Pull v2 pieces up to build with the merge

19 files changed, 65 insertions, 90 deletions

diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c
index 03ec5a255..f9d1b8022 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_init.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_init.c
@@ -59,9 +59,9 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4fmu_internal.h"
-#include "stm32_uart.h"
+#include <stm32_uart.h>
 
 #include <arch/board/board.h>
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
index dd291b9b7..dce51bcda 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
index 14e4052be..d1656005b 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
index f90f25071..5e90c227d 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
@@ -50,9 +50,9 @@
 #include <nuttx/spi.h>
 #include <arch/board/board.h>
 
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
index b0b669fbe..3492e2c68 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
@@ -51,8 +51,8 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include "up_arch.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4iov2/px4iov2_init.c
index 5d7b22560..e95298bf5 100644
--- a/src/drivers/boards/px4iov2/px4iov2_init.c
+++ b/src/drivers/boards/px4iov2/px4iov2_init.c
@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4iov2_internal.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h
index 81a75431c..2bf65e047 100755
--- a/src/drivers/boards/px4iov2/px4iov2_internal.h
+++ b/src/drivers/boards/px4iov2/px4iov2_internal.h
@@ -48,7 +48,7 @@
 #include <stdint.h>
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /******************************************************************************
diff --git a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
index 5e1aafa49..4f1b9487c 100644
--- a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
+++ b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index a4c59d218..faeb9cf60 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -42,7 +42,7 @@
 
 #include <sys/ioctl.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 /*
  * PX4FMU GPIO numbers.
  *
@@ -67,7 +67,7 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 /*
  * PX4FMUv2 GPIO numbers.
  *
@@ -93,36 +93,14 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
-/*
- * PX4IO GPIO numbers.
- *
- * XXX note that these are here for reference/future use; currently
- * there is no good way to wire these up without a common STM32 GPIO
- * driver, which isn't implemented yet.
- */
-/* outputs */
-# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
-# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
-# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
-# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
-# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
-# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
-# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
-# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
-
-/* inputs */
-# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
-# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
-# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
-
-/**
- * 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.
- */
-# define GPIO_DEVICE_PATH	"/dev/px4io"
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+/* no GPIO driver on the PX4IOv1 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
+#endif
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+/* no GPIO driver on the PX4IOv2 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
 #endif
 
 #ifndef GPIO_DEVICE_PATH
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index ff99de02f..7d3af4b0d 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -59,10 +59,10 @@
 #include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 # include <drivers/boards/px4fmu/px4fmu_internal.h>
 # define FMU_HAVE_PPM
-#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 # include <drivers/boards/px4fmuv2/px4fmu_internal.h>
 # undef FMU_HAVE_PPM
 #else
@@ -158,7 +158,7 @@ private:
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
 	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
 	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
@@ -168,7 +168,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
 	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
 	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
 	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
 	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
@@ -873,7 +873,7 @@ PX4FMU::gpio_reset(void)
 		}
 	}
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/* if we have a GPIO direction control, set it to zero (input) */
 	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
 	stm32_configgpio(GPIO_GPIO_DIR);
@@ -883,7 +883,7 @@ PX4FMU::gpio_reset(void)
 void
 PX4FMU::gpio_set_function(uint32_t gpios, int function)
 {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/*
 	 * GPIOs 0 and 1 must have the same direction as they are buffered
 	 * by a shared 2-port driver.  Any attempt to set either sets both.
@@ -918,7 +918,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
 		}
 	}
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/* flip buffer to input mode if required */
 	if ((GPIO_SET_INPUT == function) && (gpios & 3))
 		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
@@ -1024,17 +1024,17 @@ fmu_new_mode(PortMode new_mode)
 		break;
 
 	case PORT_FULL_PWM:
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 		/* select 4-pin PWM mode */
 		servo_mode = PX4FMU::MODE_4PWM;
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 		servo_mode = PX4FMU::MODE_6PWM;
 #endif
 		break;
 
 	/* mixed modes supported on v1 board only */
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	case PORT_FULL_SERIAL:
 		/* set all multi-GPIOs to serial mode */
 		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
@@ -1116,7 +1116,7 @@ test(void)
 
 	if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed");
 
 	if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed");
@@ -1183,7 +1183,7 @@ fmu_main(int argc, char *argv[])
 	} else if (!strcmp(verb, "mode_pwm")) {
 		new_mode = PORT_FULL_PWM;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	} else if (!strcmp(verb, "mode_serial")) {
 		new_mode = PORT_FULL_SERIAL;
 
@@ -1217,9 +1217,9 @@ fmu_main(int argc, char *argv[])
 		fake(argc - 1, argv + 1);
 
 	fprintf(stderr, "FMU: unrecognised command, try:\n");
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
-#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	fprintf(stderr, "  mode_gpio, mode_pwm\n");
 #endif
 	exit(1);
diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp
index 9727daa71..06b955971 100644
--- a/src/drivers/px4io/interface_serial.cpp
+++ b/src/drivers/px4io/interface_serial.cpp
@@ -56,7 +56,6 @@
 #include <chip.h>
 #include <up_internal.h>
 #include <up_arch.h>
-#include <stm32_internal.h>
 
