Moved last libs, drivers and headers, cleaned up IO build

6 files changed, 16 insertions, 969 deletions

diff --git a/src/modules/px4iofirmware/hx_stream.c b/src/modules/px4iofirmware/hx_stream.c
deleted file mode 100644
index 8d77f14a8..000000000
--- a/src/modules/px4iofirmware/hx_stream.c
+++ /dev/null
@@ -1,250 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.c
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#include <stdint.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <crc32.h>
-#include <unistd.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-
-#include "perf_counter.h"
-
-#include "hx_stream.h"
-
-
-struct hx_stream {
-	uint8_t			buf[HX_STREAM_MAX_FRAME + 4];
-	unsigned		frame_bytes;
-	bool			escaped;
-	bool			txerror;
-
-	int			fd;
-	hx_stream_rx_callback	callback;
-	void			*callback_arg;
-
-	perf_counter_t		pc_tx_frames;
-	perf_counter_t		pc_rx_frames;
-	perf_counter_t		pc_rx_errors;
-};
-
-/*
- * Protocol magic numbers, straight out of HDLC.
- */
-#define FBO	0x7e	/**< Frame Boundary Octet */
-#define CEO	0x7c	/**< Control Escape Octet */
-
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static int	hx_rx_frame(hx_stream_t stream);
-
-static void
-hx_tx_raw(hx_stream_t stream, uint8_t c)
-{
-	if (write(stream->fd, &c, 1) != 1)
-		stream->txerror = true;
-}
-
-static void
-hx_tx_byte(hx_stream_t stream, uint8_t c)
-{
-	switch (c) {
-	case FBO:
-	case CEO:
-		hx_tx_raw(stream, CEO);
-		c ^= 0x20;
-		break;
-	}
-
-	hx_tx_raw(stream, c);
-}
-
-static int
-hx_rx_frame(hx_stream_t stream)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	unsigned length = stream->frame_bytes;
-
-	/* reset the stream */
-	stream->frame_bytes = 0;
-	stream->escaped = false;
-
-	/* not a real frame - too short */
-	if (length < 4) {
-		if (length > 1)
-			perf_count(stream->pc_rx_errors);
-
-		return 0;
-	}
-
-	length -= 4;
-
-	/* compute expected CRC */
-	u.w = crc32(&stream->buf[0], length);
-
-	/* compare computed and actual CRC */
-	for (unsigned i = 0; i < 4; i++) {
-		if (u.b[i] != stream->buf[length + i]) {
-			perf_count(stream->pc_rx_errors);
-			return 0;
-		}
-	}
-
-	/* frame is good */
-	perf_count(stream->pc_rx_frames);
-	stream->callback(stream->callback_arg, &stream->buf[0], length);
-	return 1;
-}
-
-hx_stream_t
-hx_stream_init(int fd,
-	       hx_stream_rx_callback callback,
-	       void *arg)
-{
-	hx_stream_t stream;
-
-	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
-
-	if (stream != NULL) {
-		memset(stream, 0, sizeof(struct hx_stream));
-		stream->fd = fd;
-		stream->callback = callback;
-		stream->callback_arg = arg;
-	}
-
-	return stream;
-}
-
-void
-hx_stream_free(hx_stream_t stream)
-{
-	/* free perf counters (OK if they are NULL) */
-	perf_free(stream->pc_tx_frames);
-	perf_free(stream->pc_rx_frames);
-	perf_free(stream->pc_rx_errors);
-
-	free(stream);
-}
-
-void
-hx_stream_set_counters(hx_stream_t stream,
-		       perf_counter_t tx_frames,
-		       perf_counter_t rx_frames,
-		       perf_counter_t rx_errors)
-{
-	stream->pc_tx_frames = tx_frames;
-	stream->pc_rx_frames = rx_frames;
-	stream->pc_rx_errors = rx_errors;
-}
-
-int
-hx_stream_send(hx_stream_t stream,
-	       const void *data,
-	       size_t count)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	const uint8_t *p = (const uint8_t *)data;
-	unsigned resid = count;
-
-	if (resid > HX_STREAM_MAX_FRAME)
-		return -EINVAL;
-
-	/* start the frame */
-	hx_tx_raw(stream, FBO);
-
-	/* transmit the data */
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* compute the CRC */
-	u.w = crc32(data, count);
-
-	/* send the CRC */
-	p = &u.b[0];
-	resid = 4;
-
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* and the trailing frame separator */
-	hx_tx_raw(stream, FBO);
-
-	/* check for transmit error */
-	if (stream->txerror) {
-		stream->txerror = false;
-		return -EIO;
-	}
-
-	perf_count(stream->pc_tx_frames);
-	return 0;
