3 files changed, 19 insertions, 39 deletions
diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs
index 3d2df6314..52c00cd5a 100644
--- a/nuttx/configs/px4fmu/common/Make.defs
+++ b/nuttx/configs/px4fmu/common/Make.defs
@@ -39,12 +39,15 @@
 # Make.defs in the per-config directories.
 #
 
+include ${TOPDIR}/tools/Config.mk
+
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
 
-CROSSDEV		 = arm-none-eabi-
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
 CC			 = $(CROSSDEV)gcc
 CXX			 = $(CROSSDEV)g++
@@ -167,39 +170,11 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
-define PREPROCESS
-	@echo "CPP: $1->$2"
-	@$(CPP) $(CPPFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILE
-	@echo "CC: $1"
-	$(Q)$(CC) -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-define COMPILEXX
-	@echo "CXX: $1"
-	$(Q)$(CXX) -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-define ASSEMBLE
-	@echo "AS: $1"
-	$(Q)$(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
 
 # produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
-	@$(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-define ARCHIVE
-	echo "AR: $2"; \
-	$(AR) $1 $2 || { echo "$(AR) $1 $2 FAILED!" ; exit 1 ; }
-endef
-
-define CLEAN
-	@rm -f *.o *.a
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 HOSTCC			 = gcc
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 52013457e..8a76f0e05 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -200,6 +200,10 @@ CONFIG_STM32_TIM9=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 
+#
+# We want the flash prefetch on for max performance.
+#
+STM32_FLASH_PREFETCH=y
 
 #
 # Enable the MTD driver for the onboard I2C EEPROM
@@ -348,9 +352,10 @@ CONFIG_CAN2_BAUD=700000
 # I2C configuration
 #
 CONFIG_I2C=y
-CONFIG_I2C_POLLED=y
+#CONFIG_I2C_POLLED=y
 CONFIG_I2C_TRANSFER=y
 CONFIG_I2C_TRACE=n
+CONFIG_I2C_RESET=y
 # Allow 180 us per byte, a wide margin for the 400 KHz clock we're using
 # e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update
 CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200
@@ -747,6 +752,8 @@ CONFIG_FS_ROMFS=y
 # CONFIG_MMCSD_SPICLOCK - Maximum SPI clock to drive MMC/SD card.
 #   Default is 20MHz, current setting 24 MHz
 #
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPI=y
 CONFIG_MMCSD_NSLOTS=1
 CONFIG_MMCSD_READONLY=n
 CONFIG_MMCSD_SPICLOCK=24000000
diff --git a/nuttx/configs/px4fmu/src/Makefile b/nuttx/configs/px4fmu/src/Makefile
index c3d6bf543..d4276f7fc 100644
--- a/nuttx/configs/px4fmu/src/Makefile
+++ b/nuttx/configs/px4fmu/src/Makefile
@@ -64,23 +64,21 @@ $(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
 	$(call COMPILE, $<, $@)
 
 libboard$(LIBEXT): $(OBJS)
-	@( for obj in $(OBJS) ; do \
-		$(call ARCHIVE, $@, $${obj}); \
-	done ; )
-	touch $@
+	$(call ARCHIVE, $@, $(OBJS))
 
 .depend: Makefile $(SRCS)
-	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
-	@touch $@
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
 
 depend: .depend
 
 clean:
-	@rm -f libboard$(LIBEXT) *~ .*.swp
+	$(call DELFILE, libboard$(LIBEXT))
 	$(call CLEAN)
 
 distclean: clean
-	@rm -f Make.dep .depend
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
 
 -include Make.dep