Rename the 'device' directory back to 'drivers', it's less confusing that way.

Move the fmuv2 board driver out into the new world.

13 files changed, 865 insertions, 0 deletions

diff --git a/src/drivers/boards/px4fmuv2/module.mk b/src/drivers/boards/px4fmuv2/module.mk
new file mode 100644
index 000000000..eb8841e4d
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/module.mk
@@ -0,0 +1,9 @@
+#
+# Board-specific startup code for the PX4FMUv2
+#
+
+SRCS		 = px4fmu_can.c \
+		   px4fmu_init.c \
+		   px4fmu_pwm_servo.c \
+		   px4fmu_spi.c \
+		   px4fmu_usb.c
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_can.c b/src/drivers/boards/px4fmuv2/px4fmu_can.c
new file mode 100644
index 000000000..86ba183b8
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_can.c
@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "px4fmu_internal.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing CAN */
+
+#ifdef CONFIG_DEBUG_CAN
+#  define candbg    dbg
+#  define canvdbg   vdbg
+#  define canlldbg  lldbg
+#  define canllvdbg llvdbg
+#else
+#  define candbg(x...)
+#  define canvdbg(x...)
+#  define canlldbg(x...)
+#  define canllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			candbg("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			candbg("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c
new file mode 100644
index 000000000..1d99f15bf
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_init.c
@@ -0,0 +1,229 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/i2c.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include "stm32_internal.h"
+#include "px4fmu_internal.h"
+#include "stm32_uart.h"
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
+
+#include <systemlib/cpuload.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure LEDs */
+	up_ledinit();
+}
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+
+#include <math.h>
+
+#ifdef __cplusplus
+__EXPORT int matherr(struct __exception *e)
+{
+	return 1;
+}
+#else
+__EXPORT int matherr(struct exception *e)
+{
+	return 1;
+}
+#endif
+
+__EXPORT int nsh_archinitialize(void)
+{
+
+	/* configure ADC pins */
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+	stm32_configgpio(GPIO_ADC1_IN12);
+
+	/* configure power supply control pins */
+	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+	stm32_configgpio(GPIO_VDD_2V8_SENSORS_EN);
+	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+
+	/* configure the high-resolution time/callout interface */
+	hrt_init();
+
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+	// initial LED state
+	// XXX need to make this work again
+//	drv_led_start();
+	up_ledoff(LED_AMBER);
+
+	/* Configure SPI-based devices */
+
+	spi1 = up_spiinitialize(1);
+
+	if (!spi1) {
+		message("[boot] FAILED to initialize SPI port 1\r\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	// Default SPI1 to 1MHz and de-assert the known chip selects.
+	SPI_SETFREQUENCY(spi1, 10000000);
+	SPI_SETBITS(spi1, 8);
+	SPI_SETMODE(spi1, SPIDEV_MODE3);
+	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+	up_udelay(20);
+
+	message("[boot] Successfully initialized SPI port 1\r\n");
+
+	/* Get the SPI port for the FRAM */
+
+	message("[boot] Initializing SPI port 2\n");
+	spi2 = up_spiinitialize(2);
+
+	if (!spi2) {
+		message("[boot] FAILED to initialize SPI port 2\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+
+	message("[boot] Successfully initialized SPI port 2\n");
+
+	/* XXX need a driver to bind the FRAM to */
+
+	//message("[boot] Successfully bound SPI port 2 to the FRAM driver\n");
+
+	return OK;
+}
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
new file mode 100644
index 000000000..cc4e9529d
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_internal.h
+ *
+ * PX4FMU internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32_internal.h>
+
+ 
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* PX4FMU GPIOs ***********************************************************************************/
+/* LEDs */
+
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
+
+/* External interrupts */
+
+/* SPI chip selects */
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+/* User GPIOs
+ *
+ * GPIO0-5 are the PWM servo outputs.
+ */
+#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
+
+/* Power supply control and monitoring GPIOs */
+#define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_VDD_2V8_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+#define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
+ */
+#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
new file mode 100644
index 000000000..14e4052be
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_pwm_servo.c
+ *
+ * Configuration data for the stm32 pwm_servo driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <drivers/stm32/drv_pwm_servo.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+
+#include <stm32_internal.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+	{
+		.base = STM32_TIM1_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB2ENR_TIM1EN,
+		.clock_freq = STM32_APB2_TIM1_CLKIN
+	},
+	{
+		.base = STM32_TIM4_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM4EN,
+		.clock_freq = STM32_APB1_TIM4_CLKIN
+	}
+};
+
+__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+	{
+		.gpio = GPIO_TIM1_CH4OUT,
+		.timer_index = 0,
+		.timer_channel = 4,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM1_CH3OUT,
+		.timer_index = 0,
+		.timer_channel = 3,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM1_CH2OUT,
+		.timer_index = 0,
+		.timer_channel = 2,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM1_CH1OUT,
+		.timer_index = 0,
+		.timer_channel = 1,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM4_CH2OUT,
+		.timer_index = 1,
+		.timer_channel = 2,
+		.default_value = 1000,
+	},
+	{
+		.gpio = GPIO_TIM4_CH3OUT,
+		.timer_index = 1,
+		.timer_channel = 3,
+		.default_value = 1000,
+	}
+};
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
new file mode 100644
index 000000000..f90f25071
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/spi.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "chip.h"
+#include "stm32_internal.h"
+#include "px4fmu_internal.h"
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void weak_function stm32_spiinitialize(void)
+{
+#ifdef CONFIG_STM32_SPI1
+	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	stm32_configgpio(GPIO_SPI_CS_BARO);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+	stm32_configgpio(GPIO_SPI_CS_FRAM);
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+#endif
+}
+
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_GYRO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_ACCEL_MAG:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		break;
+
+	default:
+		break;
+	}
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+
+#ifdef CONFIG_STM32_SPI2
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there can only be one device on this bus, so always select it */
+	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	/* FRAM is always present */
+	return SPI_STATUS_PRESENT;
+}
+#endif
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
new file mode 100644
index 000000000..b0b669fbe
--- /dev/null
+++ b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   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 px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include "up_arch.h"
+#include "stm32_internal.h"
+#include "px4fmu_internal.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	ulldbg("resume: %d\n", resume);
+}
+
diff --git a/src/device/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 32030a1f7..32030a1f7 100644
--- a/src/device/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
diff --git a/src/device/lsm303d/module.mk b/src/drivers/lsm303d/module.mk
index e93b1e331..e93b1e331 100644
--- a/src/device/lsm303d/module.mk
+++ b/src/drivers/lsm303d/module.mk
diff --git a/src/device/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index d3865f053..d3865f053 100644
--- a/src/device/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
diff --git a/src/device/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
index 05bc7a5b3..05bc7a5b3 100644
--- a/src/device/px4fmu/module.mk
+++ b/src/drivers/px4fmu/module.mk
diff --git a/src/device/rgbled/module.mk b/src/drivers/rgbled/module.mk
index 39b53ec9e..39b53ec9e 100644
--- a/src/device/rgbled/module.mk
+++ b/src/drivers/rgbled/module.mk
diff --git a/src/device/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index dc1e469c0..dc1e469c0 100644
--- a/src/device/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp