Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver.

Rename some directories that got left behind in the great board renaming.

45 files changed, 208 insertions, 111 deletions

diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 8d2eb056e..b4c5fa06e 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -92,12 +92,6 @@
 
 #include <nuttx/config.h>
 
-__BEGIN_DECLS
-#include <arch/board/board.h>
-__END_DECLS
-#include <systemlib/systemlib.h>
-#include <drivers/device/i2c.h>
-
 #include <sys/types.h>
 #include <stdint.h>
 #include <string.h>
@@ -107,15 +101,19 @@ __END_DECLS
 #include <unistd.h>
 #include <stdio.h>
 #include <ctype.h>
-
-#include <drivers/drv_blinkm.h>
+#include <poll.h>
 
 #include <nuttx/wqueue.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <board_config.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_blinkm.h>
 
-#include <poll.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_gps_position.h>
diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index 4409a8a9c..cfb625670 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -59,7 +59,7 @@
 #include <nuttx/clock.h>
 
 #include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 56173abf6..9d7c81f85 100644
--- a/src/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_internal.h
+ * @file board_config.h
  *
  * PX4FMU internal definitions
  */
@@ -51,7 +51,7 @@ __BEGIN_DECLS
 
 /* these headers are not C++ safe */
 #include <stm32.h>
-
+#include <arch/board/board.h>
  
 /****************************************************************************************************
  * Definitions
@@ -77,15 +77,45 @@ __BEGIN_DECLS
 
 /* External interrupts */
 #define GPIO_EXTI_COMPASS	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
-// XXX MPU6000 DRDY?
 
 /* SPI chip selects */
-
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
 #define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
 
+/*
+ * Use these in place of the spi_dev_e enumeration to
+ * select a specific SPI device on SPI1
+ */
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_ACCEL	2
+#define PX4_SPIDEV_MPU		3
+
+/*
+ * Optional devices on IO's external port
+ */
+#define PX4_SPIDEV_ACCEL_MAG 2
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ESC		1
+#define PX4_I2C_BUS_ONBOARD	2
+#define PX4_I2C_BUS_EXPANSION	3
+
+/*
+ * Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_HMC5883	0x1e
+#define PX4_I2C_OBDEV_MS5611	0x76
+#define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
+
+#define PX4_I2C_OBDEV_PX4IO_BL	0x18
+#define PX4_I2C_OBDEV_PX4IO	0x1a
+
 /* User GPIOs
  *
  * GPIO0-1 are the buffered high-power GPIOs.
@@ -110,31 +140,45 @@ __BEGIN_DECLS
 #define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
 #define GPIO_GPIO_DIR		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
+/*
+ * Tone alarm output
+ */
+#define TONE_ALARM_TIMER	3	/* timer 3 */
+#define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
+
+/*
+ * PWM
+ *
+ * Four PWM outputs can be configured on pins otherwise shared with
+ * USART2; two can take the flow control pins if they are not being used.
+ *
+ * Pins:
+ *
+ * CTS - PA0 - TIM2CH1
+ * RTS - PA1 - TIM2CH2
+ * TX  - PA2 - TIM2CH3
+ * RX  - PA3 - TIM2CH4
+ *
+ */
+#define GPIO_TIM2_CH1OUT	GPIO_TIM2_CH1OUT_1
+#define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
+#define GPIO_TIM2_CH3OUT	GPIO_TIM2_CH3OUT_1
+#define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
+
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
  */
 #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
-/* PWM
- *
- * The PX4FMU has five PWM outputs, of which only the output on
- * pin PC8 is fixed assigned to this function. The other four possible
- * pwm sources are the TX, RX, RTS and CTS pins of USART2
- *
- * Alternate function mapping:
- * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
+/* High-resolution timer
  */
-
-#ifdef CONFIG_PWM
-#  if defined(CONFIG_STM32_TIM3_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#	 define BUZZER_PWMTIMER 3
-#  elif defined(CONFIG_STM32_TIM8_PWM)
-#    define BUZZER_PWMCHANNEL 3
-#    define BUZZER_PWMTIMER 8
-#  endif
-#endif
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+#define HRT_PPM_CHANNEL		3	/* use capture/compare channel 3 */
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
 
 /****************************************************************************************************
  * Public Types
diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu-v1/module.mk
index 66b776917..66b776917 100644
--- a/src/drivers/boards/px4fmu/module.mk
+++ b/src/drivers/boards/px4fmu-v1/module.mk
diff --git a/src/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu-v1/px4fmu_can.c
index 187689ff9..1e1f10040 100644
--- a/src/drivers/boards/px4fmu/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_can.c
@@ -54,7 +54,7 @@
 
 #include "stm32.h"
 #include "stm32_can.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 36af2298c..964f5069c 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -59,7 +59,7 @@
 #include <nuttx/analog/adc.h>
 
 #include "stm32.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 #include "stm32_uart.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
index 31b25984e..aa83ec130 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
@@ -42,7 +42,7 @@
 #include <stdbool.h>
 
 #include "stm32.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 #include <arch/board/board.h>
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c
index d85131dd8..848e21d79 100644
--- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c
@@ -41,15 +41,15 @@
 
 #include <stdint.h>
 
-#include <drivers/stm32/drv_pwm_servo.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_pwm_output.h>
-
 #include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
+#include <drivers/stm32/drv_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "board_config.h"
+
 __EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
 	{
 		.base = STM32_TIM2_BASE,
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c
index e05ddecf3..17e6862f7 100644
--- a/src/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c
@@ -53,7 +53,7 @@
 #include "up_arch.h"
 #include "chip.h"
 #include "stm32.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 /************************************************************************************
  * Public Functions
diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c
index 0be981c1e..0fc8569aa 100644
--- a/src/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c
@@ -53,7 +53,7 @@
 
 #include "up_arch.h"
 #include "stm32.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 /************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmu-v2/board_config.h
index ad66ce563..ec8dde499 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_internal.h
+ * @file board_config.h
  *
  * PX4FMU internal definitions
  */
@@ -51,7 +51,7 @@ __BEGIN_DECLS
 
 /* these headers are not C++ safe */
 #include <stm32.h>
-
+#include <arch/board/board.h>
  
 /****************************************************************************************************
  * Definitions
@@ -76,6 +76,9 @@ __BEGIN_DECLS
 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
 
 /* External interrupts */
+#define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@@ -83,6 +86,22 @@ __BEGIN_DECLS
 #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)
 
+/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_ACCEL_MAG	2
+#define PX4_SPIDEV_BARO		3
+
+/* I2C busses */
+#define PX4_I2C_BUS_EXPANSION	1
+#define PX4_I2C_BUS_LED		2
+
+/* Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_LED	0x55
+#define PX4_I2C_OBDEV_HMC5883	0x1e
+
 /* User GPIOs
  *
  * GPIO0-5 are the PWM servo outputs.
@@ -108,12 +127,42 @@ __BEGIN_DECLS
 #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)
 
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	2	/* timer 2 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
+
+/* PWM
+ *
+ * Six PWM outputs are configured.
+ *
+ * Pins:
+ *
+ * CH1 : PE14 : TIM1_CH4
+ * CH2 : PE13 : TIM1_CH3
+ * CH3 : PE11 : TIM1_CH2
+ * CH4 : PE9  : TIM1_CH1
+ * CH5 : PD13 : TIM4_CH2
+ * CH6 : PD14 : TIM4_CH3
+ */
+#define GPIO_TIM1_CH1OUT	GPIO_TIM1_CH1OUT_2
+#define GPIO_TIM1_CH2OUT	GPIO_TIM1_CH2OUT_2
+#define GPIO_TIM1_CH3OUT	GPIO_TIM1_CH3OUT_2
+#define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
+#define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
+#define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+
 /* 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)
 
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
diff --git a/src/drivers/boards/px4fmuv2/module.mk b/src/drivers/boards/px4fmu-v2/module.mk
index 99d37eeca..99d37eeca 100644
--- a/src/drivers/boards/px4fmuv2/module.mk
+++ b/src/drivers/boards/px4fmu-v2/module.mk
diff --git a/src/drivers/boards/px4fmuv2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 13829d5c4..135767b26 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -60,7 +60,7 @@
 #include <nuttx/analog/adc.h>
 
 #include <stm32.h>
-#include "px4fmu_internal.h"
+#include "board_config.h"
 #include <stm32_uart.h>
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmuv2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
index 11a5c7211..5ded4294e 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu2_led.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
@@ -42,7 +42,7 @@
 #include <stdbool.h>
 
 #include "stm32.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 #include <arch/board/board.h>
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_can.c b/src/drivers/boards/px4fmu-v2/px4fmu_can.c
index 86ba183b8..f66c7cd79 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_can.c
@@ -54,7 +54,7 @@
 
 #include "stm32.h"
 #include "stm32_can.h"
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 #ifdef CONFIG_CAN
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c
index bcbc0010c..600dfef41 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c
@@ -41,15 +41,15 @@
 
 #include <stdint.h>
 
-#include <drivers/stm32/drv_pwm_servo.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_pwm_output.h>
-
 #include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
+#include <drivers/stm32/drv_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "board_config.h"
+
 __EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
 	{
 		.base = STM32_TIM1_BASE,
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
index 5e90c227d..09838d02f 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
@@ -53,7 +53,7 @@
 #include <up_arch.h>
 #include <chip.h>
 #include <stm32.h>
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 /************************************************************************************
  * Public Functions
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c
index 3492e2c68..f329e06ff 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c
@@ -53,7 +53,7 @@
 
 #include <up_arch.h>
 #include <stm32.h>
-#include "px4fmu_internal.h"
+#include "board_config.h"
 
 /************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io-v1/board_config.h
index 6638e715e..48aadbd76 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io-v1/board_config.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
  
 /**
- * @file px4io_internal.h
+ * @file board_config.h
  * 
  * PX4IO hardware definitions.
  */
@@ -47,7 +47,9 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
+/* these headers are not C++ safe */
 #include <stm32.h>
+#include <arch/board/board.h>
 
 /************************************************************************************
  * Definitions
@@ -83,3 +85,11 @@
 
 #define GPIO_ADC_VBATT	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
 #define GPIO_ADC_IN5	(GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
+
+/* 
+ * High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
diff --git a/src/drivers/boards/px4io/module.mk b/src/drivers/boards/px4io-v1/module.mk
index 2601a1c15..2601a1c15 100644
--- a/src/drivers/boards/px4io/module.mk
+++ b/src/drivers/boards/px4io-v1/module.mk
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io-v1/px4io_init.c
index 15c59e423..8292da9e1 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io-v1/px4io_init.c
@@ -55,7 +55,7 @@
 #include <nuttx/arch.h>
 
 #include "stm32.h"
-#include "px4io_internal.h"
+#include "board_config.h"
 #include "stm32_uart.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io-v1/px4io_pwm_servo.c
index 6df470da6..6df470da6 100644
--- a/src/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io-v1/px4io_pwm_servo.c
diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4io-v2/board_config.h
index 2bf65e047..818b64436 100755..100644
--- a/src/drivers/boards/px4iov2/px4iov2_internal.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -49,7 +49,7 @@
 
 /* these headers are not C++ safe */
 #include <stm32.h>
-
+#include <arch/board/board.h>
  
 /******************************************************************************
  * Definitions
@@ -116,3 +116,23 @@
 #define GPIO_SBUS_OUTPUT  (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
 
+/* 
+ * High-resolution timer
+ */
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+
+/* LED definitions ******************************************************************/
+/* PX4 has two LEDs that we will encode as: */
+
+#define LED_STARTED       0  /* LED? */
+#define LED_HEAPALLOCATE  1  /* LED? */
+#define LED_IRQSENABLED   2  /* LED? + LED? */
+#define LED_STACKCREATED  3  /* LED? */
+#define LED_INIRQ         4  /* LED? + LED? */
+#define LED_SIGNAL        5  /* LED? + LED? */
+#define LED_ASSERTION     6  /* LED? + LED? + LED? */
+#define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
+
diff --git a/src/drivers/boards/px4iov2/module.mk b/src/drivers/boards/px4io-v2/module.mk
index 85f94e8be..85f94e8be 100644
--- a/src/drivers/boards/px4iov2/module.mk
+++ b/src/drivers/boards/px4io-v2/module.mk
diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c
index e95298bf5..0ea95bded 100644
--- a/src/drivers/boards/px4iov2/px4iov2_init.c
+++ b/src/drivers/boards/px4io-v2/px4iov2_init.c
@@ -55,7 +55,7 @@
 #include <nuttx/arch.h>
 
 #include <stm32.h>
-#include "px4iov2_internal.h"
+#include "board_config.h"
 
 #include <arch/board/board.h>
 
diff --git a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c b/src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c
index 4f1b9487c..4f1b9487c 100644
--- a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
+++ b/src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index c7c25048a..37af26d52 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -59,9 +59,7 @@
 # define GPIO_CAN_RX		(1<<7)		/**< CAN2 RX */
 
 /**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
+ * Device paths for things that support the GPIO ioctl protocol.
  */
 # define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
 # define PX4IO_DEVICE_PATH	"/dev/px4io"
@@ -89,9 +87,7 @@
 # define GPIO_5V_PERIPH_OC	(1<<11)		/**< PE10 - !VDD_5V_PERIPH_OC */
 
 /**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
+ * Device paths for things that support the GPIO ioctl protocol.
  */
 # define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
 # define PX4IO_DEVICE_PATH	"/dev/px4io"
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index de8028b0f..f79b0b1a3 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -59,7 +59,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index ac3bdc132..039b496f4 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -58,7 +58,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 61a38b125..3bb9a7764 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -59,11 +59,10 @@
 #include <nuttx/clock.h>
 
 #include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-
 #include <drivers/device/spi.h>
 #include <drivers/drv_gyro.h>
 
+#include <board_config.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 844cc3884..d9801f88f 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -59,12 +59,12 @@
 #include <nuttx/clock.h>
 
 #include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_mag.h>
 
+#include <board_config.h>
+
 #include "iirFilter.h"
 
 /* oddly, ERROR is not defined for c++ */
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index 397686e8b..c5f49fb36 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -59,8 +59,6 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/board.h>
-
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
@@ -70,6 +68,8 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/subsystem_info.h>
 
+#include <board_config.h>
+
 /* Configuration Constants */
 #define MB12XX_BUS 			PX4_I2C_BUS_EXPANSION
 #define MB12XX_BASEADDR 	0x70 /* 7-bit address. 8-bit address is 0xE0 */
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 7a2e22c01..b19a1a0e6 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -69,7 +69,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 1f4a63cf3..4ad13fc04 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -59,10 +59,11 @@
 #include <nuttx/arch.h>
 #include <nuttx/i2c.h>
 
+#include <board_config.h>
+
 #include <drivers/device/device.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_gpio.h>
-#include <drivers/boards/px4fmu/px4fmu_internal.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
 
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 1fd6cb17e..0e27a382a 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -63,7 +63,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 #include <drivers/drv_hrt.h>
 
 #include <drivers/device/spi.h>
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b73f71572..a6f337486 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -59,15 +59,7 @@
 #include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-# include <drivers/boards/px4fmu/px4fmu_internal.h>
-# define FMU_HAVE_PPM
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
-# include <drivers/boards/px4fmuv2/px4fmu_internal.h>
-# undef FMU_HAVE_PPM
-#else
-# error Unrecognised FMU board.
-#endif
+# include <board_config.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -80,7 +72,7 @@
 #include <uORB/topics/actuator_outputs.h>
 
 #include <systemlib/err.h>
-#ifdef FMU_HAVE_PPM
+#ifdef HRT_PPM_CHANNEL
 # include <systemlib/ppm_decode.h>
 #endif
 
@@ -455,7 +447,7 @@ PX4FMU::task_main()
 	fds[1].fd = _t_armed;
 	fds[1].events = POLLIN;
 
-#ifdef FMU_HAVE_PPM
+#ifdef HRT_PPM_CHANNEL
 	// rc input, published to ORB
 	struct rc_input_values rc_in;
 	orb_advert_t to_input_rc = 0;
@@ -585,7 +577,7 @@ PX4FMU::task_main()
 			}
 		}
 
-#ifdef FMU_HAVE_PPM
+#ifdef HRT_PPM_CHANNEL
 		// see if we have new PPM input data
 		if (ppm_last_valid_decode != rc_in.timestamp) {
 			// we have a new PPM frame. Publish it.
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 840b96f5b..236cb918d 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -61,7 +61,7 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/boards/px4fmuv2/px4fmu_internal.h>	/* XXX should really not be hardcoding v2 here */
+#include <board_config.h>
 
 #include <systemlib/perf_counter.h>
 
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index ec22a5e17..c7ce60b5e 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -56,12 +56,7 @@
 
 #include "uploader.h"
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
-#include <drivers/boards/px4fmuv2/px4fmu_internal.h>
-#endif
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-#include <drivers/boards/px4fmu/px4fmu_internal.h>
-#endif
+#include <board_config.h>
 
 // define for comms logging
 //#define UDEBUG
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index dae41d934..5c4fa4bb6 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -41,7 +41,6 @@
 
 #include <nuttx/config.h>
 
-#include <arch/board/board.h>
 #include <drivers/device/i2c.h>
 
 #include <sys/types.h>
@@ -60,6 +59,8 @@
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 
+#include <board_config.h>
+
 #include "device/rgbled.h"
 
 #define LED_ONTIME 120
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 1cc18afda..58529fb03 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -59,7 +59,7 @@
 #include <errno.h>
 #include <string.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 #include <drivers/drv_hrt.h>
 
 #include "chip.h"
@@ -70,8 +70,6 @@
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
-#ifdef HRT_TIMER
-
 /* HRT configuration */
 #if   HRT_TIMER == 1
 # define HRT_TIMER_BASE		STM32_TIM1_BASE
@@ -905,6 +903,3 @@ hrt_latency_update(void)
 	/* catch-all at the end */
 	latency_counters[index]++;
 }
-
-
-#endif /* HRT_TIMER */
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 2284be84d..24eec52af 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -104,7 +104,7 @@
 #include <math.h>
 #include <ctype.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 #include <drivers/drv_hrt.h>
 
 #include <arch/stm32/chip.h>
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index bd78f2638..9eb092a63 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -42,12 +42,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
-# include <drivers/boards/px4io/px4io_internal.h>
-#endif
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
-# include <drivers/boards/px4iov2/px4iov2_internal.h>
-#endif
+#include <board_config.h>
 
 #include "protocol.h"
 
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index a2b0d8cae..96276b56a 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -43,11 +43,13 @@
 #include <fcntl.h>
 #include <sched.h>
 #include <signal.h>
-#include <sys/stat.h>
 #include <unistd.h>
 #include <float.h>
 #include <string.h>
 
+#include <sys/stat.h>
+#include <sys/types.h>
+
 #include "systemlib.h"
 
 __EXPORT extern void systemreset(void) {
diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
index 49da51358..2aed80e01 100644
--- a/src/systemcmds/eeprom/eeprom.c
+++ b/src/systemcmds/eeprom/eeprom.c
@@ -55,7 +55,7 @@
 #include <nuttx/fs/nxffs.h>
 #include <nuttx/fs/ioctl.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include "systemlib/systemlib.h"
 #include "systemlib/param/param.h"
diff --git a/src/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c
index 4da238039..34405c496 100644
--- a/src/systemcmds/i2c/i2c.c
+++ b/src/systemcmds/i2c/i2c.c
@@ -52,7 +52,7 @@
 
 #include <nuttx/i2c.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include "systemlib/systemlib.h"
 #include "systemlib/err.h"