-}
-
-void
-hx_stream_rx(hx_stream_t stream, uint8_t c)
-{
-	/* frame end? */
-	if (c == FBO) {
-		hx_rx_frame(stream);
-		return;
-	}
-
-	/* escaped? */
-	if (stream->escaped) {
-		stream->escaped = false;
-		c ^= 0x20;
-
-	} else if (c == CEO) {
-		/* now escaped, ignore the byte */
-		stream->escaped = true;
-		return;
-	}
-
-	/* save for later */
-	if (stream->frame_bytes < sizeof(stream->buf))
-		stream->buf[stream->frame_bytes++] = c;
-}
diff --git a/src/modules/px4iofirmware/hx_stream.h b/src/modules/px4iofirmware/hx_stream.h
deleted file mode 100644
index 128689953..000000000
--- a/src/modules/px4iofirmware/hx_stream.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.h
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#ifndef _SYSTEMLIB_HX_STREAM_H
-#define _SYSTEMLIB_HX_STREAM_H
-
-#include <sys/types.h>
-
-#include "perf_counter.h"
-
-struct hx_stream;
-typedef struct hx_stream *hx_stream_t;
-
-#define HX_STREAM_MAX_FRAME	64
-
-typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
-
-__BEGIN_DECLS
-
-/**
- * Allocate a new hx_stream object.
- *
- * @param fd		The file handle over which the protocol will
- *			communicate.
- * @param callback	Called when a frame is received.
- * @param callback_arg	Passed to the callback.
- * @return		A handle to the stream, or NULL if memory could
- *			not be allocated.
- */
-__EXPORT extern hx_stream_t	hx_stream_init(int fd,
-		hx_stream_rx_callback callback,
-		void *arg);
-
-/**
- * Free a hx_stream object.
- *
- * @param stream	A handle returned from hx_stream_init.
- */
-__EXPORT extern void		hx_stream_free(hx_stream_t stream);
-
-/**
- * Set performance counters for the stream.
- *
- * Any counter may be set to NULL to disable counting that datum.
- *
- * @param tx_frames	Counter for transmitted frames.
- * @param rx_frames	Counter for received frames.
- * @param rx_errors	Counter for short and corrupt received frames.
- */
-__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
-		perf_counter_t tx_frames,
-		perf_counter_t rx_frames,
-		perf_counter_t rx_errors);
-
-/**
- * Send a frame.
- *
- * This function will block until all frame bytes are sent if
- * the descriptor passed to hx_stream_init is marked blocking,
- * otherwise it will return -1 (but may transmit a
- * runt frame at the same time).
- *
- * @todo Handling of non-blocking streams needs to be better.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param data		Pointer to the data to send.
- * @param count		The number of bytes to send.
- * @return		Zero on success, -errno on error.
- */
-__EXPORT extern int		hx_stream_send(hx_stream_t stream,
-		const void *data,
-		size_t count);
-
-/**
- * Handle a byte from the stream.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param c		The character to process.
- */
-__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
-		uint8_t c);
-
-__END_DECLS
-
-#endif
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 085697fbb..82b8f16d3 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -1,4 +1,18 @@
 
 
-SRCS = adc.c controls.c dsm.c i2c.c mixer.cpp px4io.c registers.c safety.c sbus.c \
-       up_cxxinitialize.c hx_stream.c perf_counter.c
+SRCS		= adc.c \
+		  controls.c \
+		  dsm.c \
+		  i2c.c \
+		  px4io.c \
+		  registers.c \
+		  safety.c \
+		  sbus.c \
+		  mixer.cpp \
+		  ../systemlib/mixer/mixer.cpp \
+		  ../systemlib/mixer/mixer_group.cpp \
+		  ../systemlib/mixer/mixer_multirotor.cpp \
+		  ../systemlib/mixer/mixer_simple.cpp \
+		  ../systemlib/up_cxxinitialize.c \
+		  ../systemlib/hx_stream.c \
+		  ../systemlib/perf_counter.c
diff --git a/src/modules/px4iofirmware/perf_counter.c b/src/modules/px4iofirmware/perf_counter.c
deleted file mode 100644
index 879f4715a..000000000
--- a/src/modules/px4iofirmware/perf_counter.c
+++ /dev/null
@@ -1,317 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.c
- *
- * @brief Performance measuring tools.
