Updated FMU and IO configs

34 files changed, 3406 insertions, 1582 deletions

diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig
index e2dad70cb..30cf7a5b8 100644
--- a/nuttx/configs/Kconfig
+++ b/nuttx/configs/Kconfig
@@ -542,6 +542,13 @@ config ARCH_BOARD_PX4FMU_V1
 	---help---
 		PX4 flight management unit v1.x
 
+config ARCH_BOARD_PX4IO_V1
+	bool "PX4IO v1.x"
+	depends on CONFIG_ARCH_CHIP_STM32F100C8
+	select ARCH_HAVE_LEDS
+	---help---
+		PX4 input / output unit v1.x
+
 config ARCH_BOARD_STM32F100RC_GENERIC
 	bool "STMicro STM32F100RC generic board"
 	depends on ARCH_CHIP_STM32F100RC
@@ -789,6 +796,7 @@ config ARCH_BOARD
 	default "stm32f3discovery"    if ARCH_BOARD_STM32F3_DISCOVERY
 	default "stm32f4discovery"    if ARCH_BOARD_STM32F4_DISCOVERY
 	default "px4fmu-v1"    	      if ARCH_BOARD_PX4FMU_V1
+	default "px4io-v1"           if ARCH_BOARD_PX4IO_V1
 	default "stm32ldiscovery"     if ARCH_BOARD_STM32L_DISCOVERY
 	default "mikroe-stm32f4"      if ARCH_BOARD_MIKROE_STM32F4
 	default "sure-pic32mx"        if ARCH_BOARD_SUREPIC32MX
diff --git a/nuttx/configs/px4fmu-v1/src/Makefile b/nuttx/configs/px4fmu-v1/src/Makefile
index 9b914e52a..6ef8b7d6a 100644
--- a/nuttx/configs/px4fmu-v1/src/Makefile
+++ b/nuttx/configs/px4fmu-v1/src/Makefile
@@ -1,7 +1,7 @@
 ############################################################################
-# configs/stm32f4discovery/src/Makefile
+# configs/px4fmu-v1/src/Makefile
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -35,55 +35,24 @@
 
 -include $(TOPDIR)/Make.defs
 
-CFLAGS += -I$(TOPDIR)/sched
+CFLAGS		+= -I$(TOPDIR)/sched
 
-ASRCS = 
-AOBJS = $(ASRCS:.S=$(OBJEXT))
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
-CSRCS = up_boot.c up_spi.c up_stackcheck.c
+CSRCS		= empty.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
 
-ifeq ($(CONFIG_HAVE_CXX),y)
-CSRCS += up_cxxinitialize.c
-endif
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
 
-ifeq ($(CONFIG_ARCH_LEDS),y)
-CSRCS += up_autoleds.c
-else
-CSRCS += up_userleds.c
-endif
-
-ifeq ($(CONFIG_STM32_OTGFS),y)
-CSRCS += up_usb.c
-endif
-
-ifeq ($(CONFIG_WATCHDOG),y)
-CSRCS += up_watchdog.c
-endif
-
-ifeq ($(CONFIG_NSH_ARCHINIT),y)
-CSRCS += up_nsh.c
-endif
-
-ifeq ($(CONFIG_IDLE_CUSTOM),y)
-CSRCS += up_idle.c
-endif
-
-COBJS = $(CSRCS:.c=$(OBJEXT))
-
-SRCS = $(ASRCS) $(CSRCS)
-OBJS = $(AOBJS) $(COBJS)
-
-ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
-ifeq ($(CONFIG_WINDOWS_NATIVE),y)
-  CFLAGS += -I$(ARCH_SRCDIR)\chip -I$(ARCH_SRCDIR)\common -I$(ARCH_SRCDIR)\armv7-m
-else
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(WINTOOL),y)
-  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-			-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-			-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
 else
-  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
-endif
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
 endif
 
 all: libboard$(LIBEXT)
@@ -112,3 +81,4 @@ distclean: clean
 	$(call DELFILE, .depend)
 
 -include Make.dep
+
diff --git a/nuttx/configs/px4fmu-v1/src/empty.c b/nuttx/configs/px4fmu-v1/src/empty.c
new file mode 100644
index 000000000..ace900866
--- /dev/null
+++ b/nuttx/configs/px4fmu-v1/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */
diff --git a/nuttx/configs/px4fmu-v1/src/px4fmu-v1-internal.h b/nuttx/configs/px4fmu-v1/src/px4fmu-v1-internal.h
deleted file mode 100644
index 0639bbd55..000000000
--- a/nuttx/configs/px4fmu-v1/src/px4fmu-v1-internal.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************************************
- * configs/stm32f4discovery/src/stm32f4discovery-internal.h
- * arch/arm/src/board/stm32f4discovery-internal.n
- *
- *   Copyright (C) 2011-2012 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.
- *
- ****************************************************************************************************/
-
-#ifndef __CONFIGS_PX4FMU_V1_SRC_PX4FMU_V1_INTERNAL_H
-#define __CONFIGS_PX4FMU_V1_SRC_PX4FMU_V1_INTERNAL_H
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-/* How many SPI modules does this chip support? */
-
-#if STM32_NSPI < 1
-#  undef CONFIG_STM32_SPI1
-#  undef CONFIG_STM32_SPI2
-#  undef CONFIG_STM32_SPI3
-#elif STM32_NSPI < 2
-#  undef CONFIG_STM32_SPI2
-#  undef CONFIG_STM32_SPI3
-#elif STM32_NSPI < 3
-#  undef CONFIG_STM32_SPI3
-#endif
-
-/* px4fmu-v1 GPIOs **************************************************************************/
-/* LEDs */
-
-#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-
-/* 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)
-
-/* 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 stm32f4discovery board.
- *
- ****************************************************************************************************/
-
-void weak_function stm32_spiinitialize(void);
-
-/****************************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called from stm32_usbinitialize very early in inialization to setup USB-related
- *   GPIO pins for the STM32F4Discovery board.
- *
- ****************************************************************************************************/
-
-#ifdef CONFIG_STM32_OTGFS
-void weak_function stm32_usbinitialize(void);
-#endif
-
-/****************************************************************************************************
- * Name: stm32_usbhost_initialize
- *
- * Description:
- *   Called at application startup time to initialize the USB host functionality. This function will
- *   start a thread that will monitor for device connection/disconnection events.
- *
- ****************************************************************************************************/
-
-#if defined(CONFIG_STM32_OTGFS) && defined(CONFIG_USBHOST)
-int stm32_usbhost_initialize(void);
-#endif
-
-#endif /* __ASSEMBLY__ */
-#endif /* __CONFIGS_PX4FMU_V1_SRC_PX4FMU_V1_INTERNAL_H */
-
diff --git a/nuttx/configs/px4fmu-v1/src/up_autoleds.c b/nuttx/configs/px4fmu-v1/src/up_autoleds.c
deleted file mode 100644
index 440c0cfa9..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_autoleds.c
+++ /dev/null
@@ -1,235 +0,0 @@
-/****************************************************************************
- * configs/stm32f4discovery/src/up_autoleds.c
- * arch/arm/src/board/up_autoleds.c
- *
- *   Copyright (C) 2011-2013 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 <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32.h"
-#include "px4fmu-v1-internal.h"
-
-#ifdef CONFIG_ARCH_LEDS
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* CONFIG_DEBUG_LEDS enables debug output from this file (needs CONFIG_DEBUG
- * with CONFIG_DEBUG_VERBOSE too)
- */
-
-#ifdef CONFIG_DEBUG_LEDS
-#  define leddbg  lldbg
-#  define ledvdbg llvdbg
-#else
-#  define leddbg(x...)
-#  define ledvdbg(x...)
-#endif
-
-/* The following definitions map the encoded LED setting to GPIO settings */
-
-#define STM32F4_LED1      (1 << 0)
-#define STM32F4_LED2      (1 << 1)
-
-#define ON_SETBITS_SHIFT  (0)
-#define ON_CLRBITS_SHIFT  (4)
-#define OFF_SETBITS_SHIFT (8)
-#define OFF_CLRBITS_SHIFT (12)
-
-#define ON_BITS(v)        ((v) & 0xff)
-#define OFF_BITS(v)       (((v) >> 8) & 0x0ff)
-#define SETBITS(b)        ((b) & 0x0f)
-#define CLRBITS(b)        (((b) >> 4) & 0x0f)
-
-#define ON_SETBITS(v)     (SETBITS(ON_BITS(v))
-#define ON_CLRBITS(v)     (CLRBITS(ON_BITS(v))
-#define OFF_SETBITS(v)    (SETBITS(OFF_BITS(v))
-#define OFF_CLRBITS(v)    (CLRBITS(OFF_BITS(v))
-
-#define LED_STARTED_ON_SETBITS       ((STM32F4_LED1) << ON_SETBITS_SHIFT)
-#define LED_STARTED_ON_CLRBITS       ((STM32F4_LED2) << ON_CLRBITS_SHIFT)
-#define LED_STARTED_OFF_SETBITS      ((0) << OFF_SETBITS_SHIFT)
-#define LED_STARTED_OFF_CLRBITS      ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_HEAPALLOCATE_ON_SETBITS  ((STM32F4_LED2) << ON_SETBITS_SHIFT)
-#define LED_HEAPALLOCATE_ON_CLRBITS  ((STM32F4_LED1) << ON_CLRBITS_SHIFT)
-#define LED_HEAPALLOCATE_OFF_SETBITS ((0) << OFF_SETBITS_SHIFT)
-#define LED_HEAPALLOCATE_OFF_CLRBITS ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_IRQSENABLED_ON_SETBITS   ((STM32F4_LED1) << ON_SETBITS_SHIFT)
-#define LED_IRQSENABLED_ON_CLRBITS   ((STM32F4_LED2) << ON_CLRBITS_SHIFT)
-#define LED_IRQSENABLED_OFF_SETBITS  ((0) << OFF_SETBITS_SHIFT)
-#define LED_IRQSENABLED_OFF_CLRBITS  ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_STACKCREATED_ON_SETBITS  ((STM32F4_LED1|STM32F4_LED2) << ON_SETBITS_SHIFT)
-#define LED_STACKCREATED_ON_CLRBITS  ((0) << ON_CLRBITS_SHIFT)
-#define LED_STACKCREATED_OFF_SETBITS ((0) << OFF_SETBITS_SHIFT)
-#define LED_STACKCREATED_OFF_CLRBITS ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_INIRQ_ON_SETBITS         ((STM32F4_LED1) << ON_SETBITS_SHIFT)
-#define LED_INIRQ_ON_CLRBITS         ((0) << ON_CLRBITS_SHIFT)
-#define LED_INIRQ_OFF_SETBITS        ((0) << OFF_SETBITS_SHIFT)
-#define LED_INIRQ_OFF_CLRBITS        ((STM32F4_LED1) << OFF_CLRBITS_SHIFT)
-
-#define LED_SIGNAL_ON_SETBITS        ((STM32F4_LED2) << ON_SETBITS_SHIFT)
-#define LED_SIGNAL_ON_CLRBITS        ((0) << ON_CLRBITS_SHIFT)
-#define LED_SIGNAL_OFF_SETBITS       ((0) << OFF_SETBITS_SHIFT)
-#define LED_SIGNAL_OFF_CLRBITS       ((STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_ASSERTION_ON_SETBITS     ((STM32F4_LED1|STM32F4_LED2) << ON_SETBITS_SHIFT)
-#define LED_ASSERTION_ON_CLRBITS     ((0) << ON_CLRBITS_SHIFT)
-#define LED_ASSERTION_OFF_SETBITS    ((0) << OFF_SETBITS_SHIFT)
-#define LED_ASSERTION_OFF_CLRBITS    ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-#define LED_PANIC_ON_SETBITS         ((STM32F4_LED1|STM32F4_LED2) << ON_SETBITS_SHIFT)
-#define LED_PANIC_ON_CLRBITS         ((0) << ON_CLRBITS_SHIFT)
-#define LED_PANIC_OFF_SETBITS        ((0) << OFF_SETBITS_SHIFT)
-#define LED_PANIC_OFF_CLRBITS        ((STM32F4_LED1|STM32F4_LED2) << OFF_CLRBITS_SHIFT)
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static const uint16_t g_ledbits[8] =
-{
-  (LED_STARTED_ON_SETBITS       | LED_STARTED_ON_CLRBITS |
-   LED_STARTED_OFF_SETBITS      | LED_STARTED_OFF_CLRBITS),
-
-  (LED_HEAPALLOCATE_ON_SETBITS  | LED_HEAPALLOCATE_ON_CLRBITS |
-   LED_HEAPALLOCATE_OFF_SETBITS | LED_HEAPALLOCATE_OFF_CLRBITS),
-
-  (LED_IRQSENABLED_ON_SETBITS   | LED_IRQSENABLED_ON_CLRBITS |
-   LED_IRQSENABLED_OFF_SETBITS  | LED_IRQSENABLED_OFF_CLRBITS),
-
-  (LED_STACKCREATED_ON_SETBITS  | LED_STACKCREATED_ON_CLRBITS |
-   LED_STACKCREATED_OFF_SETBITS | LED_STACKCREATED_OFF_CLRBITS),
-
-  (LED_INIRQ_ON_SETBITS         | LED_INIRQ_ON_CLRBITS |
-   LED_INIRQ_OFF_SETBITS        | LED_INIRQ_OFF_CLRBITS),
-
-  (LED_SIGNAL_ON_SETBITS        | LED_SIGNAL_ON_CLRBITS |
-   LED_SIGNAL_OFF_SETBITS       | LED_SIGNAL_OFF_CLRBITS),
-
-  (LED_ASSERTION_ON_SETBITS     | LED_ASSERTION_ON_CLRBITS |
-   LED_ASSERTION_OFF_SETBITS    | LED_ASSERTION_OFF_CLRBITS),
-
-  (LED_PANIC_ON_SETBITS         | LED_PANIC_ON_CLRBITS |
-   LED_PANIC_OFF_SETBITS        | LED_PANIC_OFF_CLRBITS)
-};
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static inline void led_clrbits(unsigned int clrbits)
-{
-  if ((clrbits & STM32F4_LED1) != 0)
-    {
-      stm32_gpiowrite(GPIO_LED1, false);
-    }
-
-  if ((clrbits & STM32F4_LED2) != 0)
-    {
-      stm32_gpiowrite(GPIO_LED2, false);
-    }
-
-}
-
-static inline void led_setbits(unsigned int setbits)
-{
-  if ((setbits & STM32F4_LED1) != 0)
-    {
-      stm32_gpiowrite(GPIO_LED1, true);
-    }
-
-  if ((setbits & STM32F4_LED2) != 0)
-    {
-      stm32_gpiowrite(GPIO_LED2, true);
-    }
-}
-
-static void led_setonoff(unsigned int bits)
-{
-  led_clrbits(CLRBITS(bits));
-  led_setbits(SETBITS(bits));
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_ledinit
- ****************************************************************************/
-
-void up_ledinit(void)
-{
-   /* Configure LED1-4 GPIOs for output */
-
-   stm32_configgpio(GPIO_LED1);
-   stm32_configgpio(GPIO_LED2);
-}
-
-/****************************************************************************
- * Name: up_ledon
- ****************************************************************************/
-
-void up_ledon(int led)
-{
-  led_setonoff(ON_BITS(g_ledbits[led]));
-}
-
-/****************************************************************************
- * Name: up_ledoff
- ****************************************************************************/
-
-void up_ledoff(int led)
-{
-  led_setonoff(OFF_BITS(g_ledbits[led]));
-}
-
-#endif /* CONFIG_ARCH_LEDS */
diff --git a/nuttx/configs/px4fmu-v1/src/up_boot.c b/nuttx/configs/px4fmu-v1/src/up_boot.c
deleted file mode 100644
index ee6f3d59f..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_boot.c
+++ /dev/null
@@ -1,103 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_boot.c
- * arch/arm/src/board/up_boot.c
- *
- *   Copyright (C) 2011-2012 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 <arch/board/board.h>
-
-#include "up_arch.h"
-#include "px4fmu-v1-internal.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private 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.