 #include <debug.h>
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 15e213afb..29624018f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1604,9 +1604,9 @@ start(int argc, char *argv[])
 
 	PX4IO_interface *interface;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	interface = io_serial_interface();
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
 #else
 # error Unknown board - cannot select interface.
@@ -1741,9 +1741,9 @@ if_test(unsigned mode)
 {
 	PX4IO_interface *interface;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	interface = io_serial_interface();
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
 #else
 # error Unknown board - cannot select interface.
diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index 28c584438..ec22a5e17 100644
--- a/src/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -56,10 +56,10 @@
 
 #include "uploader.h"
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 #include <drivers/boards/px4fmuv2/px4fmu_internal.h>
 #endif
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 #include <drivers/boards/px4fmu/px4fmu_internal.h>
 #endif
 
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 7ef3db970..1cc18afda 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -70,7 +70,7 @@
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
-#ifdef CONFIG_HRT_TIMER
+#ifdef HRT_TIMER
 
 /* HRT configuration */
 #if   HRT_TIMER == 1
@@ -275,7 +275,7 @@ static void		hrt_call_invoke(void);
 /*
  * Specific registers and bits used by PPM sub-functions
  */
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
  *
@@ -377,7 +377,7 @@ static void	hrt_ppm_decode(uint32_t status);
 # define CCMR1_PPM	0
 # define CCMR2_PPM	0
 # define CCER_PPM	0
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Initialise the timer we are going to use.
@@ -907,4 +907,4 @@ hrt_latency_update(void)
 }
 
 
-#endif /* CONFIG_HRT_TIMER */
+#endif /* HRT_TIMER */
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 167ef30a8..2284be84d 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -117,10 +117,6 @@
 
 #include <systemlib/err.h>
 
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
 /* Tone alarm configuration */
 #if   TONE_ALARM_TIMER == 2
 # define TONE_ALARM_BASE		STM32_TIM2_BASE
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 4dd1aa8d7..59f470a94 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -15,10 +15,10 @@ SRCS		= adc.c \
 		  ../systemlib/mixer/mixer_multirotor.cpp \
 		  ../systemlib/mixer/mixer_simple.cpp \
 
-ifeq ($(BOARD),px4io)
+ifeq ($(BOARD),px4io-v1)
 SRCS		+= i2c.c
 endif
-ifeq ($(BOARD),px4iov2)
+ifeq ($(BOARD),px4io-v2)
 SRCS		+= serial.c \
 		   ../systemlib/hx_stream.c
 endif
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index b32782285..ccf175e45 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -42,10 +42,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 # include <drivers/boards/px4io/px4io_internal.h>
 #endif
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
 # include <drivers/boards/px4iov2/px4iov2_internal.h>
 #endif
 
@@ -129,18 +129,7 @@ extern struct sys_state_s system_state;
 #define LED_AMBER(_s)			stm32_gpiowrite(GPIO_LED2, !(_s))
 #define LED_SAFETY(_s)			stm32_gpiowrite(GPIO_LED3, !(_s))
 
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
-
-# define PX4IO_RELAY_CHANNELS		0
-# define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
-
-# define VDD_SERVO_FAULT		(!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
-
-# define PX4IO_ADC_CHANNEL_COUNT	2
-# define ADC_VSERVO			4
-# define ADC_RSSI			5
-
-#else /* CONFIG_ARCH_BOARD_PX4IOV1 */
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 
 # define PX4IO_RELAY_CHANNELS		4
 # define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
@@ -158,6 +147,19 @@ extern struct sys_state_s system_state;
 
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+
+# define PX4IO_RELAY_CHANNELS		0
+# define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
+
+# define VDD_SERVO_FAULT		(!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
+
+# define PX4IO_ADC_CHANNEL_COUNT	2
+# define ADC_VSERVO			4
+# define ADC_RSSI			5
+
+#endif
+
 #define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
 
 /*
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index f4541936b..873ee73f1 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -59,7 +59,7 @@ static void	pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt
  */
 static const uint16_t	r_page_config[] = {
 	[PX4IO_P_CONFIG_PROTOCOL_VERSION]	= PX4IO_PROTOCOL_VERSION,
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
 	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 2,
 #else
 	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 1,
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c
index e4bc68f58..2f3184623 100644
--- a/src/modules/px4iofirmware/serial.c
+++ b/src/modules/px4iofirmware/serial.c
@@ -50,7 +50,7 @@
 #include <chip.h>
 #include <up_internal.h>
 #include <up_arch.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <systemlib/perf_counter.h>
 
 //#define DEBUG