- */
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <sys/queue.h>
-#include <drivers/drv_hrt.h>
-
-#include "perf_counter.h"
-
-/**
- * Header common to all counters.
- */
-struct perf_ctr_header {
-	sq_entry_t		link;	/**< list linkage */
-	enum perf_counter_type	type;	/**< counter type */
-	const char		*name;	/**< counter name */
-};
-
-/**
- * PC_EVENT counter.
- */
-struct perf_ctr_count {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-};
-
-/**
- * PC_ELAPSED counter.
- */
-struct perf_ctr_elapsed {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_start;
-	uint64_t		time_total;
-	uint64_t		time_least;
-	uint64_t		time_most;
-};
-
-/**
- * PC_INTERVAL counter.
- */
-struct perf_ctr_interval {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_event;
-	uint64_t		time_first;
-	uint64_t		time_last;
-	uint64_t		time_least;
-	uint64_t		time_most;
-
-};
-
-/**
- * List of all known counters.
- */
-static sq_queue_t	perf_counters;
-
-
-perf_counter_t
-perf_alloc(enum perf_counter_type type, const char *name)
-{
-	perf_counter_t ctr = NULL;
-
-	switch (type) {
-	case PC_COUNT:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
-		break;
-
-	case PC_ELAPSED:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
-		break;
-
-	case PC_INTERVAL:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
-		break;
-
-	default:
-		break;
-	}
-
-	if (ctr != NULL) {
-		ctr->type = type;
-		ctr->name = name;
-		sq_addfirst(&ctr->link, &perf_counters);
-	}
-
-	return ctr;
-}
-
-void
-perf_free(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	sq_rem(&handle->link, &perf_counters);
-	free(handle);
-}
-
-void
-perf_count(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count++;
-		break;
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		hrt_abstime now = hrt_absolute_time();
-
-		switch (pci->event_count) {
-		case 0:
-			pci->time_first = now;
-			break;
-		case 1:
-			pci->time_least = now - pci->time_last;
-			pci->time_most = now - pci->time_last;
-			break;
-		default: {
-			hrt_abstime interval = now - pci->time_last;
-			if (interval < pci->time_least)
-				pci->time_least = interval;
-			if (interval > pci->time_most)
-				pci->time_most = interval;
-			break;
-		}
-		}
-		pci->time_last = now;
-		pci->event_count++;
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_begin(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED:
-		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
-		break;
-
-	default:
-		break;
-	}
-}
-
-void
-perf_end(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED: {
-			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
-
-			pce->event_count++;
-			pce->time_total += elapsed;
-
-			if ((pce->time_least > elapsed) || (pce->time_least == 0))
-				pce->time_least = elapsed;
-
-			if (pce->time_most < elapsed)
-				pce->time_most = elapsed;
-		}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_reset(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count = 0;
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-		pce->event_count = 0;
-		pce->time_start = 0;
-		pce->time_total = 0;
-		pce->time_least = 0;
-		pce->time_most = 0;
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		pci->event_count = 0;
-		pci->time_event = 0;
-		pci->time_first = 0;
-		pci->time_last = 0;
-		pci->time_least = 0;
-		pci->time_most = 0;
-		break;
-	}
-	}
-}
-
-void
-perf_print_counter(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		printf("%s: %llu events\n",
-		       handle->name,
-		       ((struct perf_ctr_count *)handle)->event_count);
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-
-		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
-		       handle->name,
-		       pce->event_count,
-		       pce->time_total,
-		       pce->time_least,
-		       pce->time_most);
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-
-		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
-		       handle->name,
-		       pci->event_count,
-		       (pci->time_last - pci->time_first) / pci->event_count,
-		       pci->time_least,
-		       pci->time_most);
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_print_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_print_counter(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
-
-void
-perf_reset_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_reset(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
diff --git a/src/modules/px4iofirmware/perf_counter.h b/src/modules/px4iofirmware/perf_counter.h
deleted file mode 100644
index 5c2cb15b2..000000000
--- a/src/modules/px4iofirmware/perf_counter.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.h
- * Performance measuring tools.
- */
-
-#ifndef _SYSTEMLIB_PERF_COUNTER_H
-#define _SYSTEMLIB_PERF_COUNTER_H value
-
-/**
- * Counter types.
- */
-enum perf_counter_type {
-	PC_COUNT,		/**< count the number of times an event occurs */
-	PC_ELAPSED,		/**< measure the time elapsed performing an event */
-	PC_INTERVAL		/**< measure the interval between instances of an event */
-};
-
-struct perf_ctr_header;
-typedef struct perf_ctr_header	*perf_counter_t;
-
-__BEGIN_DECLS
-
-/**
- * Create a new counter.
- *
- * @param type			The type of the new counter.
- * @param name			The counter name.
- * @return			Handle for the new counter, or NULL if a counter
- *				could not be allocated.
- */
-__EXPORT extern perf_counter_t	perf_alloc(enum perf_counter_type type, const char *name);
-
-/**
- * Free a counter.
- *
- * @param handle		The performance counter's handle.
- */
-__EXPORT extern void		perf_free(perf_counter_t handle);
-
-/**
- * Count a performance event.
- *
- * This call only affects counters that take single events; PC_COUNT etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_count(perf_counter_t handle);
-
-/**
- * Begin a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_begin(perf_counter_t handle);
-
-/**
- * End a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_end(perf_counter_t handle);
-
-/**
- * Reset a performance event.
- *
- * This call resets performance counter to initial state
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_reset(perf_counter_t handle);
-
-/**
- * Print one performance counter.
- *
- * @param handle		The counter to print.
- */
-__EXPORT extern void		perf_print_counter(perf_counter_t handle);
-
-/**
- * Print all of the performance counters.
- */
-__EXPORT extern void		perf_print_all(void);
-
-/**
- * Reset all of the performance counters.
- */
-__EXPORT extern void		perf_reset_all(void);
-
-__END_DECLS
-
-#endif
diff --git a/src/modules/px4iofirmware/up_cxxinitialize.c b/src/modules/px4iofirmware/up_cxxinitialize.c
deleted file mode 100644
index c78f29570..000000000
--- a/src/modules/px4iofirmware/up_cxxinitialize.c
+++ /dev/null
@@ -1,150 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_cxxinitialize.c
- * arch/arm/src/board/up_cxxinitialize.c
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <debug.h>
-
-#include <nuttx/arch.h>
-
-//#include <arch/stm32/chip.h>
-//#include "chip.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-/* Debug ****************************************************************************/
-/* Non-standard debug that may be enabled just for testing the static constructors */
-
-#ifndef CONFIG_DEBUG
-#  undef CONFIG_DEBUG_CXX
-#endif
-
-#ifdef CONFIG_DEBUG_CXX
-#  define cxxdbg              dbg
-#  define cxxlldbg            lldbg
-#  ifdef CONFIG_DEBUG_VERBOSE
-#    define cxxvdbg           vdbg
-#    define cxxllvdbg         llvdbg
-#  else
-#    define cxxvdbg(x...)
-#    define cxxllvdbg(x...)
-#  endif
-#else
-#  define cxxdbg(x...)
-#  define cxxlldbg(x...)
-#  define cxxvdbg(x...)
-#  define cxxllvdbg(x...)
-#endif
-
-/************************************************************************************
- * Private Types
- ************************************************************************************/
-/* This type defines one entry in initialization array */
-
-typedef void (*initializer_t)(void);
-
-/************************************************************************************
- * External references
- ************************************************************************************/
-/* _sinit and _einit are symbols exported by the linker script that mark the
- * beginning and the end of the C++ initialization section.
- */
-
-extern initializer_t _sinit;
-extern initializer_t _einit;
-
-/* _stext and _etext are symbols exported by the linker script that mark the
- * beginning and the end of text.
- */
-
-extern uint32_t _stext;
-extern uint32_t _etext;
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/****************************************************************************
- * Name: up_cxxinitialize
- *
- * Description:
- *   If C++ and C++ static constructors are supported, then this function
- *   must be provided by board-specific logic in order to perform
- *   initialization of the static C++ class instances.
- *
- *   This function should then be called in the application-specific
- *   user_start logic in order to perform the C++ initialization.  NOTE
- *   that no component of the core NuttX RTOS logic is involved; This
- *   function defintion only provides the 'contract' between application
- *   specific C++ code and platform-specific toolchain support
- *
- ***************************************************************************/
-
-__EXPORT void up_cxxinitialize(void)
-{
-  initializer_t *initp;
-
-  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
-         &_sinit, &_einit, &_stext, &_etext);
-
-  /* Visit each entry in the initialzation table */
-
-  for (initp = &_sinit; initp != &_einit; initp++)
-    {
-      initializer_t initializer = *initp;
-      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
-
-      /* Make sure that the address is non-NULL and lies in the text region
-       * defined by the linker script.  Some toolchains may put NULL values
-       * or counts in the initialization table
-       */
-
-      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
-        {
-          cxxdbg("Calling %p\n", initializer);
-          initializer();
-        }
-    }
-}