- *
- ************************************************************************************/
-
-void stm32_boardinitialize(void)
-{
-  /* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
-   * stm32_spiinitialize() has been brought into the link.
-   */
-
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI3)
-  if (stm32_spiinitialize)
-    {
-      stm32_spiinitialize();
-    }
-#endif
-
-  /* Initialize USB if the 1) OTG FS controller is in the configuration and 2)
-   * disabled, and 3) the weak function stm32_usbinitialize() has been brought 
-   * into the build. Presumeably either CONFIG_USBDEV or CONFIG_USBHOST is also
-   * selected.
-   */
-
-#ifdef CONFIG_STM32_OTGFS
-  if (stm32_usbinitialize)
-    {
-      stm32_usbinitialize();
-    }
-#endif
-
-  /* Configure on-board LEDs if LED support has been selected. */
-
-#ifdef CONFIG_ARCH_LEDS
-  up_ledinit();
-#endif
-}
diff --git a/nuttx/configs/px4fmu-v1/src/up_cxxinitialize.c b/nuttx/configs/px4fmu-v1/src/up_cxxinitialize.c
deleted file mode 100644
index 402dfb111..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_cxxinitialize.c
+++ /dev/null
@@ -1,155 +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"
-
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
-
-/************************************************************************************
- * 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
- *
- ***************************************************************************/
-
-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();
-        }
-    }
-}
-
-#endif /* CONFIG_HAVE_CXX && CONFIG_HAVE_CXXINITIALIZE */
-
diff --git a/nuttx/configs/px4fmu-v1/src/up_idle.c b/nuttx/configs/px4fmu-v1/src/up_idle.c
deleted file mode 100644
index 53caf9702..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_idle.c
+++ /dev/null
@@ -1,119 +0,0 @@
-/****************************************************************************
- * configs/stm32f4discovery/src/up_idle.c
- * arch/arm/src/board/up_idle.c
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            Diego Sanchez <dsanchez@nx-engineering.com>
- *
- * 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 <arch/board/board.h>
-#include <nuttx/config.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/clock.h>
-
-#include <debug.h>
-#include <nuttx/rtc.h>
-#include <arch/irq.h>
-
-#include "up_internal.h"
-#include "stm32_rcc.h"
-#include "stm32_exti.h"
-
-#include "px4fmu-v1-internal.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-/* Configuration ************************************************************/
-/* Does the board support an IDLE LED to indicate that the board is in the
- * IDLE state?
- */
-
-#if defined(CONFIG_ARCH_LEDS) && defined(LED_IDLE)
-#  define BEGIN_IDLE() up_ledon(LED_IDLE)
-#  define END_IDLE()   up_ledoff(LED_IDLE)
-#else
-#  define BEGIN_IDLE()
-#  define END_IDLE()
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-#define up_idlepm()
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_idle
- *
- * Description:
- *   up_idle() is the logic that will be executed when their is no other
- *   ready-to-run task.  This is processor idle time and will continue until
- *   some interrupt occurs to cause a context switch from the idle task.
- *
- *   Processing in this state may be processor-specific. e.g., this is where
- *   power management operations might be performed.
- *
- ****************************************************************************/
-
-void up_idle(void)
-{
-#if defined(CONFIG_SUPPRESS_INTERRUPTS) || defined(CONFIG_SUPPRESS_TIMER_INTS)
-  /* If the system is idle and there are no timer interrupts, then process
-   * "fake" timer interrupts. Hopefully, something will wake up.
-   */
-
-  sched_process_timer();
-#else
-
-  /* Perform IDLE mode power management */
-
-  BEGIN_IDLE();
-  up_idlepm();
-  END_IDLE();
-#endif
-}
-
diff --git a/nuttx/configs/px4fmu-v1/src/up_nsh.c b/nuttx/configs/px4fmu-v1/src/up_nsh.c
deleted file mode 100644
index c26a08539..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_nsh.c
+++ /dev/null
@@ -1,155 +0,0 @@
-/****************************************************************************
- * config/stm32f4discovery/src/up_nsh.c
- * arch/arm/src/board/up_nsh.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 <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#ifdef CONFIG_SYSTEM_USBMONITOR
-#  include <apps/usbmonitor.h>
-#endif
-
-#ifdef CONFIG_STM32_SPI3
-#  include <nuttx/mmcsd.h>
-#endif
-
-#include "stm32.h"
-#include "px4fmu-v1-internal.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-#define HAVE_USBDEV     1
-#define HAVE_USBMONITOR 1
-
-/* Can't support USB host or device features if USB OTG FS is not enabled */
-
-#ifndef CONFIG_STM32_OTGFS
-#  undef HAVE_USBDEV
-#  undef HAVE_USBMONITOR
-#endif
-
-/* Can't support USB device is USB device is not enabled */
-
-#ifndef CONFIG_USBDEV
-#  undef HAVE_USBDEV
-#  undef HAVE_USBMONITOR
-#endif
-
-/* Check if we should enable the USB monitor before starting NSH */
-
-#if !defined(CONFIG_USBDEV_TRACE) || !defined(CONFIG_SYSTEM_USBMONITOR)
-#  undef HAVE_USBMONITOR
-#endif
-
-/* 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
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: nsh_archinitialize
- *
- * Description:
- *   Perform architecture specific initialization
- *
- ****************************************************************************/
-
-int nsh_archinitialize(void)
-{
-#if defined(HAVE_USBMONITOR) || defined(CONFIG_STM32_SPI3)
-  int ret;
-#endif
-
-#ifdef HAVE_USBMONITOR
-  /* Start the USB Monitor */
-
-  ret = usbmonitor_start(0, NULL);
-  if (ret != OK)
-    {
-      message("nsh_archinitialize: Start USB monitor: %d\n", ret);
-    }
-#endif
-
-#ifdef CONFIG_STM32_SPI3
-	message("[boot] Initializing SPI port 3\n");
-	struct spi_dev_s *spi3 = up_spiinitialize(3);
-
-	if (!spi3) {
-		message("[boot] FAILED to initialize SPI port 3\n");
-		return -ENODEV;
-	}
-
-	message("[boot] Successfully initialized SPI port 3\n");
-
-	/* Now bind the SPI interface to the MMCSD driver */
-	ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
-
-	if (ret != OK) {
-		message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-		return -ENODEV;
-	}
-
-	message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
-#endif
-
-  return OK;
-}
diff --git a/nuttx/configs/px4fmu-v1/src/up_spi.c b/nuttx/configs/px4fmu-v1/src/up_spi.c
deleted file mode 100644
index 63d1b8520..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_spi.c
+++ /dev/null
@@ -1,199 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_spi.c
- * arch/arm/src/board/up_spi.c
- *
- *   Copyright (C) 2011-2012 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 <stdint.h>
-#include <stdbool.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32.h"
-#include "px4fmu-v1-internal.h"
-
-#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* Enables debug output from this file (needs CONFIG_DEBUG too) */
-
-#undef SPI_DEBUG   /* Define to enable debug */
-#undef SPI_VERBOSE /* Define to enable verbose debug */
-
-#ifdef SPI_DEBUG
-#  define spidbg  lldbg
-#  ifdef SPI_VERBOSE
-#    define spivdbg lldbg
-#  else
-#    define spivdbg(x...)
-#  endif
-#else
-#  undef SPI_VERBOSE
-#  define spidbg(x...)
-#  define spivdbg(x...)
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the px4fmu-v1 board.
- *
- ************************************************************************************/
-
-void stm32_spiinitialize(void)
-{
-#ifdef CONFIG_STM32_SPI1
-  stm32_configgpio(GPIO_SPI_CS_GYRO);
-  stm32_configgpio(GPIO_SPI_CS_ACCEL);
-  stm32_configgpio(GPIO_SPI_CS_MPU);
-
-  /* De-activate all peripherals,
-   * required for some peripheral
-   * state machines
-   */
-  stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-  stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-  stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-#endif
-
-#ifdef CONFIG_STM32_SPI3
-  stm32_configgpio(GPIO_SPI_CS_SDCARD);
-  stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
-#endif
-}
-
-/****************************************************************************
- * Name:  stm32_spi1/2/3select and stm32_spi1/2/3status
- *
- * Description:
- *   The external functions, stm32_spi1/2/3select and stm32_spi1/2/3status must be
- *   provided by board-specific logic.  They are implementations of the select
- *   and status methods of the SPI interface defined by struct spi_ops_s (see
- *   include/nuttx/spi.h). All other methods (including up_spiinitialize())
- *   are provided by common STM32 logic.  To use this common SPI logic on your
- *   board:
- *
- *   1. Provide logic in stm32_boardinitialize() to configure SPI chip select
- *      pins.
- *   2. Provide stm32_spi1/2/3select() and stm32_spi1/2/3status() functions in your
- *      board-specific logic.  These functions will perform chip selection and
- *      status operations using GPIOs in the way your board is configured.
- *   3. Add a calls to up_spiinitialize() in your low level application
- *      initialization logic
- *   4. The handle returned by up_spiinitialize() may then be used to bind the
- *      SPI driver to higher level logic (e.g., calling
- *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
- *      the SPI MMC/SD driver).
- *
- ****************************************************************************/
-
-#ifdef CONFIG_STM32_SPI1
-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_MPU, 1);
-    stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-    break;
-
-  case PX4_SPIDEV_ACCEL:
-    /* Making sure the other peripherals are not selected */
-    stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-    stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
-    stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-    break;
-
-  case PX4_SPIDEV_MPU:
-    /* Making sure the other peripherals are not selected */
-    stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-    stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
-    stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-    break;
-
-  default:
-    break;
-  }
-}
-
-uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
-{
-  return SPI_STATUS_PRESENT;
-}
-#endif
-
-#ifdef CONFIG_STM32_SPI2
-# error SPI2 is not supported on this board.
-#endif
-
-#ifdef CONFIG_STM32_SPI3
-void stm32_spi3select(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_SDCARD, !selected);
-}
-
-uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
-{
-  /* this is actually bogus, but px4fmu-v1 has no way to sense the presence of an SD card */
-  return SPI_STATUS_PRESENT;
-}
-#endif
-
-#endif /* CONFIG_STM32_SPI1 || CONFIG_STM32_SPI2 */
diff --git a/nuttx/configs/px4fmu-v1/src/up_stackcheck.c b/nuttx/configs/px4fmu-v1/src/up_stackcheck.c
deleted file mode 100644
index e8f02a863..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_stackcheck.c
+++ /dev/null
@@ -1,40 +0,0 @@
-
-
-void    __cyg_profile_func_enter(void *func, void *caller) __attribute__((naked, no_instrument_function));
-void    __cyg_profile_func_exit(void *func, void *caller)  __attribute__((naked, no_instrument_function));
-void    __stack_overflow_trap(void) __attribute__((naked, no_instrument_function));
-
-void
-__stack_overflow_trap(void)
-{
-    /* if we get here, the stack has overflowed */
-    asm ( "b .");
-}
-
-void
-__cyg_profile_func_enter(void *func, void *caller)
-{
-    asm volatile (
-            "   mrs r2, ipsr        \n" /* Check whether we are in interrupt mode */
-            "   cmp r2, #0          \n" /* since we don't switch r10 on interrupt entry, we */
-            "   bne 2f              \n" /* can't detect overflow of the interrupt stack. */
-            "                       \n"
-            "   sub r2, sp, #68     \n" /* compute stack pointer as though we just stacked a full frame */
-            "   mrs r1, control     \n" /* Test CONTROL.FPCA to see whether we also need room for the FP */
-            "   tst r1, #4          \n" /* context. */
-            "   beq 1f              \n"
-            "   sub r2, r2, #136    \n" /* subtract FP context frame size */
-            "1:                     \n"
-            "   cmp r2, r10         \n" /* compare stack with limit */
-            "   bgt 2f              \n" /* stack is above limit and thus OK */
-            "   b __stack_overflow_trap\n"
-            "2:                     \n"
-            "   bx lr               \n"
-    );
-}
-
-void
-__cyg_profile_func_exit(void *func, void *caller)
-{
-    asm volatile("bx lr");
-}
diff --git a/nuttx/configs/px4fmu-v1/src/up_usb.c b/nuttx/configs/px4fmu-v1/src/up_usb.c
deleted file mode 100644
index ab7d90c68..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_usb.c
+++ /dev/null
@@ -1,124 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_usbdev.c
- * arch/arm/src/board/up_boot.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 <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <sched.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbhost.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include "up_arch.h"
-#include "stm32.h"
-#include "px4fmu-v1-internal.h"
-
-#ifdef CONFIG_STM32_OTGFS
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-#if defined(CONFIG_USBDEV)
-#  define HAVE_USB 1
-#else
-#  warning "CONFIG_STM32_OTGFS is enabled but not CONFIG_USBDEV"
-#  undef HAVE_USB
-#endif
-
-/************************************************************************************
- * Private Data
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called from stm32_usbinitialize very early in inialization to setup USB-related
- *   GPIO pins for the STM32F4Discovery board.
- *
- ************************************************************************************/
-
-void stm32_usbinitialize(void)
-{
-  /* The OTG FS has an internal soft pull-up.  No GPIO configuration is required */
-
-  /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32_OTGFS
-  stm32_configgpio(GPIO_OTGFS_VBUS);
-#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.
- *
- ************************************************************************************/
-
-#ifdef CONFIG_USBDEV
-void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-  ulldbg("resume: %d\n", resume);
-}
-#endif
-
-#endif /* CONFIG_STM32_OTGFS */
-
-
-
diff --git a/nuttx/configs/px4fmu-v1/src/up_userleds.c b/nuttx/configs/px4fmu-v1/src/up_userleds.c
deleted file mode 100644
index 32452120d..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_userleds.c
+++ /dev/null
@@ -1,134 +0,0 @@
-/****************************************************************************
- * configs/stm32f4discovery/src/up_leds.c
- * arch/arm/src/board/up_leds.c
- *
- *   Copyright (C) 2011 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 <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-#include <nuttx/power/pm.h>
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
-#include "stm32.h"
-#include "px4fmu-v1-internal.h"
-
-#ifndef CONFIG_ARCH_LEDS
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* CONFIG_DEBUG_LEDS enables debug output from this file (needs CONFIG_DEBUG
- * with CONFIG_DEBUG_VERBOSE too)
- */
-
-#ifdef CONFIG_DEBUG_LEDS
-#  define leddbg  lldbg
-#  define ledvdbg llvdbg
-#else
-#  define leddbg(x...)
-#  define ledvdbg(x...)
