /* 4096 samples */
-#define ADDR_DATA				0x00 /* address of 3 bytes / 32bit pressure data */
-#define ADDR_PROM_SETUP			0xA0 /* address of 8x 2 bytes factory and calibration data */
-#define ADDR_PROM_C1			0xA2 /* address of 6x 2 bytes calibration data */
-
-static FAR struct ms5611_dev_s	ms5611_dev;
-
-static ssize_t ms5611_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int ms5611_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations ms5611_fops = {
-	.read  = ms5611_read,
-	.ioctl = ms5611_ioctl,
-};
-
-struct ms5611_prom_s
-{
-	uint16_t factory_setup;
-	uint16_t c1_pressure_sens;
-	uint16_t c2_pressure_offset;
-	uint16_t c3_temp_coeff_pres_sens;
-	uint16_t c4_temp_coeff_pres_offset;
-	uint16_t c5_reference_temp;
-	uint16_t c6_temp_coeff_temp;
-	uint16_t serial_and_crc;
-} __attribute__((packed));
-
-union ms5611_prom_u
-{
-	uint16_t c[8];
-	struct ms5611_prom_s s;
-} __attribute__((packed));
-
-struct ms5611_dev_s
-{
-	union ms5611_prom_u 	prom;
-	struct i2c_dev_s		*i2c;
-	struct ms5611_buffer	*buffer;
-} __attribute__((packed));
-
-static FAR uint8_t MS5611_ADDRESS;
-
-static FAR struct {
-		/* status register and data as read back from the device */
-		float		pressure;
-		float		altitude;
-		float		temperature;
-		uint32_t	d1_raw;
-		uint32_t	d2_raw;
-		uint32_t	measurements_count;
-		uint8_t		last_state;
-		uint64_t    last_read;
-	} ms5611_report = {
-			.pressure = 0.0f,
-			.altitude = 0.0f,
-			.temperature = 0.0f,
-			.last_state = 0,
-			/* make sure the first readout can be performed */
-			.last_read = 0,
-};
-
-static int ms5611_read_prom(void);
-
-int ms5611_reset()
-{
-	int ret;
-	printf("[ms5611 drv] Resettet I2C2 BUS\n");
-	up_i2cuninitialize(ms5611_dev.i2c);
-	ms5611_dev.i2c = up_i2cinitialize(2);
-	I2C_SETFREQUENCY(ms5611_dev.i2c, 400000);
-	return ret;
-}
-
-static bool
-read_values(float *data)
-{
-	int ret;
-	uint8_t cmd_data[3];
-
-	/* check validity of pointer */
-	if (data == NULL)
-	{
-		*get_errno_ptr() = EINVAL;
-		return -EINVAL;
-	}
-
-	/* only start reading when data is available */
-	if (ms5611_report.measurements_count > 0)
-	{
-		/* do not read more often than at minimum 9.17 ms intervals */
-		if ((hrt_absolute_time() - ms5611_report.last_read) < MS5611_MIN_INTER_MEASUREMENT_INTERVAL)
-		{
-			/* set errno to 'come back later' */
-			ret = -EAGAIN;
-			goto handle_return;
-		}
-		else
-		{
-			/* set new value */
-			ms5611_report.last_read = hrt_absolute_time();
-		}
-
-		/* Read out last measurement */
-		cmd_data[0] = 0x00;
-
-		struct i2c_msg_s msgv[2] = {
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = 0,
-						.buffer = cmd_data,
-						.length = 1
-				},
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = I2C_M_READ,
-						.buffer = cmd_data,
-						.length = 3
-				}
-		};
-		ret = I2C_TRANSFER(ms5611_dev.i2c, msgv, 2);
-		if (ret != OK) goto handle_return;
-
-
-		/* at value 1 the last reading was temperature */
-		if (ms5611_report.last_state == 1)
-		{
-			/* put temperature into the raw set */
-			ms5611_report.d2_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
-		}
-		else
-		{
-			/* put altitude into the raw set */
-			ms5611_report.d1_raw = (((uint32_t)cmd_data[0]) << 16) | (((uint32_t)cmd_data[1]) << 8) | ((uint32_t)cmd_data[2]);
-		}
-	}
-	ms5611_report.measurements_count++;
-
-	/*
-	 * this block reads four pressure values and one temp value,
-	 * resulting in 80 Hz pressure update and 20 Hz temperature updates
-	 * at 100 Hz continuous operation.
-	 */
-	if (ms5611_report.last_state == 0)
-	{
-		/* request first a temperature reading */
-		cmd_data[0] = ADDR_CMD_CONVERT_D2;
-	}
-	else
-	{
-		/* request pressure reading */
-		cmd_data[0] = ADDR_CMD_CONVERT_D1;
-	}
-
-	if (ms5611_report.last_state == 3)
-	{
-		ms5611_report.last_state = 0;
-	}
-	else
-	{
-		ms5611_report.last_state++;
-	}
-
-
-	/* write measurement command */
-	struct i2c_msg_s conv_cmd[1] = {
-			{
-					.addr   = MS5611_ADDRESS,
-					.flags  = 0,
-					.buffer = cmd_data,
-					.length = 1
-			},
-	};
-
-	ret = I2C_TRANSFER(ms5611_dev.i2c, conv_cmd, 1);
-	if (ret != OK) goto handle_return;
-
-	/* only write back values after first complete set */
-	if (ms5611_report.measurements_count > 2)
-	{
-		/* Calculate results */
-
-		/* temperature calculation */
-		int32_t dT = ms5611_report.d2_raw - (((int32_t)ms5611_dev.prom.s.c5_reference_temp)*256);
-		int64_t temp_int64 = 2000 + (((int64_t)dT)*ms5611_dev.prom.s.c6_temp_coeff_temp)/8388608;
-
-		/* pressure calculation */
-		int64_t offset = (int64_t)ms5611_dev.prom.s.c2_pressure_offset * 65536 + ((int64_t)dT*ms5611_dev.prom.s.c4_temp_coeff_pres_offset)/128;
-		int64_t sens = (int64_t)ms5611_dev.prom.s.c1_pressure_sens * 32768 + ((int64_t)dT*ms5611_dev.prom.s.c3_temp_coeff_pres_sens)/256;
-
-		/* it's pretty cold, second order temperature compensation needed */
-		if (temp_int64 < 2000)
-		{
-			/* second order temperature compensation */
-			int64_t temp2 = (((int64_t)dT)*dT) >> 31;
-			int64_t tmp_64 = (temp_int64-2000)*(temp_int64-2000);
-			int64_t offset2 = (5*tmp_64)>>1;
-			int64_t sens2 = (5*tmp_64)>>2;
-			temp_int64 = temp_int64 - temp2;
-			offset = offset - offset2;
-			sens = sens - sens2;
-		}
-
-		int64_t press_int64 = (((ms5611_report.d1_raw*sens)/2097152-offset)/32768);
-
-		ms5611_report.temperature = temp_int64 / 100.0f;
-		ms5611_report.pressure = press_int64 / 100.0f;
-		/* convert as double for max. precision, store as float (more than enough precision) */
-		ms5611_report.altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
-
-		/* Write back float values */
-		data[0] = ms5611_report.pressure;
-		data[1] = ms5611_report.altitude;
-		data[2] = ms5611_report.temperature;
-	}
-	else
-	{
-		/* not ready, try again */
-		ret = -EINPROGRESS;
-	}
-
-	/* return 1 if new data is available, 0 else */
-	handle_return:
-	if (ret == OK)
-	{
-		return (sizeof(ms5611_report.d1_raw) + sizeof(ms5611_report.altitude) + sizeof(ms5611_report.d2_raw));
-	}
-	else
-	{
-		errno = -ret;
-		if (errno == ETIMEDOUT || ret == ETIMEDOUT) ms5611_reset();
-		return ret;
-	}
-}
-
-static ssize_t
-ms5611_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 12) {
-		return read_values((float *)buffer);
-	}
-
-	/* buffer too small */
-	errno = ENOSPC;
-	return -ENOSPC;
-}
-
-static int
-ms5611_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	return -ENOSYS;
-
-//	switch (cmd) {
-//        case MS5611_SETRATE:
-//            if ((arg & REG1_RATE_LP_MASK) == arg) {
-//                set_rate(arg);
-//                result = 0;
-//                dev.rate = arg;
-//            }
-//            break;
-//
-//        case MS5611_SETBUFFER:
-//            dev.buffer = (struct ms5611_buffer *)arg;
-//            result = 0;
-//            break;
-//	}
-//
-//	if (result)
-//		errno = EINVAL;
-//	return result;
-}
-
-
-
-int ms5611_crc4(uint16_t n_prom[])
-{
-	/* routine ported from MS5611 application note */
-	int16_t cnt;
-	uint16_t n_rem;
-	uint16_t crc_read;
-	uint8_t n_bit;
-	n_rem = 0x00;
-	/* save the read crc */
-	crc_read = n_prom[7];
-	/* remove CRC byte */
-	n_prom[7] = (0xFF00 & (n_prom[7]));
-	for (cnt = 0; cnt < 16; cnt++)
-	{
-		/* uneven bytes */
-		if (cnt & 1)
-			{
-			n_rem ^= (uint8_t) ((n_prom[cnt>>1]) & 0x00FF);
-			}
-		else
-		{
-			n_rem ^= (uint8_t) (n_prom[cnt>>1] >> 8);
-		}
-		for (n_bit = 8; n_bit > 0; n_bit--)
-		{
-			if (n_rem & 0x8000)
-			{
-				n_rem = (n_rem << 1) ^ 0x3000;
-
-			}
-			else
-			{
-				n_rem = (n_rem << 1);
-			}
-		}
-	}
-	/* final 4 bit remainder is CRC value */
-	n_rem = (0x000F & (n_rem >> 12));
-	n_prom[7] = crc_read;
-
-	/* return 0 == OK if CRCs match, 1 else */
-	return !((0x000F & crc_read) == (n_rem ^ 0x00));
-}
-
-
-int ms5611_read_prom()
-{
-	/* read PROM data */
-	uint8_t prom_buf[2] = {255,255};
-
-	int retval = 0;
-
-	for (int i = 0; i < 8; i++)
-	{
-		uint8_t cmd = {ADDR_PROM_SETUP + (i*2)};
-
-		I2C_SETADDRESS(ms5611_dev.i2c, MS5611_ADDRESS, 7);
-		retval = I2C_WRITEREAD(ms5611_dev.i2c, &cmd, 1, prom_buf, 2);
-
-		/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
-		ms5611_dev.prom.c[i] = (((uint16_t)prom_buf[0])<<8) | ((uint16_t)prom_buf[1]);
-
-		if (retval != OK)
-		{
-			break;
-		}
-	}
-
-	/* calculate CRC and return error if mismatch */
-	return ms5611_crc4(ms5611_dev.prom.c);
-}
-
-int
-ms5611_attach(struct i2c_dev_s *i2c)
-{
-	int	result = ERROR;
-
-	ms5611_dev.i2c = i2c;
-
-	MS5611_ADDRESS = MS5611_ADDRESS_1;
-
-	/* write reset command */
-	uint8_t cmd_data = ADDR_RESET_CMD;
-
-	struct i2c_msg_s reset_cmd[1] = {
-			{
-					.addr   = MS5611_ADDRESS,
-					.flags  = 0,
-					.buffer = &cmd_data,
-					.length = 1
-			},
-	};
-
-	int ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd, 1);
-
-	if (ret == OK)
-	{
-		/* wait for PROM contents to be in the device (2.8 ms) */
-		up_udelay(3000);
-
-		/* read PROM */
-		ret = ms5611_read_prom();
-	}
-
-	/* check if the address was wrong */
-	if (ret != OK)
-	{
-		/* try second address */
-		MS5611_ADDRESS = MS5611_ADDRESS_2;
-
-		/* write reset command */
-		cmd_data = ADDR_RESET_CMD;
-
-		struct i2c_msg_s reset_cmd_2[1] = {
-				{
-						.addr   = MS5611_ADDRESS,
-						.flags  = 0,
-						.buffer = &cmd_data,
-						.length = 1
-				},
-		};
-
-		ret = I2C_TRANSFER(ms5611_dev.i2c, reset_cmd_2, 1);
-
-		/* wait for PROM contents to be in the device (2.8 ms) */
-		up_udelay(3000);
-
-		/* read PROM */
-		ret = ms5611_read_prom();
-	}
-
-	if (ret < 0) return -EIO;
-
-
-	/* verify that the device is attached and functioning */
-	if (ret == OK) {
-
-		if (MS5611_ADDRESS == MS5611_ADDRESS_1)
-		{
-			printf("[ms5611 driver] Attached MS5611 at addr #1 (0x76)\n");
-		}
-		else
-		{
-			printf("[ms5611 driver] Attached MS5611 at addr #2 (0x77)\n");
-		}
-
-		/* trigger temperature read */
-		(void)read_values(NULL);
-		/* wait for conversion to complete */
-		up_udelay(9200);
-
-		/* trigger pressure read */
-		(void)read_values(NULL);
-		/* wait for conversion to complete */
-		up_udelay(9200);
-		/* now a read_values call would obtain valid results */
-
-		/* make ourselves available */
-		register_driver("/dev/ms5611", &ms5611_fops, 0666, NULL);
-
-		result = OK;
-
-	} else {
-		errno = EIO;
-	}
-
-	return result;
-}