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-/* This array maps an LED number to GPIO pin configuration */
-
-static uint32_t g_ledcfg[BOARD_NLEDS] = 
-{
-  GPIO_LED1, GPIO_LED2
-};
-
-/****************************************************************************
- * Private Function Protototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ledinit
- ****************************************************************************/
-
-void stm32_ledinit(void)
-{
-   /* Configure LED1-4 GPIOs for output */
-
-   stm32_configgpio(GPIO_LED1);
-   stm32_configgpio(GPIO_LED2);
-}
-
-/****************************************************************************
- * Name: stm32_setled
- ****************************************************************************/
-
-void stm32_setled(int led, bool ledon)
-{
-  if ((unsigned)led < BOARD_NLEDS)
-    {
-      stm32_gpiowrite(g_ledcfg[led], ledon);
-    }
-}
-
-/****************************************************************************
- * Name: stm32_setleds
- ****************************************************************************/
-
-void stm32_setleds(uint8_t ledset)
-{
-  stm32_gpiowrite(GPIO_LED1, (ledset & BOARD_LED1_BIT) == 0);
-  stm32_gpiowrite(GPIO_LED2, (ledset & BOARD_LED2_BIT) == 0);
-}
-
-#endif /* !CONFIG_ARCH_LEDS */
diff --git a/nuttx/configs/px4fmu-v1/src/up_watchdog.c b/nuttx/configs/px4fmu-v1/src/up_watchdog.c
deleted file mode 100644
index 4bef40f78..000000000
--- a/nuttx/configs/px4fmu-v1/src/up_watchdog.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_watchdog.c
- * arch/arm/src/board/up_watchdog.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 <errno.h>
-#include <debug.h>
-
-#include <nuttx/watchdog.h>
-#include <arch/board/board.h>
-
-#include "stm32_wdg.h"
-
-#ifdef CONFIG_WATCHDOG
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-/* Configuration *******************************************************************/
-/* Wathdog hardware should be enabled */
-
-#if !defined(CONFIG_STM32_WWDG) && !defined(CONFIG_STM32_IWDG)
-#  warning "One of CONFIG_STM32_WWDG or CONFIG_STM32_IWDG must be defined"
-#endif
-
-/* Select the path to the registered watchdog timer device */
-
-#ifndef CONFIG_STM32_WDG_DEVPATH
-#  ifdef CONFIG_EXAMPLES_WATCHDOG_DEVPATH
-#    define CONFIG_STM32_WDG_DEVPATH CONFIG_EXAMPLES_WATCHDOG_DEVPATH
-#  else
-#    define CONFIG_STM32_WDG_DEVPATH "/dev/watchdog0"
-#  endif
-#endif
-
-/* Use the un-calibrated LSI frequency if we have nothing better */
-
-#if defined(CONFIG_STM32_IWDG) && !defined(CONFIG_STM32_LSIFREQ)
-#  define CONFIG_STM32_LSIFREQ STM32_LSI_FREQUENCY
-#endif
-
-/* Debug ***************************************************************************/
-/* Non-standard debug that may be enabled just for testing the watchdog timer */
-
-#ifndef CONFIG_DEBUG
-#  undef CONFIG_DEBUG_WATCHDOG
-#endif
-
-#ifdef CONFIG_DEBUG_WATCHDOG
-#  define wdgdbg                 dbg
-#  define wdglldbg               lldbg
-#  ifdef CONFIG_DEBUG_VERBOSE
-#    define wdgvdbg              vdbg
-#    define wdgllvdbg            llvdbg
-#  else
-#    define wdgvdbg(x...)
-#    define wdgllvdbg(x...)
-#  endif
-#else
-#  define wdgdbg(x...)
-#  define wdglldbg(x...)
-#  define wdgvdbg(x...)
-#  define wdgllvdbg(x...)
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/****************************************************************************
- * Name: up_wdginitialize()
- *
- * Description:
- *   Perform architecuture-specific initialization of the Watchdog hardware.
- *   This interface must be provided by all configurations using
- *   apps/examples/watchdog
- *
- ****************************************************************************/
-
-int up_wdginitialize(void)
-{
-  /* Initialize tha register the watchdog timer device */
-
-#if defined(CONFIG_STM32_WWDG)
-  stm32_wwdginitialize(CONFIG_STM32_WDG_DEVPATH);
-  return OK;
-#elif defined(CONFIG_STM32_IWDG)
-  stm32_iwdginitialize(CONFIG_STM32_WDG_DEVPATH, CONFIG_STM32_LSIFREQ);
-  return OK;
-#else
-  return -ENODEV;
-#endif
-}
-
-#endif /* CONFIG_WATCHDOG */
diff --git a/nuttx/configs/px4io-v1/Kconfig b/nuttx/configs/px4io-v1/Kconfig
new file mode 100644
index 000000000..6bd2e8e21
--- /dev/null
+++ b/nuttx/configs/px4io-v1/Kconfig
@@ -0,0 +1,8 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_PX4IO_V1
+
+endif
diff --git a/nuttx/configs/px4io-v1/README.txt b/nuttx/configs/px4io-v1/README.txt
new file mode 100755
index 000000000..9b1615f42
--- /dev/null
+++ b/nuttx/configs/px4io-v1/README.txt
@@ -0,0 +1,806 @@
+README
+======
+
+This README discusses issues unique to NuttX configurations for the
+STMicro STM3210E-EVAL development board.
+
+Contents
+========
+
+  - Development Environment
+  - GNU Toolchain Options
+  - IDEs
+  - NuttX buildroot Toolchain
+  - DFU and JTAG
+  - OpenOCD
+  - LEDs
+  - Temperature Sensor
+  - RTC
+  - STM3210E-EVAL-specific Configuration Options
+  - Configurations
+
+Development Environment
+=======================
+
+  Either Linux or Cygwin on Windows can be used for the development environment.
+  The source has been built only using the GNU toolchain (see below).  Other
+  toolchains will likely cause problems. Testing was performed using the Cygwin
+  environment because the Raisonance R-Link emulatator and some RIDE7 development tools
+  were used and those tools works only under Windows.
+
+GNU Toolchain Options
+=====================
+
+  The NuttX make system has been modified to support the following different
+  toolchain options.
+
+  1. The CodeSourcery GNU toolchain,
+  2. The devkitARM GNU toolchain,
+  3. Raisonance GNU toolchain, or
+  4. The NuttX buildroot Toolchain (see below).
+
+  All testing has been conducted using the NuttX buildroot toolchain.  However,
+  the make system is setup to default to use the devkitARM toolchain.  To use
+  the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
+  add one of the following configuration options to your .config (or defconfig)
+  file:
+
+    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
+    CONFIG_STM32_CODESOURCERYL=y  : CodeSourcery under Linux
+    CONFIG_STM32_DEVKITARM=y      : devkitARM under Windows
+    CONFIG_STM32_RAISONANCE=y     : Raisonance RIDE7 under Windows
+    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin (default)
+
+  If you are not using CONFIG_STM32_BUILDROOT, then you may also have to modify
+  the PATH in the setenv.h file if your make cannot find the tools.
+
+  NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are
+  Windows native toolchains.  The CodeSourcey (for Linux) and NuttX buildroot
+  toolchains are Cygwin and/or Linux native toolchains. There are several limitations
+  to using a Windows based toolchain in a Cygwin environment.  The three biggest are:
+
+  1. The Windows toolchain cannot follow Cygwin paths.  Path conversions are
+     performed automatically in the Cygwin makefiles using the 'cygpath' utility
+     but you might easily find some new path problems.  If so, check out 'cygpath -w'
+
+  2. Windows toolchains cannot follow Cygwin symbolic links.  Many symbolic links
+     are used in Nuttx (e.g., include/arch).  The make system works around these
+     problems for the Windows tools by copying directories instead of linking them.
+     But this can also cause some confusion for you:  For example, you may edit
+     a file in a "linked" directory and find that your changes had no effect.
+     That is because you are building the copy of the file in the "fake" symbolic
+     directory.  If you use a Windows toolchain, you should get in the habit of
+     making like this:
+
+       make clean_context all
+
+     An alias in your .bashrc file might make that less painful.
+
+  3. Dependencies are not made when using Windows versions of the GCC.  This is
+     because the dependencies are generated using Windows pathes which do not
+     work with the Cygwin make.
+
+     Support has been added for making dependencies with the windows-native toolchains.
+     That support can be enabled by modifying your Make.defs file as follows:
+
+    -  MKDEP                = $(TOPDIR)/tools/mknulldeps.sh
+    +  MKDEP                = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
+
+     If you have problems with the dependency build (for example, if you are not
+     building on C:), then you may need to modify tools/mkdeps.sh
+
+  NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
+  level of -Os (See Make.defs).  It will work with -O0, -O1, or -O2, but not with
+  -Os.
+
+  NOTE 2: The devkitARM toolchain includes a version of MSYS make.  Make sure that
+  the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
+  path or will get the wrong version of make.
+
+IDEs
+====
+
+  NuttX is built using command-line make.  It can be used with an IDE, but some
+  effort will be required to create the project (There is a simple RIDE project
+  in the RIDE subdirectory).
+  
+  Makefile Build
+  --------------
+  Under Eclipse, it is pretty easy to set up an "empty makefile project" and
+  simply use the NuttX makefile to build the system.  That is almost for free
+  under Linux.  Under Windows, you will need to set up the "Cygwin GCC" empty
+  makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
+  there is a lot of help on the internet).
+
+  Native Build
+  ------------
+  Here are a few tips before you start that effort:
+
+  1) Select the toolchain that you will be using in your .config file
+  2) Start the NuttX build at least one time from the Cygwin command line
+     before trying to create your project.  This is necessary to create
+     certain auto-generated files and directories that will be needed.
+  3) Set up include pathes:  You will need include/, arch/arm/src/stm32,
+     arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
+  4) All assembly files need to have the definition option -D __ASSEMBLY__
+     on the command line.
+
+  Startup files will probably cause you some headaches.  The NuttX startup file
+  is arch/arm/src/stm32/stm32_vectors.S.  With RIDE, I have to build NuttX
+  one time from the Cygwin command line in order to obtain the pre-built
+  startup object needed by RIDE.
+
+NuttX buildroot Toolchain
+=========================
+
+  A GNU GCC-based toolchain is assumed.  The files */setenv.sh should
+  be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
+  different from the default in your PATH variable).
+
+  If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
+  SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
+  This GNU toolchain builds and executes in the Linux or Cygwin environment.
+
+  1. You must have already configured Nuttx in <some-dir>/nuttx.
+
+     cd tools
+     ./configure.sh stm3210e-eval/<sub-dir>
+
+  2. Download the latest buildroot package into <some-dir>
+
+  3. unpack the buildroot tarball.  The resulting directory may
+     have versioning information on it like buildroot-x.y.z.  If so,
+     rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
+
+  4. cd <some-dir>/buildroot
+
+  5. cp configs/cortexm3-defconfig-4.3.3 .config
+
+  6. make oldconfig
+
+  7. make
+
+  8. Edit setenv.h, if necessary, so that the PATH variable includes
+     the path to the newly built binaries.
+
+  See the file configs/README.txt in the buildroot source tree.  That has more
+  detailed PLUS some special instructions that you will need to follow if you are
+  building a Cortex-M3 toolchain for Cygwin under Windows.
+
+DFU and JTAG
+============
+
+  Enbling Support for the DFU Bootloader
+  --------------------------------------
+  The linker files in these projects can be configured to indicate that you
+  will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU)
+  loader or via some JTAG emulator.  You can specify the DFU bootloader by
+  adding the following line:
+
+    CONFIG_STM32_DFU=y
+
+  to your .config file. Most of the configurations in this directory are set
+  up to use the DFU loader.
+
+  If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning
+  of FLASH (0x08000000) but will be offset to 0x08003000.  This offset is needed
+  to make space for the DFU loader and 0x08003000 is where the DFU loader expects
+  to find new applications at boot time.  If you need to change that origin for some
+  other bootloader, you will need to edit the file(s) ld.script.dfu for each
+  configuration.
+
+  The DFU SE PC-based software is available from the STMicro website,
+  http://www.st.com.  General usage instructions:
+  
+  1. Convert the NuttX Intel Hex file (nuttx.ihx) into a special DFU
+     file (nuttx.dfu)... see below for details.
+  2. Connect the STM3210E-EVAL board to your computer using a USB
+     cable.
+  3. Start the DFU loader on the STM3210E-EVAL board.  You do this by
+     resetting the board while holding the "Key" button.  Windows should
+     recognize that the DFU loader has been installed.
+  3. Run the DFU SE program to load nuttx.dfu into FLASH.
+
+  What if the DFU loader is not in FLASH?  The loader code is available
+  inside of the Demo dirctory of the USBLib ZIP file that can be downloaded
+  from the STMicro Website.  You can build it using RIDE (or other toolchains);
+  you will need a JTAG emulator to burn it into FLASH the first time.
+
+  In order to use STMicro's built-in DFU loader, you will have to get
+  the NuttX binary into a special format with a .dfu extension.  The
+  DFU SE PC_based software installation includes a file "DFU File Manager"
+  conversion program that a file in Intel Hex format to the special DFU
+  format.  When you successfully build NuttX, you will find a file called
+  nutt.ihx in the top-level directory.  That is the file that you should
+  provide to the DFU File Manager.  You will need to rename it to nuttx.hex
+  in order to find it with the DFU File Manager. You will end up with
+  a file called nuttx.dfu that you can use with the STMicro DFU SE program.
+
+  Enabling JTAG
+  -------------
+  If you are not using the DFU, then you will probably also need to enable
+  JTAG support.  By default, all JTAG support is disabled but there NuttX
+  configuration options to enable JTAG in various different ways.
+
+  These configurations effect the setting of the SWJ_CFG[2:0] bits in the AFIO
+  MAPR register.  These bits are used to configure the SWJ and trace alternate function I/Os. The SWJ (SerialWire JTAG) supports JTAG or SWD access to the
+  Cortex debug port.  The default state in this port is for all JTAG support
+  to be disable.
+
+  CONFIG_STM32_JTAG_FULL_ENABLE - sets SWJ_CFG[2:0] to 000 which enables full
+    SWJ (JTAG-DP + SW-DP)
+
+  CONFIG_STM32_JTAG_NOJNTRST_ENABLE - sets SWJ_CFG[2:0] to 001 which enable
+    full SWJ (JTAG-DP + SW-DP) but without JNTRST.
+
+  CONFIG_STM32_JTAG_SW_ENABLE - sets SWJ_CFG[2:0] to 010 which would set JTAG-DP
+    disabled and SW-DP enabled
+
+  The default setting (none of the above defined) is SWJ_CFG[2:0] set to 100
+  which disable JTAG-DP and SW-DP.
+
+OpenOCD
+=======
+
+I have also used OpenOCD with the STM3210E-EVAL.  In this case, I used
+the Olimex USB ARM OCD.  See the script in configs/stm3210e-eval/tools/oocd.sh
+for more information.  Using the script:
+
+1) Start the OpenOCD GDB server
+
+   cd <nuttx-build-directory>
+   configs/stm3210e-eval/tools/oocd.sh $PWD
+
+2) Load Nuttx
+
+   cd <nuttx-built-directory>
+   arm-none-eabi-gdb nuttx
+   gdb> target remote localhost:3333
+   gdb> mon reset
+   gdb> mon halt
+   gdb> load nuttx
+
+3) Running NuttX
+
+   gdb> mon reset
+   gdb> c
+
+LEDs
+====
+
+The STM3210E-EVAL board has four LEDs labeled LD1, LD2, LD3 and LD4 on the
+board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
+defined.  In that case, the usage by the board port is defined in
+include/board.h and src/up_leds.c. The LEDs are used to encode OS-related
+events as follows:
+
+    SYMBOL           Meaning                 LED1* LED2  LED3  LED4
+    ---------------- ----------------------- ----- ----- ----- -----
+    LED_STARTED      NuttX has been started  ON    OFF   OFF   OFF
+    LED_HEAPALLOCATE Heap has been allocated OFF   ON    OFF   OFF
+    LED_IRQSENABLED  Interrupts enabled      ON    ON    OFF   OFF
+    LED_STACKCREATED Idle stack created      OFF   OFF   ON    OFF
+    LED_INIRQ        In an interrupt**       ON    N/C   N/C   OFF
+    LED_SIGNAL       In a signal handler***  N/C   ON    N/C   OFF
+    LED_ASSERTION    An assertion failed     ON    ON    N/C   OFF
+    LED_PANIC        The system has crashed  N/C   N/C   N/C   ON
+    LED_IDLE         STM32 is is sleep mode  (Optional, not used)
+
+  * If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot
+    and these LEDs will give you some indication of where the failure was
+ ** The normal state is LED3 ON and LED1 faintly glowing.  This faint glow
+    is because of timer interupts that result in the LED being illuminated
+    on a small proportion of the time.
+*** LED2 may also flicker normally if signals are processed.
+
+Temperature Sensor
+==================
+
+Support for the on-board LM-75 temperature sensor is available.  This supported
+has been verified, but has not been included in any of the available the
+configurations.  To set up the temperature sensor, add the following to the
+NuttX configuration file
+
+  CONFIG_I2C=y
+  CONFIG_I2C_LM75=y
+
+Then you can implement logic like the following to use the temperature sensor:
+
+  #include <nuttx/sensors/lm75.h>
+  #include <arch/board/board.h>
+
+  ret =  stm32_lm75initialize("/dev/temp");       /* Register the temperature sensor */
+  fd = open("/dev/temp", O_RDONLY);               /* Open the temperature sensor device */
+  ret = ioctl(fd, SNIOC_FAHRENHEIT, 0);           /* Select Fahrenheit */
+  bytesread = read(fd, buffer, 8*sizeof(b16_t));  /* Read temperature samples */
+
+More complex temperature sensor operations are also available.  See the IOCTAL
+commands enumerated in include/nuttx/sensors/lm75.h.  Also read the descriptions
+of the stm32_lm75initialize() and stm32_lm75attach() interfaces in the
+arch/board/board.h file (sames as configs/stm3210e-eval/include/board.h).
+
+RTC
+===
+
+  The STM32 RTC may configured using the following settings.
+
+    CONFIG_RTC - Enables general support for a hardware RTC. Specific
+      architectures may require other specific settings.
+    CONFIG_RTC_HIRES - The typical RTC keeps time to resolution of 1
+      second, usually supporting a 32-bit time_t value.  In this case,
+      the RTC is used to &quot;seed&quot; the normal NuttX timer and the
+      NuttX timer provides for higher resoution time. If CONFIG_RTC_HIRES
+      is enabled in the NuttX configuration, then the RTC provides higher
+      resolution time and completely replaces the system timer for purpose of
+      date and time.
+      CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the
+      frequency of the high resolution RTC must be provided.  If CONFIG_RTC_HIRES
+      is not defined, CONFIG_RTC_FREQUENCY is assumed to be one.
+    CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm. 
+      A callback function will be executed when the alarm goes off
+
+  In hi-res mode, the STM32 RTC operates only at 16384Hz.  Overflow interrupts
+  are handled when the 32-bit RTC counter overflows every 3 days and 43 minutes.
+  A BKP register is incremented on each overflow interrupt creating, effectively,
+  a 48-bit RTC counter.
+
+  In the lo-res mode, the RTC operates at 1Hz.  Overflow interrupts are not handled
+  (because the next overflow is not expected until the year 2106.
+
+   WARNING:  Overflow interrupts are lost whenever the STM32 is powered down.  The
+   overflow interrupt may be lost even if the STM32 is powered down only momentarily.
+   Therefore hi-res solution is only useful in systems where the power is always on.
+
+STM3210E-EVAL-specific Configuration Options
+============================================
+
+    CONFIG_ARCH - Identifies the arch/ subdirectory.  This should
+       be set to:
+
+       CONFIG_ARCH=arm
+
+    CONFIG_ARCH_family - For use in C code:
+
+       CONFIG_ARCH_ARM=y
+
+    CONFIG_ARCH_architecture - For use in C code:
+
+       CONFIG_ARCH_CORTEXM3=y
+
+    CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
+
+       CONFIG_ARCH_CHIP=stm32
+
+    CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
+       chip:
+
+       CONFIG_ARCH_CHIP_STM32F103ZET6
+
+    CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG - Enables special STM32 clock
+       configuration features.
+
+       CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG=n
+ 
+    CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
+       hence, the board that supports the particular chip or SoC.
+
+       CONFIG_ARCH_BOARD=stm3210e_eval (for the STM3210E-EVAL development board)
+
+    CONFIG_ARCH_BOARD_name - For use in C code
+
+       CONFIG_ARCH_BOARD_STM3210E_EVAL=y
+
+    CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
+       of delay loops
+
+    CONFIG_ENDIAN_BIG - define if big endian (default is little
+       endian)
+
+    CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case):
+
+       CONFIG_DRAM_SIZE=0x00010000 (64Kb)
+
+    CONFIG_DRAM_START - The start address of installed DRAM
+
+       CONFIG_DRAM_START=0x20000000
+
+    CONFIG_DRAM_END - Last address+1 of installed RAM
+
+       CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
+
+    CONFIG_ARCH_IRQPRIO - The STM32F103Z supports interrupt prioritization
+
+       CONFIG_ARCH_IRQPRIO=y
+
+    CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
+       have LEDs
+
+    CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
+       stack. If defined, this symbol is the size of the interrupt
+        stack in bytes.  If not defined, the user task stacks will be
+      used during interrupt handling.
+
+    CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+
+    CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
+
+    CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
+       cause a 100 second delay during boot-up.  This 100 second delay
+       serves no purpose other than it allows you to calibratre
+       CONFIG_ARCH_LOOPSPERMSEC.  You simply use a stop watch to measure
+       the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
+       the delay actually is 100 seconds.
+
+  Individual subsystems can be enabled:
+    AHB
+    ---
+    CONFIG_STM32_DMA1
+    CONFIG_STM32_DMA2
+    CONFIG_STM32_CRC
+    CONFIG_STM32_FSMC
+    CONFIG_STM32_SDIO
+
+    APB1
+    ----
+    CONFIG_STM32_TIM2
+    CONFIG_STM32_TIM3
+    CONFIG_STM32_TIM4
+    CONFIG_STM32_TIM5
+    CONFIG_STM32_TIM6
+    CONFIG_STM32_TIM7
+    CONFIG_STM32_WWDG
+    CONFIG_STM32_SPI2
+    CONFIG_STM32_SPI4
+    CONFIG_STM32_USART2
+    CONFIG_STM32_USART3
+    CONFIG_STM32_UART4
+    CONFIG_STM32_UART5
+    CONFIG_STM32_I2C1
+    CONFIG_STM32_I2C2
+    CONFIG_STM32_USB
+    CONFIG_STM32_CAN
+    CONFIG_STM32_BKP
+    CONFIG_STM32_PWR
+    CONFIG_STM32_DAC1
+    CONFIG_STM32_DAC2
+    CONFIG_STM32_USB
+
+    APB2
+    ----
+    CONFIG_STM32_ADC1
+    CONFIG_STM32_ADC2
+    CONFIG_STM32_TIM1
+    CONFIG_STM32_SPI1
+    CONFIG_STM32_TIM8
+    CONFIG_STM32_USART1
+    CONFIG_STM32_ADC3
+
+  Timer and I2C devices may need to the following to force power to be applied
+  unconditionally at power up.  (Otherwise, the device is powered when it is
+  initialized).
+
+    CONFIG_STM32_FORCEPOWER
+
+  Timer devices may be used for different purposes.  One special purpose is
+  to generate modulated outputs for such things as motor control.  If CONFIG_STM32_TIMn
+  is defined (as above) then the following may also be defined to indicate that
+  the timer is intended to be used for pulsed output modulation, ADC conversion,
+  or DAC conversion.  Note that ADC/DAC require two definition:  Not only do you have
+  to assign the timer (n) for used by the ADC or DAC, but then you also have to
+  configure which ADC or DAC (m) it is assigned to.
+
+    CONFIG_STM32_TIMn_PWM   Reserve timer n for use by PWM, n=1,..,8
+    CONFIG_STM32_TIMn_ADC   Reserve timer n for use by ADC, n=1,..,8
+    CONFIG_STM32_TIMn_ADCm  Reserve timer n to trigger ADCm, n=1,..,8, m=1,..,3
+    CONFIG_STM32_TIMn_DAC   Reserve timer n for use by DAC, n=1,..,8
+    CONFIG_STM32_TIMn_DACm  Reserve timer n to trigger DACm, n=1,..,8, m=1,..,2
+
+  For each timer that is enabled for PWM usage, we need the following additional
+  configuration settings:
+
+    CONFIG_STM32_TIMx_CHANNEL - Specifies the timer output channel {1,..,4}
+ 
+  NOTE: The STM32 timers are each capable of generating different signals on
+  each of the four channels with different duty cycles.  That capability is
+  not supported by this driver:  Only one output channel per timer.
+
+  Alternate pin mappings (should not be used with the STM3210E-EVAL board):
+
+    CONFIG_STM32_TIM1_FULL_REMAP
+    CONFIG_STM32_TIM1_PARTIAL_REMAP
+    CONFIG_STM32_TIM2_FULL_REMAP
+    CONFIG_STM32_TIM2_PARTIAL_REMAP_1
+    CONFIG_STM32_TIM2_PARTIAL_REMAP_2
+    CONFIG_STM32_TIM3_FULL_REMAP
+    CONFIG_STM32_TIM3_PARTIAL_REMAP
+    CONFIG_STM32_TIM4_REMAP
+    CONFIG_STM32_USART1_REMAP
+    CONFIG_STM32_USART2_REMAP
+    CONFIG_STM32_USART3_FULL_REMAP
+    CONFIG_STM32_USART3_PARTIAL_REMAP
+    CONFIG_STM32_SPI1_REMAP
+    CONFIG_STM32_SPI3_REMAP
+    CONFIG_STM32_I2C1_REMAP
+    CONFIG_STM32_CAN1_FULL_REMAP
+    CONFIG_STM32_CAN1_PARTIAL_REMAP
+    CONFIG_STM32_CAN2_REMAP
+
+  JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
+    CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+    CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+      but without JNTRST.
+    CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
+
+  STM32F103Z specific device driver settings
+
+    CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=1,2,3) or UART
+           m (m=4,5) for the console and ttys0 (default is the USART1).
+    CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
+       This specific the size of the receive buffer
+    CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
+       being sent.  This specific the size of the transmit buffer
+    CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART.  Must be
+    CONFIG_U[S]ARTn_BITS - The number of bits.  Must be either 7 or 8.
+    CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+    CONFIG_U[S]ARTn_2STOP - Two stop bits
+
+    CONFIG_STM32_SPI_INTERRUPTS - Select to enable interrupt driven SPI
+      support. Non-interrupt-driven, poll-waiting is recommended if the
+      interrupt rate would be to high in the interrupt driven case.
+    CONFIG_STM32_SPI_DMA - Use DMA to improve SPI transfer performance.
+      Cannot be used with CONFIG_STM32_SPI_INTERRUPT.
+
+    CONFIG_SDIO_DMA - Support DMA data transfers.  Requires CONFIG_STM32_SDIO
+      and CONFIG_STM32_DMA2.
+    CONFIG_SDIO_PRI - Select SDIO interrupt prority.  Default: 128
+    CONFIG_SDIO_DMAPRIO - Select SDIO DMA interrupt priority. 
+      Default:  Medium
+    CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode.  Default:
+      4-bit transfer mode.
+
+  STM3210E-EVAL CAN Configuration
+
+    CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+      CONFIG_STM32_CAN2 must also be defined)
+    CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+      Standard 11-bit IDs.
+    CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+      Default: 8
+    CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+      Default: 4
+    CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+      mode for testing. The STM32 CAN driver does support loopback mode.
+    CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+    CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+    CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
+    CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
+    CONFIG_CAN_REGDEBUG - If CONFIG_DEBUG is set, this will generate an
+      dump of all CAN registers.
+
+  STM3210E-EVAL LCD Hardware Configuration
+
+    CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"
+      support. Default is this 320x240 "landscape" orientation
+      (this setting is informative only... not used).
+    CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait"
+      orientation support.  In this orientation, the STM3210E-EVAL's
+      LCD ribbon cable is at the bottom of the display. Default is
+      320x240 "landscape" orientation.
+    CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse
+      portrait" orientation support.  In this orientation, the
+      STM3210E-EVAL's LCD ribbon cable is at the top of the display.
+      Default is 320x240 "landscape" orientation.
+    CONFIG_LCD_BACKLIGHT - Define to support a backlight.
+    CONFIG_LCD_PWM - If CONFIG_STM32_TIM1 is also defined, then an
+      adjustable backlight will be provided using timer 1 to generate
+      various pulse widthes.  The granularity of the settings is
+      determined by CONFIG_LCD_MAXPOWER.  If CONFIG_LCD_PWM (or
+      CONFIG_STM32_TIM1) is not defined, then a simple on/off backlight
+      is provided.
+    CONFIG_LCD_RDSHIFT - When reading 16-bit gram data, there appears
+      to be a shift in the returned data.  This value fixes the offset.
+      Default 5.
+
+    The LCD driver dynamically selects the LCD based on the reported LCD
+    ID value.  However, code size can be reduced by suppressing support for
+    individual LCDs using:
+
+    CONFIG_STM32_AM240320_DISABLE
+    CONFIG_STM32_SPFD5408B_DISABLE
+    CONFIG_STM32_R61580_DISABLE
+
+Configurations
+==============
+
+Each STM3210E-EVAL configuration is maintained in a sudirectory and
+can be selected as follow:
+
+    cd tools
+    ./configure.sh stm3210e-eval/<subdir>
+    cd -
+    . ./setenv.sh
+
+Where <subdir> is one of the following:
+
+  buttons:
+  --------
+
+    Uses apps/examples/buttons to exercise STM3210E-EVAL buttons and
+    button interrupts.
+ 
+    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
+
+  composite
+  ---------
+
+    This configuration exercises a composite USB interface consisting
+    of a CDC/ACM device and a USB mass storage device.  This configuration
+    uses apps/examples/composite.
+
+  nsh and nsh2:
+  ------------
+    Configure the NuttShell (nsh) located at examples/nsh.
+
+    Differences between the two NSH configurations:
+
+    =========== ======================= ================================
+                nsh                     nsh2
+    =========== ======================= ================================
+    Toolchain:  NuttX buildroot for     Codesourcery for Windows (1)
+                Linux or Cygwin (1,2)
+    ----------- ----------------------- --------------------------------
+    Loader:     DfuSe                   DfuSe
+    ----------- ----------------------- --------------------------------
+    Serial      Debug output: USART1    Debug output: USART1
+    Console:    NSH output:   USART1    NSH output:   USART1 (3)
+    ----------- ----------------------- --------------------------------
+    microSD     Yes                     Yes
+    Support
+    ----------- ----------------------- --------------------------------
+    FAT FS      CONFIG_FAT_LCNAME=y     CONFIG_FAT_LCNAME=y
+    Config      CONFIG_FAT_LFN=n        CONFIG_FAT_LFN=y (4)
+    ----------- ----------------------- --------------------------------
+    Support for No                      Yes
+    Built-in
+    Apps
+    ----------- ----------------------- --------------------------------
+    Built-in    None                    apps/examples/nx
+    Apps                                apps/examples/nxhello
+                                        apps/examples/usbstorage (5)
+    =========== ======================= ================================
+
+    (1) You will probably need to modify nsh/setenv.sh or nsh2/setenv.sh
+        to set up the correct PATH variable for whichever toolchain you
+        may use.
+    (2) Since DfuSe is assumed, this configuration may only work under
+        Cygwin without modification.
+    (3) When any other device other than /dev/console is used for a user
+        interface, (1) linefeeds (\n) will not be expanded to carriage return
+        / linefeeds \r\n). You will need to configure your terminal program
+        to account for this. And (2) input is not automatically echoed so
+        you will have to turn local echo on.
+    (4) Microsoft holds several patents related to the design of
+        long file names in the FAT file system.  Please refer to the
+        details in the top-level COPYING file.  Please do not use FAT
+        long file name unless you are familiar with these patent issues.
+    (5) When built as an NSH add-on command (CONFIG_EXAMPLES_USBMSC_BUILTIN=y),
+        Caution should be used to assure that the SD drive is not in use when
+        the USB storage device is configured.  Specifically, the SD driver
+        should be unmounted like:
+
+        nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Card is mounted in NSH
+        ...
+        nsh> umount /mnd/sdcard                    # Unmount before connecting USB!!!
+        nsh> msconn                                # Connect the USB storage device
+        ...
+        nsh> msdis                                 # Disconnect USB storate device
+        nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard # Restore the mount
+
+        Failure to do this could result in corruption of the SD card format.
+
+  nx:
+  ---
+    An example using the NuttX graphics system (NX).  This example
+    focuses on general window controls, movement, mouse and keyboard
+    input.
+
+    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
+    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
+
+  nxlines:
+  ------
+    Another example using the NuttX graphics system (NX).   This
+    example focuses on placing lines on the background in various
+    orientations.
+
+    CONFIG_STM32_CODESOURCERYW=y  : CodeSourcery under Windows
+    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
+
+  nxtext:
+  ------
+    Another example using the NuttX graphics system (NX).   This
+    example focuses on placing text on the background while pop-up
+    windows occur.  Text should continue to update normally with
+    or without the popup windows present.
+
+    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
+    CONFIG_LCD_RPORTRAIT=y        : 240x320 reverse portrait
+
+    NOTE:  When I tried building this example with the CodeSourcery
+    tools, I got a hardfault inside of its libgcc.  I haven't
+    retested since then, but beware if you choose to change the
+    toolchain.
+
+  ostest:
+  ------
+    This configuration directory, performs a simple OS test using
+    examples/ostest.  By default, this project assumes that you are
+    using the DFU bootloader.
+
+    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
+
+  RIDE
+  ----
+    This configuration builds a trivial bring-up binary.  It is
+    useful only because it words with the RIDE7 IDE and R-Link debugger.
+
+    CONFIG_STM32_RAISONANCE=y     : Raisonance RIDE7 under Windows
+
+  usbserial:
+  ---------
+    This configuration directory exercises the USB serial class
+    driver at examples/usbserial.  See examples/README.txt for
+    more information.
+
+    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
+
+    USB debug output can be enabled as by changing the following
+    settings in the configuration file:
+
+    -CONFIG_DEBUG=n
+    -CONFIG_DEBUG_VERBOSE=n
+    -CONFIG_DEBUG_USB=n
+    +CONFIG_DEBUG=y
+    +CONFIG_DEBUG_VERBOSE=y
+    +CONFIG_DEBUG_USB=y
+
+    -CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=n
+    -CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=n
+    -CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n
+    -CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n
+    -CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n
+    +CONFIG_EXAMPLES_USBSERIAL_TRACEINIT=y
+    +CONFIG_EXAMPLES_USBSERIAL_TRACECLASS=y
+    +CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=y
+    +CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=y
+    +CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=y
+
+    By default, the usbserial example uses the Prolific PL2303
+    serial/USB converter emulation.  The example can be modified
+    to use the CDC/ACM serial class by making the following changes
+    to the configuration file:
+
+    -CONFIG_PL2303=y
+    +CONFIG_PL2303=n
+
+    -CONFIG_CDCACM=n
+    +CONFIG_CDCACM=y
+
+    The example can also be converted to use the alternative
+    USB serial example at apps/examples/usbterm by changing the 
+    following:
+
+    -CONFIGURED_APPS += examples/usbserial
+    +CONFIGURED_APPS += examples/usbterm
+
+    In either the original appconfig file (before configuring)
+    or in the final apps/.config file (after configuring).
+
+  usbstorage:
+  ----------
+    This configuration directory exercises the USB mass storage
+    class driver at examples/usbstorage.  See examples/README.txt for
+    more information.
+
+    CONFIG_STM32_BUILDROOT=y      : NuttX buildroot under Linux or Cygwin
+
diff --git a/nuttx/configs/px4io-v1/common/Make.defs b/nuttx/configs/px4io-v1/common/Make.defs
new file mode 100644
index 000000000..7f782b5b2
--- /dev/null
+++ b/nuttx/configs/px4io-v1/common/Make.defs
@@ -0,0 +1,175 @@
+############################################################################
+# configs/px4fmu/common/Make.defs
+#
+#   Copyright (C) 2011 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.
+#
+############################################################################
+
+#
+# Generic Make.defs for the PX4FMU
+# Do not specify/use this file directly - it is included by config-specific
+# 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
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m
+
+# enable precise stack overflow tracking
+#INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+#			   -ffixed-r10
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHDEFINES		 = 
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+
diff --git a/nuttx/configs/px4io-v1/common/ld.script b/nuttx/configs/px4io-v1/common/ld.script
new file mode 100755
index 000000000..69c2f9cb2
--- /dev/null
+++ b/nuttx/configs/px4io-v1/common/ld.script
@@ -0,0 +1,129 @@
+/****************************************************************************
+ * configs/stm3210e-eval/nsh/ld.script
+ *
+ *   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
+ * 8Kb of SRAM beginning at address 0x2000:0000.  When booting from FLASH,
+ * FLASH memory is aliased to address 0x0000:0000 where the code expects to
+ * begin execution by jumping to the entry point in the 0x0800:0000 address
+ * range.
+ */
+
+MEMORY
+{
+    flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
+    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/nuttx/configs/px4io-v1/common/setenv.sh b/nuttx/configs/px4io-v1/common/setenv.sh
new file mode 100755
index 000000000..ff9a4bf8a
--- /dev/null
+++ b/nuttx/configs/px4io-v1/common/setenv.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# configs/stm3210e-eval/dfu/setenv.sh
+#
+#   Copyright (C) 2009 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.
+#
+
+if [ "$(basename $0)" = "setenv.sh" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
+
+WD=`pwd`
+export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx/configs/px4io-v1/include/README.txt b/nuttx/configs/px4io-v1/include/README.txt
new file mode 100755
index 000000000..2264a80aa
--- /dev/null
+++ b/nuttx/configs/px4io-v1/include/README.txt
@@ -0,0 +1 @@
+This directory contains header files unique to the PX4IO board.
diff --git a/nuttx/configs/px4io-v1/include/board.h b/nuttx/configs/px4io-v1/include/board.h
new file mode 100755
index 000000000..668602ea8
--- /dev/null
+++ b/nuttx/configs/px4io-v1/include/board.h
@@ -0,0 +1,172 @@
+/************************************************************************************
+ * configs/px4io/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *   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 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+# include <stdbool.h>
+#endif
+#include <stm32_rcc.h>
+#include <stm32_sdio.h>
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+
+/* On-board crystal frequency is 24MHz (HSE) */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+/* Use the HSE output as the system clock */
+
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_HSE
+#define STM32_SYSCLK_FREQUENCY  STM32_BOARD_XTAL
+
+/* AHB clock (HCLK) is SYSCLK (24MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY    /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 2-4 */
+
+/* APB2 timer 1 will receive PCLK2. */
+
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK (24MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLK
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* All timers run off PCLK */
+
+#define STM32_APB1_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM2_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (STM32_PCLK1_FREQUENCY)
+
+/*
+ * Some of the USART pins are not available; override the GPIO
+ * definitions with an invalid pin configuration.
+ */
+#undef GPIO_USART2_CTS
+#define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
+#define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
+#define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
+#define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
+#define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
+#define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
+#define GPIO_USART3_RTS	0xffffffff
+
+/* 
+ * High-resolution timer
+ */
+#ifdef CONFIG_HRT_TIMER
+# define HRT_TIMER		1	/* use timer1 for the HRT */
+# define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
+#endif
+
+/*
+ * PPM
+ *
+ * PPM input is handled by the HRT timer.
+ *
+ * Pin is PA8, timer 1, channel 1
+ */
+#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
+# define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
+# define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#endif
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+/************************************************************************************
+ * 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.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+    
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx/configs/px4io-v1/include/drv_i2c_device.h b/nuttx/configs/px4io-v1/include/drv_i2c_device.h
new file mode 100644
index 000000000..02582bc09
--- /dev/null
+++ b/nuttx/configs/px4io-v1/include/drv_i2c_device.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   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 A simple, polled I2C slave-mode driver.
+  *
+  * The master writes to and reads from a byte buffer, which the caller 
+  * can update inbetween calls to the FSM.
+  */
+
+extern void	i2c_fsm_init(uint8_t *buffer, size_t buffer_size);
+extern bool	i2c_fsm(void);
diff --git a/nuttx/configs/px4io-v1/io/Make.defs b/nuttx/configs/px4io-v1/io/Make.defs
new file mode 100644
index 000000000..c7f6effd9
--- /dev/null
+++ b/nuttx/configs/px4io-v1/io/Make.defs
@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/px4io-v1/common/Make.defs
diff --git a/nuttx/configs/px4io-v1/io/appconfig b/nuttx/configs/px4io-v1/io/appconfig
new file mode 100644
index 000000000..48a41bcdb
--- /dev/null
+++ b/nuttx/configs/px4io-v1/io/appconfig
@@ -0,0 +1,32 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
diff --git a/nuttx/configs/px4io-v1/io/defconfig b/nuttx/configs/px4io-v1/io/defconfig
new file mode 100755
index 000000000..43dd1b0e8
--- /dev/null
+++ b/nuttx/configs/px4io-v1/io/defconfig
@@ -0,0 +1,552 @@
+############################################################################
+# configs/px4io/nsh/defconfig
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2011-2012 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.
+#
+############################################################################
+#
+# architecture selection
+#
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_family - for use in C code.  This identifies the
+#   particular chip family that the architecture is implemented
+#   in.
+# CONFIG_ARCH_architecture - for use in C code.  This identifies the
+#   specific architecture within the chip family.
+# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
+# CONFIG_ARCH_CHIP_name - For use in C code
+# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_ARCH_BOARD_name - for use in C code
+# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
+# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
+# CONFIG_DRAM_SIZE - Describes the installed DRAM.
+# CONFIG_DRAM_START - The start address of DRAM (physical)
+# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
+# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
+#   stack. If defined, this symbol is the size of the interrupt
+#   stack in bytes.  If not defined, the user task stacks will be
+#   used during interrupt handling.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
+# CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
+# CONFIG_ARCH_BUTTONS -  Enable support for buttons. Unique to board architecture.
+# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
+#   cause a 100 second delay during boot-up.  This 100 second delay
+#   serves no purpose other than it allows you to calibrate
+#   CONFIG_BOARD_LOOPSPERMSEC.  You simply use a stop watch to measure
+#   the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
+#   the delay actually is 100 seconds.
+# CONFIG_ARCH_DMA - Support DMA initialization
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_ARM=y
+CONFIG_ARCH_CORTEXM3=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32F100C8=y
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4IO_V1=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
+CONFIG_ARCH_BOARD="px4io-v1"
+CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_DRAM_SIZE=0x00002000
+CONFIG_DRAM_START=0x20000000
+CONFIG_ARCH_IRQPRIO=y
+CONFIG_ARCH_INTERRUPTSTACK=n
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_BOOTLOADER=n
+CONFIG_ARCH_LEDS=n
+CONFIG_ARCH_BUTTONS=n
+CONFIG_ARCH_CALIBRATION=n
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_MATH_H=y
+
+CONFIG_ARMV7M_CMNVECTOR=y
+
+#
+# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
+#
+#   CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
+#
+# JTAG Enable options:
+#
+#   CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#   CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#     but without JNTRST.
+#   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
+#
+CONFIG_STM32_DFU=n
+CONFIG_STM32_JTAG_FULL_ENABLE=y
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
+CONFIG_STM32_JTAG_SW_ENABLE=n
+
+#
+# Individual subsystems can be enabled:
+#
+# AHB: 
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=n
+CONFIG_STM32_CRC=n
+# APB1:
+# Timers 2,3 and 4 are owned by the PWM driver
+CONFIG_STM32_TIM2=n
+CONFIG_STM32_TIM3=n
+CONFIG_STM32_TIM4=n
+CONFIG_STM32_TIM5=n
+CONFIG_STM32_TIM6=n
+CONFIG_STM32_TIM7=n
+CONFIG_STM32_WWDG=n
+CONFIG_STM32_SPI2=n
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=n
+CONFIG_STM32_BKP=n
+CONFIG_STM32_PWR=n
+CONFIG_STM32_DAC=n
+# APB2:
+# We use our own ADC driver, but leave this on for clocking purposes.
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_ADC2=n
+# TIM1 is owned by the HRT
+CONFIG_STM32_TIM1=n
+CONFIG_STM32_SPI1=n
+CONFIG_STM32_TIM8=n
+CONFIG_STM32_USART1=y
+CONFIG_STM32_ADC3=n
+
+
+#
+# STM32F100 specific serial device driver settings
+#
+# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
+#   console and ttys0 (default is the USART1).
+# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
+#   This specific the size of the receive buffer
+# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
+#   being sent.  This specific the size of the transmit buffer
+# CONFIG_USARTn_BAUD - The configure BAUD of the UART.  Must be
+# CONFIG_USARTn_BITS - The number of bits.  Must be either 7 or 8.
+# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+# CONFIG_USARTn_2STOP - Two stop bits
+#
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STANDARD_SERIAL=y
+
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART2_SERIAL_CONSOLE=n
+CONFIG_USART3_SERIAL_CONSOLE=n
+
+CONFIG_USART1_TXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_TXBUFSIZE=64
+
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+
+CONFIG_USART1_BAUD=115200
+CONFIG_USART2_BAUD=115200
+CONFIG_USART3_BAUD=115200
+
+CONFIG_USART1_BITS=8
+CONFIG_USART2_BITS=8
+CONFIG_USART3_BITS=8
+
+CONFIG_USART1_PARITY=0
+CONFIG_USART2_PARITY=0
+CONFIG_USART3_PARITY=0
+
+CONFIG_USART1_2STOP=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART3_2STOP=0
+
+CONFIG_USART1_RXDMA=y
+SERIAL_HAVE_CONSOLE_DMA=y
+# Conflicts with I2C1 DMA
+CONFIG_USART2_RXDMA=n
+CONFIG_USART3_RXDMA=y
+
+#
+# PX4IO specific driver settings
+#
+# CONFIG_HRT_TIMER
+#   Enables the high-resolution timer.  The board definition must
+#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
+#   compare channels to be used.
+# CONFIG_HRT_PPM
+#   Enables R/C PPM input using the HRT.  The board definition must
+#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
+#   used, and define GPIO_PPM_IN to configure the appropriate timer
+#   GPIO.
+# CONFIG_PWM_SERVO
+#   Enables the PWM servo driver.  The driver configuration must be
+#   supplied by the board support at initialisation time.
+#   Note that USART2 must be disabled on the PX4 board for this to
+#   be available.
+#
+#
+CONFIG_HRT_TIMER=y
+CONFIG_HRT_PPM=y
+
+#
+# General build options
+#
+# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
+#   BSPs from www.ridgerun.com using the tools/mkimage.sh script
+# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_RAW_BINARY - make a raw binary format file used with many
+#   different loaders using the GNU objcopy program.  This option
+#   should not be selected if you are not using the GNU toolchain.
+# CONFIG_HAVE_LIBM - toolchain supports libm.a
+#
+CONFIG_RRLOAD_BINARY=n
+CONFIG_INTELHEX_BINARY=n
+CONFIG_MOTOROLA_SREC=n
+CONFIG_RAW_BINARY=y
+CONFIG_HAVE_LIBM=n
+
+#
+# General OS setup
+#
+# CONFIG_APPS_DIR - Identifies the relative path to the directory
+#   that builds the application to link with NuttX.  Default: ../apps
+# CONFIG_DEBUG - enables built-in debug options
+# CONFIG_DEBUG_VERBOSE - enables verbose debug output
+# CONFIG_DEBUG_SYMBOLS - build without optimization and with
+#   debug symbols (needed for use with a debugger).
+# CONFIG_HAVE_CXX - Enable support for C++
+# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
+#   for initialization of static C++ instances for this architecture
+#   and for the selected toolchain (via up_cxxinitialize()).
+# CONFIG_MM_REGIONS - If the architecture includes multiple
+#   regions of memory to allocate from, this specifies the
+#   number of memory regions that the memory manager must
+#   handle and enables the API mm_addregion(start, end);
+# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
+#   time console output
+# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
+#   or MSEC_PER_TICK=10.  This setting may be defined to
+#   inform NuttX that the processor hardware is providing
+#   system timer interrupts at some interrupt interval other
+#   than 10 msec.
+# CONFIG_RR_INTERVAL - The round robin timeslice will be set
+#   this number of milliseconds;  Round robin scheduling can
+#   be disabled by setting this value to zero.
+# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+#   scheduler to monitor system performance
+# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+#   task name to save in the TCB.  Useful if scheduler
+#   instrumentation is selected.  Set to zero to disable.
+# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+#   Used to initialize the internal time logic.
+# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
+#   You would only need this if you are concerned about accurate
+#   time conversions in the past or in the distant future.
+# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
+#   would only need this if you are concerned about accurate
+#   time conversion in the distand past.  You must also define
+#   CONFIG_GREGORIAN_TIME in order to use Julian time.
+# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+#   provides /dev/console.  Enables stdout, stderr, stdin.
+# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
+#   driver (minimul support)
+# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
+#   errorcheck mutexes. Enables pthread_mutexattr_settype().
+# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
+#   inheritance on mutexes and semaphores. 
+# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
+#   inheritance is enabled.  It defines the maximum number of
+#   different threads (minus one) that can take counts on a
+#   semaphore with priority inheritance support.  This may be 
+#   set to zero if priority inheritance is disabled OR if you
+#   are only using semaphores as mutexes (only one holder) OR
+#   if no more than two threads participate using a counting
+#   semaphore.
+# CONFIG_SEM_NNESTPRIO.  If priority inheritance is enabled,
+#   then this setting is the maximum number of higher priority
+#   threads (minus 1) than can be waiting for another thread
+#   to release a count on a semaphore.  This value may be set
+#   to zero if no more than one thread is expected to wait for
+#   a semaphore.
+# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
+#   by task_create() when a new task is started.  If set, all
+#   files/drivers will appear to be closed in the new task.
+# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
+#   three file descriptors (stdin, stdout, stderr) by task_create()
+#   when a new task is started. If set, all files/drivers will
+#   appear to be closed in the new task except for stdin, stdout,
+#   and stderr.
+# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
+#   desciptors by task_create() when a new task is started. If
+#   set, all sockets will appear to be closed in the new task.
+# CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
+#  handle delayed processing from interrupt handlers.  This feature
+#  is required for some drivers but, if there are not complaints,
+#  can be safely disabled.  The worker thread also performs
+#  garbage collection -- completing any delayed memory deallocations
+#  from interrupt handlers.  If the worker thread is disabled,
+#  then that clean will be performed by the IDLE thread instead
+#  (which runs at the lowest of priority and may not be appropriate
+#  if memory reclamation is of high priority).  If CONFIG_SCHED_WORKQUEUE
+#  is enabled, then the following options can also be used:
+# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
+#  thread.  Default: 50
+# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
+#  work in units of microseconds.  Default: 50*1000 (50 MS).
+# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
+#  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
+# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
+#  the worker thread.  Default: 4
+# CONFIG_SCHED_WAITPID - Enable the waitpid() API
+# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
+#
+CONFIG_USER_ENTRYPOINT="user_start"
+#CONFIG_APPS_DIR=
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_FS=n
+CONFIG_DEBUG_GRAPHICS=n
+CONFIG_DEBUG_LCD=n
+CONFIG_DEBUG_USB=n
+CONFIG_DEBUG_NET=n
+CONFIG_DEBUG_RTC=n
+CONFIG_DEBUG_ANALOG=n
+CONFIG_DEBUG_PWM=n
+CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_I2C=n
+CONFIG_DEBUG_INPUT=n
+
+CONFIG_MSEC_PER_TICK=1
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_MM_REGIONS=1
+CONFIG_MM_SMALL=y
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=n
+CONFIG_TASK_NAME_SIZE=8
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+CONFIG_GREGORIAN_TIME=n
+CONFIG_JULIAN_TIME=n
+# this eats ~1KiB of RAM ... work out why
+CONFIG_DEV_CONSOLE=y
+CONFIG_DEV_LOWCONSOLE=n
+CONFIG_MUTEX_TYPES=n
+CONFIG_PRIORITY_INHERITANCE=n
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=0
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WORKQUEUE=n
+CONFIG_SCHED_WORKPRIORITY=50
+CONFIG_SCHED_WORKPERIOD=50000
+CONFIG_SCHED_WORKSTACKSIZE=1024
+CONFIG_SIG_SIGWORK=4
+CONFIG_SCHED_WAITPID=n
+CONFIG_SCHED_ATEXIT=n
+
+#
+# The following can be used to disable categories of
+# APIs supported by the OS.  If the compiler supports
+# weak functions, then it should not be necessary to
+# disable functions unless you want to restrict usage
+# of those APIs.
+#
+# There are certain dependency relationships in these
+# features.
+#
+# o mq_notify logic depends on signals to awaken tasks
+#   waiting for queues to become full or empty.
+# o pthread_condtimedwait() depends on signals to wake
+#   up waiting tasks.
+#
+CONFIG_DISABLE_CLOCK=n
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_DISABLE_SIGNALS=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_ENVIRON=y
+CONFIG_DISABLE_POLL=y
+
+#
+# Misc libc settings
+#
+# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+#   little smaller if we do not support fieldwidthes
+#
+CONFIG_NOPRINTF_FIELDWIDTH=n
+
+#
+# Allow for architecture optimized implementations
+#
+# The architecture can provide optimized versions of the
+# following to improve system performance
+#
+CONFIG_ARCH_MEMCPY=n
+CONFIG_ARCH_MEMCMP=n
+CONFIG_ARCH_MEMMOVE=n
+CONFIG_ARCH_MEMSET=n
+CONFIG_ARCH_STRCMP=n
+CONFIG_ARCH_STRCPY=n
+CONFIG_ARCH_STRNCPY=n
+CONFIG_ARCH_STRLEN=n
+CONFIG_ARCH_STRNLEN=n
+CONFIG_ARCH_BZERO=n
+
+#
+# Sizes of configurable things (0 disables)
+#
+# CONFIG_MAX_TASKS - The maximum number of simultaneously
+#   active tasks.  This value must be a power of two.
+# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
+#   of parameters that a task may receive (i.e., maxmum value
+#   of 'argc')
+# CONFIG_NPTHREAD_KEYS - The number of items of thread-
+#   specific data that can be retained
+# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+#   descriptors (one for each open)
+# CONFIG_NFILE_STREAMS - The maximum number of streams that
+#   can be fopen'ed
+# CONFIG_NAME_MAX - The maximum size of a file name.
+# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
+#   (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
+#   to force automatic, line-oriented flushing the output buffer
+#   for putc(), fputc(), putchar(), puts(), fputs(), printf(),
+#   fprintf(), and vfprintf().  When a newline is encountered in
+#   the output string, the output buffer will be flushed.  This
+#   (slightly) increases the NuttX footprint but supports the kind
+#   of behavior that people expect for printf().
+# CONFIG_NUNGET_CHARS - Number of characters that can be
+#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+#   structures.  The system manages a pool of preallocated
+#   message structures to minimize dynamic allocations
+# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+#   a fixed payload size given by this settin (does not include
+#   other message structure overhead.
+# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
+#   can be passed to a watchdog handler
+# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+#   structures.  The system manages a pool of preallocated
+#   watchdog structures to minimize dynamic allocations
+# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
+#   timer structures.  The system manages a pool of preallocated
+#   timer structures to minimize dynamic allocations.  Set to
+#   zero for all dynamic allocations.
+#
+CONFIG_MAX_TASKS=4
+CONFIG_MAX_TASK_ARGS=4
+CONFIG_NPTHREAD_KEYS=2
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NFILE_STREAMS=0
+CONFIG_NAME_MAX=12
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=n
+CONFIG_NUNGET_CHARS=2
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=4
+CONFIG_PREALLOC_TIMERS=0
+
+
+#
+# Settings for apps/nshlib
+#
+# CONFIG_NSH_BUILTIN_APPS - Support external registered,
+#   "named" applications that can be executed from the NSH
+#   command line (see apps/README.txt for more information).
+# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
+# CONFIG_NSH_STRERROR - Use strerror(errno)
+# CONFIG_NSH_LINELEN - Maximum length of one command line
+# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
+# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
+# CONFIG_NSH_DISABLEBG - Disable background commands
+# CONFIG_NSH_ROMFSETC - Use startup script in /etc
+# CONFIG_NSH_CONSOLE - Use serial console front end
+# CONFIG_NSH_TELNET - Use telnetd console front end
+# CONFIG_NSH_ARCHINIT - Platform provides architecture
+#   specific initialization (nsh_archinitialize()).
+#
+
+# Disable NSH completely
+CONFIG_NSH_CONSOLE=n
+
+#
+# Stack and heap information
+#
+# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
+#   operation from FLASH but must copy initialized .data sections to RAM.
+#   (should also be =n for the STM3210E-EVAL which always runs from flash)
+# CONFIG_BOOT_COPYTORAM -  Some configurations boot in FLASH
+#   but copy themselves entirely into RAM for better performance.
+# CONFIG_CUSTOM_STACK - The up_ implementation will handle
+#   all stack operations outside of the nuttx model.
+# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
+# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
+#  This is the thread that (1) performs the inital boot of the system up
+#  to the point where user_start() is spawned, and (2) there after is the
+#  IDLE thread that executes only when there is no other thread ready to
+#  run.
+# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
+#  for the main user thread that begins at the user_start() entry point.
+# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+# CONFIG_HEAP_BASE - The beginning of the heap
+# CONFIG_HEAP_SIZE - The size of the heap
+#
+CONFIG_BOOT_RUNFROMFLASH=n
+CONFIG_BOOT_COPYTORAM=n
+CONFIG_CUSTOM_STACK=n
+CONFIG_STACK_POINTER=
+CONFIG_IDLETHREAD_STACKSIZE=1024
+CONFIG_USERMAIN_STACKSIZE=1200
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=1024
+CONFIG_HEAP_BASE=
+CONFIG_HEAP_SIZE=
diff --git a/nuttx/configs/px4io-v1/io/setenv.sh b/nuttx/configs/px4io-v1/io/setenv.sh
new file mode 100755
index 000000000..ff9a4bf8a
--- /dev/null
+++ b/nuttx/configs/px4io-v1/io/setenv.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# configs/stm3210e-eval/dfu/setenv.sh
+#
+#   Copyright (C) 2009 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.
+#
+
+if [ "$(basename $0)" = "setenv.sh" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
+
+WD=`pwd`
+export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx/configs/px4io-v1/nsh/Make.defs b/nuttx/configs/px4io-v1/nsh/Make.defs
new file mode 100644
index 000000000..87508e22e
--- /dev/null
+++ b/nuttx/configs/px4io-v1/nsh/Make.defs
@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs
diff --git a/nuttx/configs/px4io-v1/nsh/appconfig b/nuttx/configs/px4io-v1/nsh/appconfig
new file mode 100644
index 000000000..d5809a939
--- /dev/null
+++ b/nuttx/configs/px4io-v1/nsh/appconfig
@@ -0,0 +1,43 @@
+############################################################################
+# configs/stm3210e-eval/nsh/appconfig
+#
+#   Copyright (C) 2011-2012 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.
+#
+############################################################################
+
+# Path to example in apps/examples containing the user_start entry point
+
+CONFIGURED_APPS += examples/nsh
+
+CONFIGURED_APPS += system/readline
+CONFIGURED_APPS += nshlib
+CONFIGURED_APPS += reboot
+
diff --git a/nuttx/configs/px4io-v1/nsh/defconfig b/nuttx/configs/px4io-v1/nsh/defconfig
new file mode 100755
index 000000000..6f4e20869
--- /dev/null
+++ b/nuttx/configs/px4io-v1/nsh/defconfig
@@ -0,0 +1,565 @@
+############################################################################
+# configs/px4io/nsh/defconfig
+#
+#   Copyright (C) 2009-2012 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.
+#
+############################################################################
+#
+# architecture selection
+#
+# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
+#   processor architecture.
+# CONFIG_ARCH_family - for use in C code.  This identifies the
+#   particular chip family that the architecture is implemented
+#   in.
+# CONFIG_ARCH_architecture - for use in C code.  This identifies the
+#   specific architecture within the chip familyl.
+# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
+# CONFIG_ARCH_CHIP_name - For use in C code
+# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
+#   the board that supports the particular chip or SoC.
+# CONFIG_ARCH_BOARD_name - for use in C code
+# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
+# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
+# CONFIG_DRAM_SIZE - Describes the installed DRAM.
+# CONFIG_DRAM_START - The start address of DRAM (physical)
+# CONFIG_DRAM_END - Last address+1 of installed RAM
+# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
+# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
+#   stack. If defined, this symbol is the size of the interrupt
+#   stack in bytes.  If not defined, the user task stacks will be
+#   used during interrupt handling.
+# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
+# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
+# CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
+# CONFIG_ARCH_BUTTONS -  Enable support for buttons. Unique to board architecture.
+# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
+#   cause a 100 second delay during boot-up.  This 100 second delay
+#   serves no purpose other than it allows you to calibrate
+#   CONFIG_BOARD_LOOPSPERMSEC.  You simply use a stop watch to measure
+#   the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
+#   the delay actually is 100 seconds.
+# CONFIG_ARCH_DMA - Support DMA initialization
+#
+CONFIG_ARCH=arm
+CONFIG_ARCH_ARM=y
+CONFIG_ARCH_CORTEXM3=y
+CONFIG_ARCH_CHIP=stm32
+CONFIG_ARCH_CHIP_STM32F100C8=y
+CONFIG_ARCH_BOARD=px4io
+CONFIG_ARCH_BOARD_PX4IO=y
+CONFIG_BOARD_LOOPSPERMSEC=24000
+CONFIG_DRAM_SIZE=0x00002000
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
+CONFIG_ARCH_IRQPRIO=y
+CONFIG_ARCH_INTERRUPTSTACK=n
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_BOOTLOADER=n
+CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CALIBRATION=n
+CONFIG_ARCH_DMA=n
+CONFIG_ARMV7M_CMNVECTOR=y
+
+#
+# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
+#
+#   CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
+#
+# JTAG Enable options:
+#
+#   CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#   CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
+#     but without JNTRST.
+#   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
+#
+CONFIG_STM32_DFU=n
+CONFIG_STM32_JTAG_FULL_ENABLE=y
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
+CONFIG_STM32_JTAG_SW_ENABLE=n
+
+#
+# Individual subsystems can be enabled:
+# AHB: 
+CONFIG_STM32_DMA1=n
+CONFIG_STM32_DMA2=n
+CONFIG_STM32_CRC=n
+# APB1:
+# Timers 2,3 and 4 are owned by the PWM driver
+CONFIG_STM32_TIM2=n
+CONFIG_STM32_TIM3=n
+CONFIG_STM32_TIM4=n
+CONFIG_STM32_TIM5=n
+CONFIG_STM32_TIM6=n
+CONFIG_STM32_TIM7=n
+CONFIG_STM32_WWDG=n
+CONFIG_STM32_SPI2=n
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=n
+CONFIG_STM32_BKP=n
+CONFIG_STM32_PWR=n
+CONFIG_STM32_DAC=n
+# APB2:
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_ADC2=n
+# TIM1 is owned by the HRT
+CONFIG_STM32_TIM1=n
+CONFIG_STM32_SPI1=n
+CONFIG_STM32_TIM8=n
+CONFIG_STM32_USART1=y
+CONFIG_STM32_ADC3=n
+
+#
+# Timer and I2C devices may need to the following to force power to be applied:
+#
+#CONFIG_STM32_FORCEPOWER=y
+
+#
+# STM32F100 specific serial device driver settings
+#
+# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
+#   console and ttys0 (default is the USART1).
+# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
+#   This specific the size of the receive buffer
+# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
+#   being sent.  This specific the size of the transmit buffer
+# CONFIG_USARTn_BAUD - The configure BAUD of the UART.  Must be
+# CONFIG_USARTn_BITS - The number of bits.  Must be either 7 or 8.
+# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
+# CONFIG_USARTn_2STOP - Two stop bits
+#
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART2_SERIAL_CONSOLE=n
+CONFIG_USART3_SERIAL_CONSOLE=n
+
+CONFIG_USART1_TXBUFSIZE=64
+CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART3_TXBUFSIZE=64
+
+CONFIG_USART1_RXBUFSIZE=64
+CONFIG_USART2_RXBUFSIZE=64
+CONFIG_USART3_RXBUFSIZE=64
+
+CONFIG_USART1_BAUD=57600
+CONFIG_USART2_BAUD=115200
+CONFIG_USART3_BAUD=115200
+
+CONFIG_USART1_BITS=8
+CONFIG_USART2_BITS=8
+CONFIG_USART3_BITS=8
+
+CONFIG_USART1_PARITY=0
+CONFIG_USART2_PARITY=0
+CONFIG_USART3_PARITY=0
+
+CONFIG_USART1_2STOP=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART3_2STOP=0
+
+#
+# PX4IO specific driver settings
+#
+# CONFIG_HRT_TIMER
+#   Enables the high-resolution timer.  The board definition must
+#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
+#   compare channels to be used.
+# CONFIG_HRT_PPM
+#   Enables R/C PPM input using the HRT.  The board definition must
+#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
+#   used, and define GPIO_PPM_IN to configure the appropriate timer
+#   GPIO.
+# CONFIG_PWM_SERVO
+#   Enables the PWM servo driver.  The driver configuration must be
+#   supplied by the board support at initialisation time.
+#   Note that USART2 must be disabled on the PX4 board for this to
+#   be available.
+#
+#
+CONFIG_HRT_TIMER=y
+CONFIG_HRT_PPM=y
+CONFIG_PWM_SERVO=y
+
+#
+# General build options
+#
+# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
+#   BSPs from www.ridgerun.com using the tools/mkimage.sh script
+# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
+#   used with many different loaders using the GNU objcopy program
+#   Should not be selected if you are not using the GNU toolchain.
+# CONFIG_RAW_BINARY - make a raw binary format file used with many
+#   different loaders using the GNU objcopy program.  This option
+#   should not be selected if you are not using the GNU toolchain.
+# CONFIG_HAVE_LIBM - toolchain supports libm.a
+#
+CONFIG_RRLOAD_BINARY=n
+CONFIG_INTELHEX_BINARY=n
+CONFIG_MOTOROLA_SREC=n
+CONFIG_RAW_BINARY=y
+CONFIG_HAVE_LIBM=n
+
+#
+# General OS setup
+#
+# CONFIG_APPS_DIR - Identifies the relative path to the directory
+#   that builds the application to link with NuttX.  Default: ../apps
+# CONFIG_DEBUG - enables built-in debug options
+# CONFIG_DEBUG_VERBOSE - enables verbose debug output
+# CONFIG_DEBUG_SYMBOLS - build without optimization and with
+#   debug symbols (needed for use with a debugger).
+# CONFIG_HAVE_CXX - Enable support for C++
+# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
+#   for initialization of static C++ instances for this architecture
+#   and for the selected toolchain (via up_cxxinitialize()).
+# CONFIG_MM_REGIONS - If the architecture includes multiple
+#   regions of memory to allocate from, this specifies the
+#   number of memory regions that the memory manager must
+#   handle and enables the API mm_addregion(start, end);
+# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
+#   time console output
+# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
+#   or MSEC_PER_TICK=10.  This setting may be defined to
+#   inform NuttX that the processor hardware is providing
+#   system timer interrupts at some interrupt interval other
+#   than 10 msec.
+# CONFIG_RR_INTERVAL - The round robin timeslice will be set
+#   this number of milliseconds;  Round robin scheduling can
+#   be disabled by setting this value to zero.
+# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
+#   scheduler to monitor system performance
+# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
+#   task name to save in the TCB.  Useful if scheduler
+#   instrumentation is selected.  Set to zero to disable.
+# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
+#   Used to initialize the internal time logic.
+# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
+#   You would only need this if you are concerned about accurate
+#   time conversions in the past or in the distant future.
+# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
+#   would only need this if you are concerned about accurate
+#   time conversion in the distand past.  You must also define
+#   CONFIG_GREGORIAN_TIME in order to use Julian time.
+# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
+#   provides /dev/console.  Enables stdout, stderr, stdin.
+# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
+#   driver (minimul support)
+# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
+#   errorcheck mutexes. Enables pthread_mutexattr_settype().
+# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
+#   inheritance on mutexes and semaphores. 
+# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
+#   inheritance is enabled.  It defines the maximum number of
+#   different threads (minus one) that can take counts on a
+#   semaphore with priority inheritance support.  This may be 
+#   set to zero if priority inheritance is disabled OR if you
+#   are only using semaphores as mutexes (only one holder) OR
+#   if no more than two threads participate using a counting
+#   semaphore.
+# CONFIG_SEM_NNESTPRIO.  If priority inheritance is enabled,
+#   then this setting is the maximum number of higher priority
+#   threads (minus 1) than can be waiting for another thread
+#   to release a count on a semaphore.  This value may be set
+#   to zero if no more than one thread is expected to wait for
+#   a semaphore.
+# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
+#   by task_create() when a new task is started.  If set, all
+#   files/drivers will appear to be closed in the new task.
+# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
+#   three file descriptors (stdin, stdout, stderr) by task_create()
+#   when a new task is started. If set, all files/drivers will
+#   appear to be closed in the new task except for stdin, stdout,
+#   and stderr.
+# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
+#   desciptors by task_create() when a new task is started. If
+#   set, all sockets will appear to be closed in the new task.
+# CONFIG_NXFLAT. Enable support for the NXFLAT binary format.
+#  This format will support execution of NuttX binaries located
+#  in a ROMFS filesystem (see examples/nxflat).
+# CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
+#  handle delayed processing from interrupt handlers.  This feature
+#  is required for some drivers but, if there are not complaints,
+#  can be safely disabled.  The worker thread also performs
+#  garbage collection -- completing any delayed memory deallocations
+#  from interrupt handlers.  If the worker thread is disabled,
+#  then that clean will be performed by the IDLE thread instead
+#  (which runs at the lowest of priority and may not be appropriate
+#  if memory reclamation is of high priority).  If CONFIG_SCHED_WORKQUEUE
+#  is enabled, then the following options can also be used:
+# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
+#  thread.  Default: 50
+# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
+#  work in units of microseconds.  Default: 50*1000 (50 MS).
+# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
+#  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
+# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
+#  the worker thread.  Default: 4
+#
+#CONFIG_APPS_DIR=
+CONFIG_DEBUG=n
+CONFIG_DEBUG_VERBOSE=n
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_HAVE_CXX=n
+CONFIG_HAVE_CXXINITIALIZE=n
+CONFIG_MM_REGIONS=1
+CONFIG_MM_SMALL=y
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_INSTRUMENTATION=n
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_START_YEAR=2009
+CONFIG_START_MONTH=9
+CONFIG_START_DAY=21
+CONFIG_GREGORIAN_TIME=n
+CONFIG_JULIAN_TIME=n
+CONFIG_DEV_CONSOLE=y
+CONFIG_DEV_LOWCONSOLE=n
+CONFIG_MUTEX_TYPES=n
+CONFIG_PRIORITY_INHERITANCE=n
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=0
+CONFIG_FDCLONE_DISABLE=n
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_NXFLAT=n
+CONFIG_SCHED_WORKQUEUE=n
+CONFIG_SCHED_WORKPRIORITY=50
+CONFIG_SCHED_WORKPERIOD=(50*1000)
+CONFIG_SCHED_WORKSTACKSIZE=512
+CONFIG_SIG_SIGWORK=4
+
+#
+# The following can be used to disable categories of
+# APIs supported by the OS.  If the compiler supports
+# weak functions, then it should not be necessary to
+# disable functions unless you want to restrict usage
+# of those APIs.
+#
+# There are certain dependency relationships in these
+# features.
+#
+# o mq_notify logic depends on signals to awaken tasks
+#   waiting for queues to become full or empty.
+# o pthread_condtimedwait() depends on signals to wake
+#   up waiting tasks.
+#
+CONFIG_DISABLE_CLOCK=n
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_DISABLE_PTHREAD=n
+CONFIG_DISABLE_SIGNALS=n
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_ENVIRON=y
+CONFIG_DISABLE_POLL=y
+
+#
+# Misc libc settings
+#
+# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
+#   little smaller if we do not support fieldwidthes
+#
+CONFIG_NOPRINTF_FIELDWIDTH=n
+
+#
+# Allow for architecture optimized implementations
+#
+# The architecture can provide optimized versions of the
+# following to improve system performance
+#
+CONFIG_ARCH_MEMCPY=n
+CONFIG_ARCH_MEMCMP=n
+CONFIG_ARCH_MEMMOVE=n
+CONFIG_ARCH_MEMSET=n
+CONFIG_ARCH_STRCMP=n
+CONFIG_ARCH_STRCPY=n
+CONFIG_ARCH_STRNCPY=n
+CONFIG_ARCH_STRLEN=n
+CONFIG_ARCH_STRNLEN=n
+CONFIG_ARCH_BZERO=n
+
+#
+# Sizes of configurable things (0 disables)
+#
+# CONFIG_MAX_TASKS - The maximum number of simultaneously
+#   active tasks.  This value must be a power of two.
+# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
+#   of parameters that a task may receive (i.e., maxmum value
+#   of 'argc')
+# CONFIG_NPTHREAD_KEYS - The number of items of thread-
+#   specific data that can be retained
+# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
+#   descriptors (one for each open)
+# CONFIG_NFILE_STREAMS - The maximum number of streams that
+#   can be fopen'ed
+# CONFIG_NAME_MAX - The maximum size of a file name.
+# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
+#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_NUNGET_CHARS - Number of characters that can be
+#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
+#   structures.  The system manages a pool of preallocated
+#   message structures to minimize dynamic allocations
+# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
+#   a fixed payload size given by this settin (does not include
+#   other message structure overhead.
+# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
+#   can be passed to a watchdog handler
+# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
+#   structures.  The system manages a pool of preallocated
+#   watchdog structures to minimize dynamic allocations
+# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
+#   timer structures.  The system manages a pool of preallocated
+#   timer structures to minimize dynamic allocations.  Set to
+#   zero for all dynamic allocations.
+#
+CONFIG_MAX_TASKS=4
+CONFIG_MAX_TASK_ARGS=4
+CONFIG_NPTHREAD_KEYS=2
+CONFIG_NFILE_DESCRIPTORS=6
+CONFIG_NFILE_STREAMS=4
+CONFIG_NAME_MAX=32
+CONFIG_STDIO_BUFFER_SIZE=64
+CONFIG_NUNGET_CHARS=2
+CONFIG_PREALLOC_MQ_MSGS=1
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=3
+CONFIG_PREALLOC_TIMERS=1
+
+
+#
+# Settings for apps/nshlib
+#
+# CONFIG_NSH_BUILTIN_APPS - Support external registered,
+#   "named" applications that can be executed from the NSH
+#   command line (see apps/README.txt for more information).
+# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
+# CONFIG_NSH_STRERROR - Use strerror(errno)
+# CONFIG_NSH_LINELEN - Maximum length of one command line
+# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
+# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
+# CONFIG_NSH_DISABLEBG - Disable background commands
+# CONFIG_NSH_ROMFSETC - Use startup script in /etc
+# CONFIG_NSH_CONSOLE - Use serial console front end
+# CONFIG_NSH_TELNET - Use telnetd console front end
+# CONFIG_NSH_ARCHINIT - Platform provides architecture
+#   specific initialization (nsh_archinitialize()).
+#
+# If CONFIG_NSH_TELNET is selected:
+# CONFIG_NSH_IOBUFFER_SIZE -- Telnetd I/O buffer size
+# CONFIG_NSH_DHCPC - Obtain address using DHCP
+# CONFIG_NSH_IPADDR - Provides static IP address
+# CONFIG_NSH_DRIPADDR - Provides static router IP address
+# CONFIG_NSH_NETMASK - Provides static network mask
+# CONFIG_NSH_NOMAC - Use a bogus MAC address
+#
+# If CONFIG_NSH_ROMFSETC is selected:
+# CONFIG_NSH_ROMFSMOUNTPT - ROMFS mountpoint
+# CONFIG_NSH_INITSCRIPT - Relative path to init script
+# CONFIG_NSH_ROMFSDEVNO - ROMFS RAM device minor
+# CONFIG_NSH_ROMFSSECTSIZE - ROMF sector size
+# CONFIG_NSH_FATDEVNO - FAT FS RAM device minor
+# CONFIG_NSH_FATSECTSIZE - FAT FS sector size
+# CONFIG_NSH_FATNSECTORS - FAT FS number of sectors
+# CONFIG_NSH_FATMOUNTPT - FAT FS mountpoint
+#
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=64
+CONFIG_NSH_STRERROR=n
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_NESTDEPTH=1
+CONFIG_NSH_DISABLESCRIPT=y
+CONFIG_NSH_DISABLEBG=n
+CONFIG_NSH_ROMFSETC=n
+CONFIG_NSH_CONSOLE=y
+CONFIG_NSH_TELNET=n
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_IOBUFFER_SIZE=256
+#CONFIG_NSH_STACKSIZE=1024
+CONFIG_NSH_DHCPC=n
+CONFIG_NSH_NOMAC=n
+CONFIG_NSH_IPADDR=(10<<24|0<<16|0<<8|2)
+CONFIG_NSH_DRIPADDR=(10<<24|0<<16|0<<8|1)
+CONFIG_NSH_NETMASK=(255<<24|255<<16|255<<8|0)
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=64
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT=/tmp
+
+#
+# Architecture-specific NSH options
+#
+CONFIG_NSH_MMCSDSPIPORTNO=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDMINOR=0
+
+#
+# Stack and heap information
+#
+# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
+#   operation from FLASH but must copy initialized .data sections to RAM.
+#   (should also be =n for the STM3210E-EVAL which always runs from flash)
+# CONFIG_BOOT_COPYTORAM -  Some configurations boot in FLASH
+#   but copy themselves entirely into RAM for better performance.
+# CONFIG_CUSTOM_STACK - The up_ implementation will handle
+#   all stack operations outside of the nuttx model.
+# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
+# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
+#  This is the thread that (1) performs the inital boot of the system up
+#  to the point where user_start() is spawned, and (2) there after is the
+#  IDLE thread that executes only when there is no other thread ready to
+#  run.
+# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
+#  for the main user thread that begins at the user_start() entry point.
+# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
+# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
+# CONFIG_HEAP_BASE - The beginning of the heap
+# CONFIG_HEAP_SIZE - The size of the heap
+#
+CONFIG_BOOT_RUNFROMFLASH=n
+CONFIG_BOOT_COPYTORAM=n
+CONFIG_CUSTOM_STACK=n
+CONFIG_STACK_POINTER=
+CONFIG_IDLETHREAD_STACKSIZE=800
+CONFIG_USERMAIN_STACKSIZE=1024
+CONFIG_PTHREAD_STACK_MIN=256
+CONFIG_PTHREAD_STACK_DEFAULT=512
+CONFIG_HEAP_BASE=
+CONFIG_HEAP_SIZE=
diff --git a/nuttx/configs/px4io-v1/nsh/setenv.sh b/nuttx/configs/px4io-v1/nsh/setenv.sh
new file mode 100755
index 000000000..d83685192
--- /dev/null
+++ b/nuttx/configs/px4io-v1/nsh/setenv.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# configs/stm3210e-eval/dfu/setenv.sh
+#
+#   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# 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.
+#
+
+if [ "$(basename $0)" = "setenv.sh" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
+
+WD=`pwd`
+export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
+export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx/configs/px4io-v1/src/Makefile b/nuttx/configs/px4io-v1/src/Makefile
new file mode 100644
index 000000000..bb9539d16
--- /dev/null
+++ b/nuttx/configs/px4io-v1/src/Makefile
@@ -0,0 +1,84 @@
+############################################################################
+# configs/stm3210e-eval/src/Makefile
+#
+#   Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#
+# 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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
diff --git a/nuttx/configs/px4io-v1/src/README.txt b/nuttx/configs/px4io-v1/src/README.txt
new file mode 100644
index 000000000..d4eda82fd
--- /dev/null
+++ b/nuttx/configs/px4io-v1/src/README.txt
@@ -0,0 +1 @@
+This directory contains drivers unique to the STMicro STM3210E-EVAL development board.
diff --git a/nuttx/configs/px4io-v1/src/drv_i2c_device.c b/nuttx/configs/px4io-v1/src/drv_i2c_device.c
new file mode 100644
index 000000000..1f5931ae5
--- /dev/null
+++ b/nuttx/configs/px4io-v1/src/drv_i2c_device.c
@@ -0,0 +1,618 @@
+/****************************************************************************
+ *
+ *   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 A simple, polled I2C slave-mode driver.
+  *
+  * The master writes to and reads from a byte buffer, which the caller 
+  * can update inbetween calls to the FSM.
+  */
+
+#include <stdbool.h>
+
+#include "stm32_i2c.h"
+
+#include <string.h>
+
+/*
+ * I2C register definitions.
+ */
+#define I2C_BASE	STM32_I2C1_BASE
+
+#define REG(_reg)	(*(volatile uint32_t *)(I2C_BASE + _reg))
+
+#define rCR1		REG(STM32_I2C_CR1_OFFSET)
+#define rCR2		REG(STM32_I2C_CR2_OFFSET)
+#define rOAR1		REG(STM32_I2C_OAR1_OFFSET)
+#define rOAR2		REG(STM32_I2C_OAR2_OFFSET)
+#define rDR		REG(STM32_I2C_DR_OFFSET)
+#define rSR1		REG(STM32_I2C_SR1_OFFSET)
+#define rSR2		REG(STM32_I2C_SR2_OFFSET)
+#define rCCR		REG(STM32_I2C_CCR_OFFSET)
+#define rTRISE		REG(STM32_I2C_TRISE_OFFSET)
+
+/*
+ * "event" values (cr2 << 16 | cr1) as described in the ST DriverLib
+ */
+#define  I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED          ((uint32_t)0x00020002) /* BUSY and ADDR flags */
+#define  I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED       ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */
+#define  I2C_EVENT_SLAVE_BYTE_RECEIVED                     ((uint32_t)0x00020040) /* BUSY and RXNE flags */
+#define  I2C_EVENT_SLAVE_STOP_DETECTED                     ((uint32_t)0x00000010) /* STOPF flag */
+#define  I2C_EVENT_SLAVE_BYTE_TRANSMITTED                  ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */
+#define  I2C_EVENT_SLAVE_BYTE_TRANSMITTING                 ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */
+#define  I2C_EVENT_SLAVE_ACK_FAILURE                       ((uint32_t)0x00000400) /* AF flag */
+
+/**
+ * States implemented by the I2C FSM.
+ */
+enum fsm_state {
+	BAD_PHASE,	 // must be zero, default exit on a bad state transition
+
+	WAIT_FOR_MASTER,
+
+	/* write from master */
+	WAIT_FOR_COMMAND,
+	RECEIVE_COMMAND,
+	RECEIVE_DATA,
+	HANDLE_COMMAND,
+
+	/* read from master */
+	WAIT_TO_SEND,
+	SEND_STATUS,
+	SEND_DATA,
+
+	NUM_STATES
+};
+
+/**
+ * Events recognised by the I2C FSM.
+ */
+enum fsm_event {
+	/* automatic transition */
+	AUTO,
+
+	/* write from master */
+	ADDRESSED_WRITE,
+	BYTE_RECEIVED,
+	STOP_RECEIVED,
+
+	/* read from master */
+	ADDRESSED_READ,
+	BYTE_SENDABLE,
+	ACK_FAILED,
+
+	NUM_EVENTS
+};
+
+/**
+ * Context for the I2C FSM
+ */
+static struct fsm_context {
+	enum fsm_state		state;
+
+	/* XXX want to eliminate these */
+	uint8_t			command;
+	uint8_t			status;
+
+	uint8_t			*data_ptr;
+	uint32_t		data_count;
+
+	size_t			buffer_size;
+	uint8_t			*buffer;
+} context;
+
+/**
+ * Structure defining one FSM state and its outgoing transitions.
+ */
+struct fsm_transition {
+		void (*handler)(void);
+		enum fsm_state next_state[NUM_EVENTS];
+};
+
+static bool	i2c_command_received;
+
+static void	fsm_event(enum fsm_event event);
+
+static void	go_bad(void);
+static void	go_wait_master(void);
+
+static void	go_wait_command(void);
+static void	go_receive_command(void);
+static void	go_receive_data(void);
+static void	go_handle_command(void);
+
+static void	go_wait_send(void);
+static void	go_send_status(void);
+static void	go_send_buffer(void);
+
+/**
+ * The FSM state graph.
+ */
+static const struct fsm_transition fsm[NUM_STATES] = {
+		[BAD_PHASE] = {
+				.handler = go_bad,
+				.next_state = {
+						[AUTO] = WAIT_FOR_MASTER,
+				},
+		},
+
+		[WAIT_FOR_MASTER] = {
+				.handler = go_wait_master,
+				.next_state = {
+						[ADDRESSED_WRITE] = WAIT_FOR_COMMAND,
+						[ADDRESSED_READ] = WAIT_TO_SEND,
+				},
+		},
+
+		/* write from master*/
+		[WAIT_FOR_COMMAND] = {
+				.handler = go_wait_command,
+				.next_state = {
+						[BYTE_RECEIVED] = RECEIVE_COMMAND,
+						[STOP_RECEIVED] = WAIT_FOR_MASTER,
+				},
+		},
+		[RECEIVE_COMMAND] = {
+				.handler = go_receive_command,
+				.next_state = {
+						[BYTE_RECEIVED] = RECEIVE_DATA,
+						[STOP_RECEIVED] = HANDLE_COMMAND,
+				},
+		},
+		[RECEIVE_DATA] = {
+				.handler = go_receive_data,
+				.next_state = {
+						[BYTE_RECEIVED] = RECEIVE_DATA,
+						[STOP_RECEIVED] = HANDLE_COMMAND,
+				},
+		},
+		[HANDLE_COMMAND] = {
+				.handler = go_handle_command,
+				.next_state = {
+						[AUTO] = WAIT_FOR_MASTER,
+				},
+		},
+
+		/* buffer send */
+		[WAIT_TO_SEND] = {
+			.handler = go_wait_send,
+			.next_state = {
+					[BYTE_SENDABLE] = SEND_STATUS,
+			},
+		},
+		[SEND_STATUS] = {
+				.handler = go_send_status,
+				.next_state = {
+						[BYTE_SENDABLE] = SEND_DATA,
+						[ACK_FAILED] = WAIT_FOR_MASTER,
+				},
+		},
+		[SEND_DATA] = {
+				.handler = go_send_buffer,
+				.next_state = {
+						[BYTE_SENDABLE] = SEND_DATA,
+						[ACK_FAILED] = WAIT_FOR_MASTER,
+				},
+		},
+};
+
+
+/* debug support */
+#if 1
+struct fsm_logentry {
+	char		kind;
+	uint32_t	code;
+};
+
+#define LOG_ENTRIES	32
+static struct fsm_logentry fsm_log[LOG_ENTRIES];
+int	fsm_logptr;
+#define LOG_NEXT(_x)	(((_x) + 1) % LOG_ENTRIES)
+#define LOGx(_kind, _code)		\
+		do {					\
+			fsm_log[fsm_logptr].kind = _kind; \
+			fsm_log[fsm_logptr].code = _code; \
+			fsm_logptr = LOG_NEXT(fsm_logptr); \
+			fsm_log[fsm_logptr].kind = 0; \
+		} while(0)
+
+#define LOG(_kind, _code) \
+		do {\
+			if (fsm_logptr < LOG_ENTRIES) { \
+				fsm_log[fsm_logptr].kind = _kind; \
+				fsm_log[fsm_logptr].code = _code; \
+				fsm_logptr++;\
+			}\
+		}while(0)
+
+#else
+#define LOG(_kind, _code)
+#endif
+
+
+static void i2c_setclock(uint32_t frequency);
+
+/**
+ * Initialise I2C
+ *
+ */
+void
+i2c_fsm_init(uint8_t *buffer, size_t buffer_size)
+{
+	/* save the buffer */
+	context.buffer = buffer;
+	context.buffer_size = buffer_size;
+
+	// initialise the FSM
+	context.status = 0;
+	context.command = 0;
+	context.state = BAD_PHASE;
+	fsm_event(AUTO);
+
+#if 0
+	// enable the i2c block clock and reset it
+	modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN);
+	modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
+	modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
+
+	// configure the i2c GPIOs
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+	// set the peripheral clock to match the APB clock
+	rCR2 = STM32_PCLK1_FREQUENCY / 1000000;
+
+	// configure for 100kHz operation
+	i2c_setclock(100000);
+
+	// enable i2c
+	rCR1 = I2C_CR1_PE;
+#endif
+}
+
+/**
+ * Run the I2C FSM for some period.
+ *
+ * @return True if the buffer has been updated by a command.
+ */
+bool
+i2c_fsm(void)
+{
+	uint32_t	event;
+	int		idle_iterations = 0;
+
+	for (;;) {
+		// handle bus error states by discarding the current operation
+		if (rSR1 & I2C_SR1_BERR) {
+			context.state = WAIT_FOR_MASTER;
+			rSR1 = ~I2C_SR1_BERR;
+		}
+
+		// we do not anticipate over/underrun errors as clock-stretching is enabled
+
+		// fetch the most recent event
+		event = ((rSR2 << 16) | rSR1) & 0x00ffffff;
+
+		// generate FSM events based on I2C events
+		switch (event) {
+		case I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED:
+			LOG('w', 0);
+			fsm_event(ADDRESSED_WRITE);
+			break;
+
+		case I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED:
+			LOG('r', 0);
+			fsm_event(ADDRESSED_READ);
+			break;
+
+		case I2C_EVENT_SLAVE_BYTE_RECEIVED:
+			LOG('R', 0);
+			fsm_event(BYTE_RECEIVED);
+			break;
+
+		case I2C_EVENT_SLAVE_STOP_DETECTED:
+			LOG('s', 0);
+			fsm_event(STOP_RECEIVED);
+			break;
+
+		case I2C_EVENT_SLAVE_BYTE_TRANSMITTING:
+		//case I2C_EVENT_SLAVE_BYTE_TRANSMITTED:
+			LOG('T', 0);
+			fsm_event(BYTE_SENDABLE);
+			break;
+
+		case I2C_EVENT_SLAVE_ACK_FAILURE:
+			LOG('a', 0);
+			fsm_event(ACK_FAILED);
+			break;
+
+		default:
+			idle_iterations++;
+//			if ((event) && (event != 0x00020000))
+//				LOG('e', event);
+			break;
+		}
+
+		/* if we have just received something, drop out and let the caller handle it */
+		if (i2c_command_received) {
+			i2c_command_received = false;
+			return true;
+		}
+
+		/* if we have done nothing recently, drop out and let the caller have a slice */
+		if (idle_iterations > 1000)
+			return false;
+	}
+}
+
+/**
+ * Update the FSM with an event
+ *
+ * @param event	New event.
+ */
+static void
+fsm_event(enum fsm_event event)
+{
+	// move to the next state
+	context.state = fsm[context.state].next_state[event];
+
+	LOG('f', context.state);
+
+	// call the state entry handler
+	if (fsm[context.state].handler) {
+		fsm[context.state].handler();
+	}
+}
+
+static void
+go_bad()
+{
+	LOG('B', 0);
+	fsm_event(AUTO);
+}
+
+/**
+ * Wait for the master to address us.
+ *
+ */
+static void
+go_wait_master()
+{
+	// We currently don't have a command byte.
+	//
+	context.command = '\0';
+
+	// The data pointer starts pointing to the start of the data buffer.
+	//
+	context.data_ptr = context.buffer;
+
+	// The data count is either:
+	// - the size of the data buffer
+	// - some value less than or equal the size of the data buffer during a write or a read
+	//
+	context.data_count = context.buffer_size;
+
+	// (re)enable the peripheral, clear the stop event flag in
+	// case we just finished receiving data
+	rCR1 |= I2C_CR1_PE;
+
+	// clear the ACK failed flag in case we just finished sending data
+	rSR1 = ~I2C_SR1_AF;
+}
+
+/**
+ * Prepare to receive a command byte.
+ *
+ */
+static void
+go_wait_command()
+{
+	// NOP
+}
+
+/**
+ * Command byte has been received, save it and prepare to handle the data.
+ *
+ */
+static void
+go_receive_command()
+{
+
+	// fetch the command byte
+	context.command = (uint8_t)rDR;
+	LOG('c', context.command);
+
+}
+
+/**
+ * Receive a data byte.
+ *
+ */
+static void
+go_receive_data()
+{
+	uint8_t	d;
+
+	// fetch the byte
+	d = (uint8_t)rDR;
+	LOG('d', d);
+
+	// if we have somewhere to put it, do so
+	if (context.data_count) {
+		*context.data_ptr++ = d;
+		context.data_count--;
+	}
+}
+
+/**
+ * Handle a command once the host is done sending it to us.
+ *
+ */
+static void
+go_handle_command()
+{
+	// presume we are happy with the command
+	context.status = 0;
+
+	// make a note that the buffer contains a fresh command
+	i2c_command_received = true;
+
+	// kick along to the next state
+	fsm_event(AUTO);
+}
+
+/**
+ * Wait to be able to send the status byte.
+ *
+ */
+static void
+go_wait_send()
+{
+	// NOP
+}
+
+/**
+ * Send the status byte.
+ *
+ */
+static void
+go_send_status()
+{
+	rDR = context.status;
+	LOG('?', context.status);
+}
+
+/**
+ * Send a data or pad byte.
+ *
+ */
+static void
+go_send_buffer()
+{
+	if (context.data_count) {
+		LOG('D', *context.data_ptr);
+		rDR = *(context.data_ptr++);
+		context.data_count--;
+	} else {
+		LOG('-', 0);
+		rDR = 0xff;
+	}
+}
+
+/* cribbed directly from the NuttX master driver */
+static void 
+i2c_setclock(uint32_t frequency)
+{
+	uint16_t cr1;
+	uint16_t ccr;
+	uint16_t trise;
+	uint16_t freqmhz;
+	uint16_t speed;
+
+	/* Disable the selected I2C peripheral to configure TRISE */
+
+	cr1 = rCR1;
+	rCR1 &= ~I2C_CR1_PE;
+
+	/* Update timing and control registers */
+
+	freqmhz = (uint16_t)(STM32_PCLK1_FREQUENCY / 1000000);
+	ccr = 0;
+
+	/* Configure speed in standard mode */
+
+	if (frequency <= 100000) {
+		/* Standard mode speed calculation */
+
+		speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency << 1));
+
+		/* The CCR fault must be >= 4 */
+
+		if (speed < 4) {
+			/* Set the minimum allowed value */
+
+			speed = 4;  
+		}
+		ccr |= speed;
+
+		/* Set Maximum Rise Time for standard mode */
+
+		trise = freqmhz + 1; 
+				
+	/* Configure speed in fast mode */
+	} else { /* (frequency <= 400000) */
+		/* Fast mode speed calculation with Tlow/Thigh = 16/9 */
+
+#ifdef CONFIG_I2C_DUTY16_9
+	      speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 25));
+
+		/* Set DUTY and fast speed bits */
+
+		ccr |= (I2C_CCR_DUTY|I2C_CCR_FS);
+#else
+		/* Fast mode speed calculation with Tlow/Thigh = 2 */
+
+		speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 3));
+
+		/* Set fast speed bit */
+
+		ccr |= I2C_CCR_FS;
+#endif
+
+		/* Verify that the CCR speed value is nonzero */
+
+		if (speed < 1) {
+	        	/* Set the minimum allowed value */
+
+	        	speed = 1;  
+	        }
+		ccr |= speed;
+
+		/* Set Maximum Rise Time for fast mode */
+
+		trise = (uint16_t)(((freqmhz * 300) / 1000) + 1);  
+	}
+
+	/* Write the new values of the CCR and TRISE registers */
+
+	rCCR = ccr;
+	rTRISE = trise;
+
+	/* Bit 14 of OAR1 must be configured and kept at 1 */
+
+	rOAR1 = I2C_OAR1_ONE);
+
+	/* Re-enable the peripheral (or not) */
+
+	rCR1 = cr1;
+}
diff --git a/nuttx/configs/px4io-v1/src/empty.c b/nuttx/configs/px4io-v1/src/empty.c
new file mode 100644
index 000000000..ace900866
--- /dev/null
+++ b/nuttx/configs/px4io-v1/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */