From 24e8c213ee1f351f100254bde51a7a0cc06d0141 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Mon, 12 Dec 2016 03:45:23 -1000
Subject: [PATCH] Adding px4esc-v1 board and bootloader
---
Images/px4esc-v1.prototype | 12 +
.../configs/nuttx_px4esc-v1_bootloader.cmake | 30 +
cmake/configs/nuttx_px4esc-v1_default.cmake | 98 ++
nuttx-configs/px4esc-v1/Kconfig | 25 +
nuttx-configs/px4esc-v1/bootloader/Make.defs | 164 +++
nuttx-configs/px4esc-v1/bootloader/README.txt | 184 +++
nuttx-configs/px4esc-v1/bootloader/defconfig | 1015 +++++++++++++
nuttx-configs/px4esc-v1/bootloader/setenv.sh | 80 ++
nuttx-configs/px4esc-v1/include/README.txt | 2 +
nuttx-configs/px4esc-v1/include/board.h | 358 +++++
nuttx-configs/px4esc-v1/nsh/Make.defs | 159 +++
nuttx-configs/px4esc-v1/nsh/defconfig | 1263 +++++++++++++++++
nuttx-configs/px4esc-v1/nsh/setenv.sh | 80 ++
.../px4esc-v1/scripts/bootloaderld.script | 129 ++
nuttx-configs/px4esc-v1/scripts/ld.script | 154 ++
nuttx-configs/px4esc-v1/src/Makefile | 100 ++
nuttx-configs/px4esc-v1/src/empty.c | 4 +
nuttx-configs/px4esc-v1/src/ostubs.c | 215 +++
src/drivers/boards/px4esc-v1/CMakeLists.txt | 67 +
src/drivers/boards/px4esc-v1/board_config.h | 363 +++++
.../px4esc-v1/bootloader/CMakeLists.txt | 65 +
.../boards/px4esc-v1/bootloader/boot.c | 221 +++
.../boards/px4esc-v1/bootloader/boot_config.h | 139 ++
src/drivers/boards/px4esc-v1/bootloader/led.c | 114 ++
src/drivers/boards/px4esc-v1/bootloader/led.h | 38 +
src/drivers/boards/px4esc-v1/px4esc_init.c | 209 +++
src/drivers/boards/px4esc-v1/px4esc_led.c | 192 +++
src/drivers/boards/px4esc-v1/px4esc_usb.c | 107 ++
src/modules/uavcanesc/.gitignore | 1 +
src/modules/uavcanesc/CMakeLists.txt | 84 ++
.../uavcanesc/commands/cfg/CMakeLists.txt | 48 +
.../uavcanesc/commands/cfg/esc_cfg.cpp | 58 +
.../uavcanesc/commands/cfg/esc_cfg.hpp | 33 +
.../uavcanesc/commands/dc/CMakeLists.txt | 48 +
src/modules/uavcanesc/commands/dc/esc_dc.cpp | 58 +
src/modules/uavcanesc/commands/dc/esc_dc.hpp | 33 +
.../uavcanesc/commands/rpm/CMakeLists.txt | 48 +
.../uavcanesc/commands/rpm/esc_rpm.cpp | 58 +
.../uavcanesc/commands/rpm/esc_rpm.hpp | 33 +
.../commands/selftest/CMakeLists.txt | 48 +
.../commands/selftest/esc_selftest.cpp | 58 +
.../commands/selftest/esc_selftest.hpp | 33 +
.../uavcanesc/commands/stat/CMakeLists.txt | 49 +
.../uavcanesc/commands/stat/esc_stat.cpp | 58 +
.../uavcanesc/commands/stat/esc_stat.hpp | 33 +
.../uavcanesc/indication_controller.cpp | 86 ++
.../uavcanesc/indication_controller.hpp | 40 +
src/modules/uavcanesc/led.cpp | 75 +
src/modules/uavcanesc/led.hpp | 38 +
src/modules/uavcanesc/nshterm/CMakeLists.txt | 48 +
src/modules/uavcanesc/nshterm/nshterm.c | 128 ++
src/modules/uavcanesc/uavcanesc_main.cpp | 543 +++++++
src/modules/uavcanesc/uavcanesc_main.hpp | 149 ++
src/modules/uavcanesc/uavcanesc_params.c | 59 +
54 files changed, 7534 insertions(+)
create mode 100644 Images/px4esc-v1.prototype
create mode 100644 cmake/configs/nuttx_px4esc-v1_bootloader.cmake
create mode 100644 cmake/configs/nuttx_px4esc-v1_default.cmake
create mode 100644 nuttx-configs/px4esc-v1/Kconfig
create mode 100644 nuttx-configs/px4esc-v1/bootloader/Make.defs
create mode 100644 nuttx-configs/px4esc-v1/bootloader/README.txt
create mode 100644 nuttx-configs/px4esc-v1/bootloader/defconfig
create mode 100755 nuttx-configs/px4esc-v1/bootloader/setenv.sh
create mode 100755 nuttx-configs/px4esc-v1/include/README.txt
create mode 100755 nuttx-configs/px4esc-v1/include/board.h
create mode 100644 nuttx-configs/px4esc-v1/nsh/Make.defs
create mode 100644 nuttx-configs/px4esc-v1/nsh/defconfig
create mode 100755 nuttx-configs/px4esc-v1/nsh/setenv.sh
create mode 100644 nuttx-configs/px4esc-v1/scripts/bootloaderld.script
create mode 100644 nuttx-configs/px4esc-v1/scripts/ld.script
create mode 100644 nuttx-configs/px4esc-v1/src/Makefile
create mode 100644 nuttx-configs/px4esc-v1/src/empty.c
create mode 100644 nuttx-configs/px4esc-v1/src/ostubs.c
create mode 100644 src/drivers/boards/px4esc-v1/CMakeLists.txt
create mode 100644 src/drivers/boards/px4esc-v1/board_config.h
create mode 100644 src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt
create mode 100644 src/drivers/boards/px4esc-v1/bootloader/boot.c
create mode 100644 src/drivers/boards/px4esc-v1/bootloader/boot_config.h
create mode 100644 src/drivers/boards/px4esc-v1/bootloader/led.c
create mode 100644 src/drivers/boards/px4esc-v1/bootloader/led.h
create mode 100644 src/drivers/boards/px4esc-v1/px4esc_init.c
create mode 100644 src/drivers/boards/px4esc-v1/px4esc_led.c
create mode 100644 src/drivers/boards/px4esc-v1/px4esc_usb.c
create mode 100644 src/modules/uavcanesc/.gitignore
create mode 100644 src/modules/uavcanesc/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/cfg/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/cfg/esc_cfg.cpp
create mode 100644 src/modules/uavcanesc/commands/cfg/esc_cfg.hpp
create mode 100644 src/modules/uavcanesc/commands/dc/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/dc/esc_dc.cpp
create mode 100644 src/modules/uavcanesc/commands/dc/esc_dc.hpp
create mode 100644 src/modules/uavcanesc/commands/rpm/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/rpm/esc_rpm.cpp
create mode 100644 src/modules/uavcanesc/commands/rpm/esc_rpm.hpp
create mode 100644 src/modules/uavcanesc/commands/selftest/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/selftest/esc_selftest.cpp
create mode 100644 src/modules/uavcanesc/commands/selftest/esc_selftest.hpp
create mode 100644 src/modules/uavcanesc/commands/stat/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/commands/stat/esc_stat.cpp
create mode 100644 src/modules/uavcanesc/commands/stat/esc_stat.hpp
create mode 100644 src/modules/uavcanesc/indication_controller.cpp
create mode 100644 src/modules/uavcanesc/indication_controller.hpp
create mode 100644 src/modules/uavcanesc/led.cpp
create mode 100644 src/modules/uavcanesc/led.hpp
create mode 100644 src/modules/uavcanesc/nshterm/CMakeLists.txt
create mode 100644 src/modules/uavcanesc/nshterm/nshterm.c
create mode 100644 src/modules/uavcanesc/uavcanesc_main.cpp
create mode 100644 src/modules/uavcanesc/uavcanesc_main.hpp
create mode 100644 src/modules/uavcanesc/uavcanesc_params.c
diff --git a/Images/px4esc-v1.prototype b/Images/px4esc-v1.prototype
new file mode 100644
index 0000000000..7c15b97af2
--- /dev/null
+++ b/Images/px4esc-v1.prototype
@@ -0,0 +1,12 @@
+{
+ "board_id": 25,
+ "magic": "ESCv1",
+ "description": "Firmware for the PX4ESCV1 board",
+ "image": "",
+ "build_time": 0,
+ "summary": "PX4ESCv1",
+ "version": "0.1",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}
diff --git a/cmake/configs/nuttx_px4esc-v1_bootloader.cmake b/cmake/configs/nuttx_px4esc-v1_bootloader.cmake
new file mode 100644
index 0000000000..cf7c566afd
--- /dev/null
+++ b/cmake/configs/nuttx_px4esc-v1_bootloader.cmake
@@ -0,0 +1,30 @@
+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
+
+set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
+set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
+set(px4_module_base ${px4_src_base}modules/)
+
+#
+# UAVCAN boot loadable Module ID
+
+#
+# Bring in common uavcan hardware identity definitions
+#
+
+include(configs/uavcan_board_ident/px4esc-v1)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+
+ drivers/boards/px4esc-v1/bootloader
+
+)
+
+#
+# Bootloaders use a compact vector table not
+# from the lib, but exported in startup
+#
+set(nuttx_startup_files stm32_vectors.o)
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/cmake/configs/nuttx_px4esc-v1_default.cmake
new file mode 100644
index 0000000000..f38a3ca067
--- /dev/null
+++ b/cmake/configs/nuttx_px4esc-v1_default.cmake
@@ -0,0 +1,98 @@
+include(nuttx/px4_impl_nuttx)
+
+add_definitions(
+ -DFLASH_BASED_PARAMS
+ -DPARAM_NO_ORB
+ -DPARAMETER_BUFFER_SIZE=1024
+)
+
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
+
+#
+# UAVCAN boot loadable Module ID
+
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+
+#
+# Bring in common uavcan hardware identity definitions
+#
+
+include(configs/uavcan_board_ident/px4esc-v1)
+
+px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
+ BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
+ HWNAME ${uavcanblid_name}
+ HW_MAJOR ${uavcanblid_hw_version_major}
+ HW_MINOR ${uavcanblid_hw_version_minor}
+ SW_MAJOR ${uavcanblid_sw_version_major}
+ SW_MINOR ${uavcanblid_sw_version_minor})
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+
+ #
+ # Board support modules
+ #
+
+ drivers/stm32
+ drivers/led
+ drivers/boards/px4esc-v1
+
+ #
+ # System commands
+ #
+ systemcmds/reboot
+ systemcmds/top
+ systemcmds/config
+ systemcmds/ver
+ systemcmds/param
+
+ #
+ # General system control
+ #
+ modules/uavcanesc
+ modules/uavcanesc/nshterm
+ modules/uavcanesc/commands/cfg
+ modules/uavcanesc/commands/selftest
+ modules/uavcanesc/commands/dc
+ modules/uavcanesc/commands/rpm
+ modules/uavcanesc/commands/stat
+
+ #
+ # Library modules
+ #
+ modules/param
+ modules/systemlib
+
+ #
+ # Libraries
+ #
+ # had to add for cmake, not sure why wasn't in original config
+ platforms/nuttx
+ platforms/common
+ platforms/nuttx/px4_layer
+ modules/uORB
+
+)
+
+set(config_extra_builtin_cmds
+ serdis
+ sercon
+ )
+
+set(config_extra_libs
+ uavcan
+ uavcan_stm32_driver
+ )
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+ PRIORITY "SCHED_PRIORITY_DEFAULT"
+ MAIN "sercon" STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+ PRIORITY "SCHED_PRIORITY_DEFAULT"
+ MAIN "serdis" STACK_MAIN "2048")
diff --git a/nuttx-configs/px4esc-v1/Kconfig b/nuttx-configs/px4esc-v1/Kconfig
new file mode 100644
index 0000000000..163ed89aaf
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/Kconfig
@@ -0,0 +1,25 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if CONFIG_ARCH_BOARD_PX4ESC_V1
+
+config BOARD_HAS_PROBES
+ bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+ default y
+ ---help---
+ This board provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing
+ signals from selected drivers.
+
+config BOARD_USE_PROBES
+ bool "Enable the use provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide
+ timing signals from selected drivers"
+ default n
+ depends on BOARD_HAS_PROBES
+
+ ---help---
+ Select to use GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals
+ from selected drivers.
+
+endif
diff --git a/nuttx-configs/px4esc-v1/bootloader/Make.defs b/nuttx-configs/px4esc-v1/bootloader/Make.defs
new file mode 100644
index 0000000000..80046d2ebd
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/bootloader/Make.defs
@@ -0,0 +1,164 @@
+############################################################################
+# configs/px4esc-v1/bootloader/Make.defs
+#
+# Copyright (C) 2015 Gregory Nutt. All rights reserved.
+# Author: Gregory Nutt <gnutt@nuttx.org>
+# David Sidrane <david_s5@nscdg.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.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CONFIG_BOOTLOADER=y
+
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(CROSSDEV)ar rcs
+NM = $(CROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION = -Os
+ARCHCPUFLAGS = -mcpu=cortex-m4 \
+ -mthumb \
+ -march=armv7e-m \
+ -mfpu=fpv4-sp-d16 \
+ -mfloat-abi=hard
+
+# Enable precise stack overflow tracking
+
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
+endif
+
+# Use our linker script
+
+LDSCRIPT = bootloaderld.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)/scripts/$(LDSCRIPT)}"
+else
+ ifeq ($(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/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+ else
+ # Linux/Cygwin-native toolchain
+ MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
+ ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+ ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+ ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(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}
+
+# Optimization 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 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+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 =
+
+LDFLAGS += --wrap up_svcall
diff --git a/nuttx-configs/px4esc-v1/bootloader/README.txt b/nuttx-configs/px4esc-v1/bootloader/README.txt
new file mode 100644
index 0000000000..e2835eb518
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/bootloader/README.txt
@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Author: Ben Dyer <ben_dyer@mac.com>
+ * Pavel Kirienko <pavel.kirienko@zubax.com>
+ * David Sidrane <david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+
+This file currently list the SoC that are in uses and the features from the Mfg description.
+ It includes what is current upported in Nuttx and nearest Soc to help with porting
+
+Pixhawk ESC- v1.2 - STM32F105RCT6
+Pixhawk ESC- v1.3 - STM32F105RCT6
+Pixhawk ESC- v1.4 - STM32F105RCT6
+Pixhawk ESC- v1.5 - STM32F205RCT6
+Pixhawk ESC- v1.5-prto -STM32F205RET6
+Pixhawk ESC- v1.6-prto -STM32F446RET6
+Px4Flow STM32F407VGT6
+Px4FlowFuture STM32F427VIT7 Rev_C silicon (no PB12 silicon bug, full 2M Flash available)
+Olimexino-STM32 STM32F103RBT6
+Olimex LPC-P11C24 LPC11C24FBD48
+freedom-kl25z MKL25Z128VLK4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 80LQFP
+freedom-kl26z MKL26Z128VLH4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 64 LQFP
+S2740VC - v1.2 STM32F302K8U6
+esc35 - v1.0 STM32F303CC
+
+Using:
+Part Number Package Marketing Status Core Operating Frequency(F) (Processor speed) FLASH Size (Prog) Data E2PROM nom (B) Internal RAM Size 16-bit timers (IC/OC/PWM) 32-bit timer (IC/OC/PWM) Other timer functions A/D Converter I/Os (High Current) Display controller D/A Converter Integrated op-amps Serial Interface Supply Current(Icc) (Lowest power mode) typ (µA) Supply Current(Icc) (Run mode (per Mhz)) typ (µA) Operating Temperature min (°C) Operating Temperature max (°C)
+STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
+STM32F105RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 256 - 64 7x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 2xI2C 3xUSART 2xUART USB OTG FS 2xCAN 1.9 393 -40 105
+STM32F205RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 256 - 96 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
+STM32F205RE LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
+
+Nuttx:
+STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
+STM32F207IG BGA 176; LQFP Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
+STM32F207ZE LQFP 144 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
+
+Type number Core Clock speed [max] (MHz) Flash (kB) RAM (kB) GPIO CAN UART I²C SPI ADC channels ADC (bits) Timers Timer (bits) PWM Package name Temperature range (°C) Demoboard
+LPC11C24FBD48 Cortex-M0 50 32 8 36 1 1 1 2 8 10 4 16; 32 11 LQFP48 -40 °C to +85 °C OM13012
+
+Products Parts Order Status Budgetary Price excluding tax(US$) HW dev. tools Core: Type Operating Frequency (Max) (MHz) Cache (KB) Total Flash (KB) Internal RAM (KB) Boot ROM (KB) UART SPI I2C I2S USB OTG USB features GPIOs ADC DAC 16-bit PWM (ch) 16-bit Timer (ch) Other Analog blocks Human Machine Interface VDD (min) (V) VDD (max) (V) Package type Pin count Package dimension (WxLxH) (mm3) Pin pitch (mm) Ambient Operating Temperature (Min-Max) (°C)
+KL2x MKL25Z128VLK4 N Active 10000 @ US$2.18 each FRDM-KL25Z, TWR-KL25Z48M ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 - 1 (FS) USB OTG LS/FS 66 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 80 12x12x1.6 0.5 -40 to 105
+KL2x MKL26Z128VLH4 Y Active 10000 @ US$1.90 each FRDM-KL26Z ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 1 1 (FS) USB 2.0 FS Certified 50 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 64 10x10x1.6 0.5 -40 to 105
+
+Nuttx:
+STM32F103RB
+STM32F105VB
+STM32F107VC
+STM32F207IG BGA 176; LQFP 176 24x24x1.4 Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
+STM32F207ZE LQFP 144 20x20x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
+
+
+Nuttx HAS:
+STM32F100C8
+STM32F100CB
+STM32F100R8
+STM32F100RB
+STM32F100RC
+STM32F100RD
+STM32F100RE
+STM32F100V8
+STM32F100VB
+STM32F100VC
+STM32F100VD
+STM32F100VE
+STM32F102CB
+STM32F103C4
+STM32F103C8
+STM32F103CB
+STM32F103R8
+STM32F103RB
+STM32F103RC
+STM32F103RD
+STM32F103RE
+STM32F103RG
+STM32F103T8
+STM32F103TB
+STM32F103V8
+STM32F103VB
+STM32F103VC
+STM32F103VE
+STM32F103ZE
+STM32F105VB
+STM32F107VC
+STM32F207IG
+STM32F207ZE
+STM32F302CB
+STM32F302CC
+STM32F302RB
+STM32F302RC
+STM32F302VB
+STM32F302VC
+STM32F303CB
+STM32F303CC
+STM32F303RB
+STM32F303RC
+STM32F303VB
+STM32F303VC
+STM32F372C8
+STM32F372CB
+STM32F372CC
+STM32F372R8
+STM32F372RB
+STM32F372RC
+STM32F372V8
+STM32F372VB
+STM32F372VC
+STM32F373C8
+STM32F373CB
+STM32F373CC
+STM32F373R8
+STM32F373RB
+STM32F373RC
+STM32F373V8
+STM32F373VB
+STM32F373VC
+STM32F401RE
+STM32F405RG
+STM32F405VG
+STM32F405ZG
+STM32F407IE
+STM32F407IG
+STM32F407VE
+STM32F407VG
+STM32F407ZE
+STM32F407ZG
+STM32F411RE
+STM32F427I
+STM32F427V
+STM32F427Z
+STM32F429B
+STM32F429I
+STM32F429N
+STM32F429V
+STM32F429Z
+STM32L151C6
+STM32L151C8
+STM32L151CB
+STM32L151R6
+STM32L151R8
+STM32L151RB
+STM32L151V6
+STM32L151V8
+STM32L151VB
+STM32L152C6
+STM32L152C8
+STM32L152CB
+STM32L152R6
+STM32L152R8
+STM32L152RB
+STM32L152V6
+STM32L152V8
+STM32L152VB
+STM32L162VE
+STM32L162ZD
diff --git a/nuttx-configs/px4esc-v1/bootloader/defconfig b/nuttx-configs/px4esc-v1/bootloader/defconfig
new file mode 100644
index 0000000000..e6e9505a91
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/bootloader/defconfig
@@ -0,0 +1,1015 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+CONFIG_DEFAULT_SMALL=y
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+CONFIG_BUILD_FLAT=y
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+# CONFIG_UBOOT_UIMAGE is not set
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDINT_H is not set
+# CONFIG_ARCH_STDBOOL_H is not set
+# CONFIG_ARCH_MATH_H is not set
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+# CONFIG_ARCH_DEBUG_H is not set
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG_ALERT is not set
+# CONFIG_DEBUG_FEATURES is not set
+CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_ARCH_HAVE_HEAPCHECK=y
+# CONFIG_HEAP_COLORATION is not set
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ARCH_HAVE_CUSTOMOPT=y
+# CONFIG_DEBUG_NOOPT is not set
+CONFIG_DEBUG_CUSTOMOPT=y
+# CONFIG_DEBUG_FULLOPT is not set
+CONFIG_DEBUG_OPTLEVEL="-Os"
+
+#
+# System Type
+#
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_RGMP is not set
+# CONFIG_ARCH_SH is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_A1X is not set
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_EFM32 is not set
+# CONFIG_ARCH_CHIP_IMX1 is not set
+# CONFIG_ARCH_CHIP_IMX6 is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_TIVA is not set
+# CONFIG_ARCH_CHIP_LPC11XX is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAMA5 is not set
+# CONFIG_ARCH_CHIP_SAMD is not set
+# CONFIG_ARCH_CHIP_SAML is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+# CONFIG_ARCH_CHIP_SAMV7 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STM32F7 is not set
+# CONFIG_ARCH_CHIP_STM32L4 is not set
+# CONFIG_ARCH_CHIP_STR71X is not set
+# CONFIG_ARCH_CHIP_TMS570 is not set
+# CONFIG_ARCH_CHIP_MOXART is not set
+# CONFIG_ARCH_ARM7TDMI is not set
+# CONFIG_ARCH_ARM926EJS is not set
+# CONFIG_ARCH_ARM920T is not set
+# CONFIG_ARCH_CORTEXM0 is not set
+# CONFIG_ARCH_CORTEXM3 is not set
+CONFIG_ARCH_CORTEXM4=y
+# CONFIG_ARCH_CORTEXM7 is not set
+# CONFIG_ARCH_CORTEXA5 is not set
+# CONFIG_ARCH_CORTEXA8 is not set
+# CONFIG_ARCH_CORTEXA9 is not set
+# CONFIG_ARCH_CORTEXR4 is not set
+# CONFIG_ARCH_CORTEXR4F is not set
+# CONFIG_ARCH_CORTEXR5 is not set
+# CONFIG_ARCH_CORTEX5F is not set
+# CONFIG_ARCH_CORTEXR7 is not set
+# CONFIG_ARCH_CORTEXR7F is not set
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+# CONFIG_ARM_TOOLCHAIN_IAR is not set
+CONFIG_ARM_TOOLCHAIN_GNU=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+# CONFIG_ARMV7M_CMNVECTOR is not set
+# CONFIG_ARMV7M_LAZYFPU is not set
+CONFIG_ARCH_HAVE_FPU=y
+# CONFIG_ARCH_HAVE_DPFPU is not set
+CONFIG_ARCH_FPU=y
+# CONFIG_ARCH_HAVE_TRUSTZONE is not set
+CONFIG_ARM_HAVE_MPU_UNIFIED=y
+# CONFIG_ARM_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_HAVE_ICACHE is not set
+# CONFIG_ARMV7M_HAVE_DCACHE is not set
+# CONFIG_ARMV7M_HAVE_ITCM is not set
+# CONFIG_ARMV7M_HAVE_DTCM is not set
+# CONFIG_ARMV7M_TOOLCHAIN_IARL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
+CONFIG_ARMV7M_HAVE_STACKCHECK=y
+# CONFIG_ARMV7M_STACKCHECK is not set
+# CONFIG_ARMV7M_ITMSYSLOG is not set
+# CONFIG_SERIAL_TERMIOS is not set
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32L162ZD is not set
+# CONFIG_ARCH_CHIP_STM32L162VE is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F102CB is not set
+# CONFIG_ARCH_CHIP_STM32F103T8 is not set
+# CONFIG_ARCH_CHIP_STM32F103TB is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103CB is not set
+# CONFIG_ARCH_CHIP_STM32F103R8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RB is not set
+# CONFIG_ARCH_CHIP_STM32F103RC is not set
+# CONFIG_ARCH_CHIP_STM32F103RD is not set
+# CONFIG_ARCH_CHIP_STM32F103RE is not set
+# CONFIG_ARCH_CHIP_STM32F103RG is not set
+# CONFIG_ARCH_CHIP_STM32F103V8 is not set
+# CONFIG_ARCH_CHIP_STM32F103VB is not set
+# CONFIG_ARCH_CHIP_STM32F103VC is not set
+# CONFIG_ARCH_CHIP_STM32F103VE is not set
+# CONFIG_ARCH_CHIP_STM32F103ZE is not set
+# CONFIG_ARCH_CHIP_STM32F105VB is not set
+# CONFIG_ARCH_CHIP_STM32F105RB is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F205RG is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F207ZE is not set
+# CONFIG_ARCH_CHIP_STM32F302K6 is not set
+# CONFIG_ARCH_CHIP_STM32F302K8 is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303K6 is not set
+# CONFIG_ARCH_CHIP_STM32F303K8 is not set
+# CONFIG_ARCH_CHIP_STM32F303C6 is not set
+# CONFIG_ARCH_CHIP_STM32F303C8 is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303RD is not set
+# CONFIG_ARCH_CHIP_STM32F303RE is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+# CONFIG_ARCH_CHIP_STM32F372C8 is not set
+# CONFIG_ARCH_CHIP_STM32F372R8 is not set
+# CONFIG_ARCH_CHIP_STM32F372V8 is not set
+# CONFIG_ARCH_CHIP_STM32F372CB is not set
+# CONFIG_ARCH_CHIP_STM32F372RB is not set
+# CONFIG_ARCH_CHIP_STM32F372VB is not set
+# CONFIG_ARCH_CHIP_STM32F372CC is not set
+# CONFIG_ARCH_CHIP_STM32F372RC is not set
+# CONFIG_ARCH_CHIP_STM32F372VC is not set
+# CONFIG_ARCH_CHIP_STM32F373C8 is not set
+# CONFIG_ARCH_CHIP_STM32F373R8 is not set
+# CONFIG_ARCH_CHIP_STM32F373V8 is not set
+# CONFIG_ARCH_CHIP_STM32F373CB is not set
+# CONFIG_ARCH_CHIP_STM32F373RB is not set
+# CONFIG_ARCH_CHIP_STM32F373VB is not set
+# CONFIG_ARCH_CHIP_STM32F373CC is not set
+# CONFIG_ARCH_CHIP_STM32F373RC is not set
+# CONFIG_ARCH_CHIP_STM32F373VC is not set
+# CONFIG_ARCH_CHIP_STM32F401RE is not set
+# CONFIG_ARCH_CHIP_STM32F411RE is not set
+# CONFIG_ARCH_CHIP_STM32F411VE is not set
+# CONFIG_ARCH_CHIP_STM32F405RG is not set
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+# CONFIG_ARCH_CHIP_STM32F427V is not set
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_ARCH_CHIP_STM32F429V is not set
+# CONFIG_ARCH_CHIP_STM32F429Z is not set
+# CONFIG_ARCH_CHIP_STM32F429I is not set
+# CONFIG_ARCH_CHIP_STM32F429B is not set
+# CONFIG_ARCH_CHIP_STM32F429N is not set
+# CONFIG_ARCH_CHIP_STM32F446M is not set
+CONFIG_ARCH_CHIP_STM32F446R=y
+# CONFIG_ARCH_CHIP_STM32F446V is not set
+# CONFIG_ARCH_CHIP_STM32F446Z is not set
+# CONFIG_ARCH_CHIP_STM32F469A is not set
+# CONFIG_ARCH_CHIP_STM32F469I is not set
+# CONFIG_ARCH_CHIP_STM32F469B is not set
+# CONFIG_ARCH_CHIP_STM32F469N is not set
+# CONFIG_STM32_FLASH_CONFIG_DEFAULT is not set
+# CONFIG_STM32_FLASH_CONFIG_4 is not set
+# CONFIG_STM32_FLASH_CONFIG_6 is not set
+# CONFIG_STM32_FLASH_CONFIG_8 is not set
+# CONFIG_STM32_FLASH_CONFIG_B is not set
+# CONFIG_STM32_FLASH_CONFIG_C is not set
+# CONFIG_STM32_FLASH_CONFIG_D is not set
+CONFIG_STM32_FLASH_CONFIG_E=y
+# CONFIG_STM32_FLASH_CONFIG_F is not set
+# CONFIG_STM32_FLASH_CONFIG_G is not set
+# CONFIG_STM32_FLASH_CONFIG_I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_USBACCESSLINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F205 is not set
+# CONFIG_STM32_STM32F207 is not set
+# CONFIG_STM32_STM32F30XX is not set
+# CONFIG_STM32_STM32F302 is not set
+# CONFIG_STM32_STM32F303 is not set
+# CONFIG_STM32_STM32F37XX is not set
+CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_STM32F401 is not set
+# CONFIG_STM32_STM32F411 is not set
+# CONFIG_STM32_STM32F405 is not set
+# CONFIG_STM32_STM32F407 is not set
+# CONFIG_STM32_STM32F427 is not set
+# CONFIG_STM32_STM32F429 is not set
+CONFIG_STM32_STM32F446=y
+# CONFIG_STM32_STM32F469 is not set
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+# CONFIG_STM32_HAVE_CCM is not set
+# CONFIG_STM32_HAVE_USBDEV is not set
+CONFIG_STM32_HAVE_OTGFS=y
+# CONFIG_STM32_HAVE_FSMC is not set
+# CONFIG_STM32_HAVE_LTDC is not set
+CONFIG_STM32_HAVE_USART3=y
+CONFIG_STM32_HAVE_UART4=y
+CONFIG_STM32_HAVE_UART5=y
+CONFIG_STM32_HAVE_USART6=y
+# CONFIG_STM32_HAVE_UART7 is not set
+# CONFIG_STM32_HAVE_UART8 is not set
+CONFIG_STM32_HAVE_TIM1=y
+# CONFIG_STM32_HAVE_TIM2 is not set
+CONFIG_STM32_HAVE_TIM3=y
+CONFIG_STM32_HAVE_TIM4=y
+# CONFIG_STM32_HAVE_TIM5 is not set
+CONFIG_STM32_HAVE_TIM6=y
+CONFIG_STM32_HAVE_TIM7=y
+CONFIG_STM32_HAVE_TIM8=y
+CONFIG_STM32_HAVE_TIM9=y
+CONFIG_STM32_HAVE_TIM10=y
+CONFIG_STM32_HAVE_TIM11=y
+CONFIG_STM32_HAVE_TIM12=y
+CONFIG_STM32_HAVE_TIM13=y
+CONFIG_STM32_HAVE_TIM14=y
+# CONFIG_STM32_HAVE_TIM15 is not set
+# CONFIG_STM32_HAVE_TIM16 is not set
+# CONFIG_STM32_HAVE_TIM17 is not set
+CONFIG_STM32_HAVE_ADC2=y
+CONFIG_STM32_HAVE_ADC3=y
+# CONFIG_STM32_HAVE_ADC4 is not set
+# CONFIG_STM32_HAVE_ADC1_DMA is not set
+# CONFIG_STM32_HAVE_ADC2_DMA is not set
+# CONFIG_STM32_HAVE_ADC3_DMA is not set
+# CONFIG_STM32_HAVE_ADC4_DMA is not set
+CONFIG_STM32_HAVE_CAN1=y
+CONFIG_STM32_HAVE_CAN2=y
+CONFIG_STM32_HAVE_DAC1=y
+CONFIG_STM32_HAVE_DAC2=y
+# CONFIG_STM32_HAVE_RNG is not set
+# CONFIG_STM32_HAVE_ETHMAC is not set
+CONFIG_STM32_HAVE_I2C2=y
+CONFIG_STM32_HAVE_I2C3=y
+CONFIG_STM32_HAVE_SPI2=y
+CONFIG_STM32_HAVE_SPI3=y
+CONFIG_STM32_HAVE_SPI4=y
+# CONFIG_STM32_HAVE_SPI5 is not set
+# CONFIG_STM32_HAVE_SPI6 is not set
+CONFIG_STM32_HAVE_SAIPLL=y
+CONFIG_STM32_HAVE_I2SPLL=y
+# CONFIG_STM32_ADC1 is not set
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+# CONFIG_STM32_BKPSRAM is not set
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+# CONFIG_STM32_CCMDATARAM is not set
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+# CONFIG_STM32_DMA1 is not set
+# CONFIG_STM32_DMA2 is not set
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_HASH is not set
+# CONFIG_STM32_I2C1 is not set
+# CONFIG_STM32_I2C2 is not set
+# CONFIG_STM32_I2C3 is not set
+# CONFIG_STM32_OTGFS is not set
+# CONFIG_STM32_OTGHS is not set
+# CONFIG_STM32_PWR is not set
+# CONFIG_STM32_SDIO is not set
+# CONFIG_STM32_SPI1 is not set
+# CONFIG_STM32_SPI2 is not set
+# CONFIG_STM32_SPI3 is not set
+# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+# CONFIG_STM32_TIM3 is not set
+# CONFIG_STM32_TIM4 is not set
+# CONFIG_STM32_TIM6 is not set
+# CONFIG_STM32_TIM7 is not set
+# CONFIG_STM32_TIM8 is not set
+# CONFIG_STM32_TIM9 is not set
+# CONFIG_STM32_TIM10 is not set
+# CONFIG_STM32_TIM11 is not set
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+# CONFIG_STM32_USART1 is not set
+# CONFIG_STM32_USART2 is not set
+CONFIG_STM32_USART3=y
+# CONFIG_STM32_UART4 is not set
+# CONFIG_STM32_UART5 is not set
+# CONFIG_STM32_USART6 is not set
+# CONFIG_STM32_IWDG is not set
+# CONFIG_STM32_WWDG is not set
+CONFIG_STM32_NOEXT_VECTORS=y
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_JTAG_DISABLE is not set
+# CONFIG_STM32_JTAG_FULL_ENABLE is not set
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=y
+# CONFIG_STM32_JTAG_SW_ENABLE is not set
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_SAIPLL is not set
+# CONFIG_STM32_I2SPLL is not set
+
+#
+# Timer Configuration
+#
+# CONFIG_STM32_ONESHOT is not set
+# CONFIG_STM32_FREERUN is not set
+# CONFIG_STM32_TIM1_PWM is not set
+# CONFIG_STM32_TIM1_CAP is not set
+# CONFIG_STM32_TIM3_CAP is not set
+# CONFIG_STM32_TIM4_CAP is not set
+# CONFIG_STM32_TIM8_CAP is not set
+# CONFIG_STM32_TIM9_CAP is not set
+# CONFIG_STM32_TIM10_CAP is not set
+# CONFIG_STM32_TIM11_CAP is not set
+# CONFIG_STM32_TIM12_CAP is not set
+# CONFIG_STM32_TIM13_CAP is not set
+# CONFIG_STM32_TIM14_CAP is not set
+CONFIG_STM32_USART=y
+CONFIG_STM32_SERIALDRIVER=y
+
+#
+# U[S]ART Configuration
+#
+
+#
+# U[S]ART Device Configuration
+#
+CONFIG_STM32_USART3_SERIALDRIVER=y
+# CONFIG_STM32_USART3_1WIREDRIVER is not set
+# CONFIG_USART3_RS485 is not set
+
+#
+# Serial Driver Configuration
+#
+# CONFIG_SERIAL_DISABLE_REORDERING is not set
+# CONFIG_STM32_FLOWCONTROL_BROKEN is not set
+# CONFIG_STM32_USART_BREAKS is not set
+# CONFIG_STM32_USART_SINGLEWIRE is not set
+# CONFIG_STM32_HAVE_RTC_COUNTER is not set
+# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
+
+#
+# USB FS Host Configuration
+#
+
+#
+# USB HS Host Configuration
+#
+
+#
+# USB Host Debug Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+# CONFIG_ARCH_DMA is not set
+CONFIG_ARCH_HAVE_IRQPRIO=y
+# CONFIG_ARCH_L2CACHE is not set
+# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
+# CONFIG_ARCH_HAVE_ADDRENV is not set
+# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
+# CONFIG_ARCH_HAVE_MULTICPU is not set
+CONFIG_ARCH_HAVE_VFORK=y
+# CONFIG_ARCH_HAVE_MMU is not set
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARCH_NAND_HWECC is not set
+# CONFIG_ARCH_HAVE_EXTCLK is not set
+# CONFIG_ARCH_HAVE_POWEROFF is not set
+CONFIG_ARCH_HAVE_RESET=y
+# CONFIG_ARCH_USE_MPU is not set
+# CONFIG_ARCH_IRQPRIO is not set
+# CONFIG_ARCH_STACKDUMP is not set
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_IDLE_CUSTOM is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=5483
+# CONFIG_ARCH_CALIBRATION is not set
+
+#
+# Interrupt options
+#
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=3072
+CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
+# CONFIG_ARCH_HIPRI_INTERRUPT is not set
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Boot Memory Configuration
+#
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_SIZE=20480
+# CONFIG_ARCH_HAVE_SDRAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4ESC_V1=y
+CONFIG_ARCH_BOARD="px4esc-v1"
+
+#
+# Custom Board Configuration
+#
+# CONFIG_BOARD_CRASHDUMP is not set
+# CONFIG_BOARD_CUSTOM_LEDS is not set
+# CONFIG_BOARD_CUSTOM_BUTTONS is not set
+
+#
+# Common Board Options
+#
+CONFIG_ARCH_HAVE_LEDS=y
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_ARCH_BUTTONS is not set
+
+#
+# Board-Specific Options
+#
+# CONFIG_LIB_BOARDCTL is not set
+CONFIG_BOARD_HAS_PROBES=y
+# CONFIG_BOARD_USE_PROBES is not set
+
+#
+# RTOS Features
+#
+CONFIG_DISABLE_OS_API=y
+CONFIG_DISABLE_POSIX_TIMERS=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_DISABLE_SIGNALS=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_ENVIRON=y
+
+#
+# Clocks and Timers
+#
+CONFIG_ARCH_HAVE_TICKLESS=y
+# CONFIG_SCHED_TICKLESS is not set
+CONFIG_USEC_PER_TICK=10000
+# CONFIG_SYSTEM_TIME64 is not set
+# CONFIG_CLOCK_MONOTONIC is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=2014
+CONFIG_START_MONTH=11
+CONFIG_START_DAY=30
+CONFIG_MAX_WDOGPARMS=1
+CONFIG_PREALLOC_WDOGS=1
+CONFIG_WDOG_INTRESERVE=0
+CONFIG_PREALLOC_TIMERS=0
+
+#
+# Tasks and Scheduling
+#
+# CONFIG_INIT_NONE is not set
+CONFIG_INIT_ENTRYPOINT=y
+CONFIG_USER_ENTRYPOINT="main"
+CONFIG_RR_INTERVAL=0
+# CONFIG_SCHED_SPORADIC is not set
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_MAX_TASKS=0
+# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_SCHED_WAITPID is not set
+
+#
+# Performance Monitoring
+#
+# CONFIG_SCHED_CPULOAD is not set
+# CONFIG_SCHED_INSTRUMENTATION is not set
+
+#
+# Files and I/O
+#
+# CONFIG_DEV_CONSOLE is not set
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_NFILE_DESCRIPTORS=0
+CONFIG_NFILE_STREAMS=0
+CONFIG_NAME_MAX=0
+# CONFIG_PRIORITY_INHERITANCE is not set
+
+#
+# RTOS hooks
+#
+# CONFIG_BOARD_INITIALIZE is not set
+# CONFIG_SCHED_STARTHOOK is not set
+# CONFIG_SCHED_ATEXIT is not set
+# CONFIG_SCHED_ONEXIT is not set
+# CONFIG_MODULE is not set
+
+#
+# Work queue support
+#
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=880
+CONFIG_PTHREAD_STACK_MIN=256
+CONFIG_PTHREAD_STACK_DEFAULT=464
+# CONFIG_LIB_SYSCALL is not set
+
+#
+# Device Drivers
+#
+CONFIG_DISABLE_POLL=y
+# CONFIG_DEV_NULL is not set
+# CONFIG_DEV_ZERO is not set
+# CONFIG_DEV_URANDOM is not set
+# CONFIG_DEV_LOOP is not set
+
+#
+# Buffering
+#
+# CONFIG_DRVR_WRITEBUFFER is not set
+# CONFIG_DRVR_READAHEAD is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
+# CONFIG_ARCH_HAVE_PWM_MULTICHAN is not set
+# CONFIG_PWM is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+# CONFIG_I2C is not set
+# CONFIG_SPI is not set
+# CONFIG_I2S is not set
+
+#
+# Timer Driver Support
+#
+# CONFIG_TIMER is not set
+# CONFIG_RTC is not set
+# CONFIG_WATCHDOG is not set
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_VIDEO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_IOEXPANDER is not set
+
+#
+# LCD Driver Support
+#
+# CONFIG_LCD is not set
+# CONFIG_SLCD is not set
+
+#
+# LED Support
+#
+# CONFIG_RGBLED is not set
+# CONFIG_PCA9635PW is not set
+# CONFIG_NCP5623C is not set
+# CONFIG_MMCSD is not set
+# CONFIG_MODEM is not set
+# CONFIG_MTD is not set
+# CONFIG_EEPROM is not set
+# CONFIG_PIPES is not set
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+# CONFIG_SERCOMM_CONSOLE is not set
+CONFIG_SERIAL=y
+# CONFIG_SERIAL_REMOVABLE is not set
+CONFIG_SERIAL_CONSOLE=y
+# CONFIG_16550_UART is not set
+# CONFIG_UART_SERIALDRIVER is not set
+# CONFIG_UART0_SERIALDRIVER is not set
+# CONFIG_UART1_SERIALDRIVER is not set
+# CONFIG_UART2_SERIALDRIVER is not set
+# CONFIG_UART3_SERIALDRIVER is not set
+# CONFIG_UART4_SERIALDRIVER is not set
+# CONFIG_UART5_SERIALDRIVER is not set
+# CONFIG_UART6_SERIALDRIVER is not set
+# CONFIG_UART7_SERIALDRIVER is not set
+# CONFIG_UART8_SERIALDRIVER is not set
+# CONFIG_SCI0_SERIALDRIVER is not set
+# CONFIG_SCI1_SERIALDRIVER is not set
+# CONFIG_USART0_SERIALDRIVER is not set
+# CONFIG_USART1_SERIALDRIVER is not set
+# CONFIG_USART2_SERIALDRIVER is not set
+CONFIG_USART3_SERIALDRIVER=y
+# CONFIG_USART4_SERIALDRIVER is not set
+# CONFIG_USART5_SERIALDRIVER is not set
+# CONFIG_USART6_SERIALDRIVER is not set
+# CONFIG_USART7_SERIALDRIVER is not set
+# CONFIG_USART8_SERIALDRIVER is not set
+# CONFIG_OTHER_UART_SERIALDRIVER is not set
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+# CONFIG_SERIAL_IFLOWCONTROL is not set
+# CONFIG_SERIAL_OFLOWCONTROL is not set
+# CONFIG_SERIAL_DMA is not set
+CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+# CONFIG_OTHER_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=256
+CONFIG_USART3_TXBUFSIZE=256
+CONFIG_USART3_BAUD=115200
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+# CONFIG_USART3_IFLOWCONTROL is not set
+# CONFIG_USART3_OFLOWCONTROL is not set
+# CONFIG_USART3_DMA is not set
+# CONFIG_USBDEV is not set
+# CONFIG_USBHOST is not set
+# CONFIG_DRIVERS_WIRELESS is not set
+
+#
+# System Logging
+#
+# CONFIG_ARCH_SYSLOG is not set
+# CONFIG_RAMLOG is not set
+# CONFIG_SYSLOG_INTBUFFER is not set
+# CONFIG_SYSLOG_TIMESTAMP is not set
+# CONFIG_SYSLOG_SERIAL_CONSOLE is not set
+# CONFIG_SYSLOG_CHAR is not set
+CONFIG_SYSLOG_NONE=y
+# CONFIG_SYSLOG_FILE is not set
+
+#
+# Networking Support
+#
+# CONFIG_ARCH_HAVE_NET is not set
+# CONFIG_ARCH_HAVE_PHY is not set
+# CONFIG_NET is not set
+
+#
+# Crypto API
+#
+# CONFIG_CRYPTO is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_PSEUDOFS_OPERATIONS=y
+# CONFIG_FS_READABLE is not set
+# CONFIG_FS_WRITABLE is not set
+# CONFIG_FS_NAMED_SEMAPHORES is not set
+# CONFIG_FS_RAMMAP is not set
+# CONFIG_FS_PROCFS is not set
+# CONFIG_FS_UNIONFS is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+CONFIG_MM_SMALL=y
+CONFIG_MM_REGIONS=1
+# CONFIG_ARCH_HAVE_HEAP2 is not set
+# CONFIG_GRAN is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Wireless Support
+#
+
+#
+# Binary Loader
+#
+CONFIG_BINFMT_DISABLE=y
+# CONFIG_PIC is not set
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=64
+# CONFIG_STDIO_LINEBUFFER is not set
+CONFIG_NUNGET_CHARS=0
+# CONFIG_LIBM is not set
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+# CONFIG_LIBC_FLOATINGPOINT is not set
+# CONFIG_LIBC_LONG_LONG is not set
+# CONFIG_LIBC_IOCTL_VARIADIC is not set
+CONFIG_LIB_RAND_ORDER=1
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=768
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=768
+# CONFIG_LIBC_STRERROR is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+# CONFIG_ARCH_LOWPUTC is not set
+# CONFIG_TIME_EXTENDED is not set
+CONFIG_LIB_SENDFILE_BUFSIZE=0
+# CONFIG_ARCH_ROMGETC is not set
+# CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set
+CONFIG_ARCH_HAVE_TLS=y
+# CONFIG_TLS is not set
+# CONFIG_LIBC_NETDB is not set
+
+#
+# Non-standard Library Support
+#
+# CONFIG_LIB_CRC64_FAST is not set
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# CAN Utilities
+#
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_CHAT is not set
+# CONFIG_EXAMPLES_CONFIGDATA is not set
+# CONFIG_EXAMPLES_CPUHOG is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+# CONFIG_EXAMPLES_HELLO is not set
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_MEDIA is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+# CONFIG_EXAMPLES_MOUNT is not set
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+# CONFIG_EXAMPLES_NSH is not set
+CONFIG_EXAMPLES_NULL=y
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTERM is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PCA9635 is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POLL is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_PPPD is not set
+# CONFIG_EXAMPLES_RGBLED is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERIALBLASTER is not set
+# CONFIG_EXAMPLES_SERIALRX is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_SMP is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+# CONFIG_EXAMPLES_WEBSERVER is not set
+
+#
+# File System Utilities
+#
+# CONFIG_FSUTILS_INIFILE is not set
+
+#
+# GPS Utilities
+#
+# CONFIG_GPSUTILS_MINMEA_LIB is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+# CONFIG_GRAPHICS_TRAVELER is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_MICROPYTHON is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# Network Utilities
+#
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_ESP8266 is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_SMTP is not set
+
+#
+# NSH Library
+#
+# CONFIG_NSH_LIBRARY is not set
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# Platform-specific Support
+#
+# CONFIG_PLATFORM_CONFIGDATA is not set
+
+#
+# System Libraries and NSH Add-Ons
+#
+# CONFIG_SYSTEM_CLE is not set
+# CONFIG_SYSTEM_CUTERM is not set
+# CONFIG_SYSTEM_FREE is not set
+# CONFIG_SYSTEM_HEX2BIN is not set
+# CONFIG_SYSTEM_HEXED is not set
+# CONFIG_SYSTEM_INSTALL is not set
+# CONFIG_SYSTEM_RAMTEST is not set
+# CONFIG_READLINE_HAVE_EXTMATCH is not set
+# CONFIG_SYSTEM_READLINE is not set
+# CONFIG_SYSTEM_STACKMONITOR is not set
+# CONFIG_SYSTEM_SUDOKU is not set
+# CONFIG_SYSTEM_UBLOXMODEM is not set
+# CONFIG_SYSTEM_VI is not set
+# CONFIG_SYSTEM_ZMODEM is not set
diff --git a/nuttx-configs/px4esc-v1/bootloader/setenv.sh b/nuttx-configs/px4esc-v1/bootloader/setenv.sh
new file mode 100755
index 0000000000..c62599cff6
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/bootloader/setenv.sh
@@ -0,0 +1,80 @@
+#!/bin/bash
+# nuttx-configs/px4esc-v1/setenv.sh
+#
+# Copyright (C) 2015 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 [ "$_" = "$0" ] ; then
+ echo "You must source this script, not run it!" 1>&2
+ exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+ echo "This script must be executed from the top-level NuttX build directory"
+ exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+ export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows. You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows. You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows. You will also have to edit this if you install
+# the Atollic toolchain in any other location. /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
+# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx-configs/px4esc-v1/include/README.txt b/nuttx-configs/px4esc-v1/include/README.txt
new file mode 100755
index 0000000000..9e38b31606
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/include/README.txt
@@ -0,0 +1,2 @@
+This directory contains header files unique to the
+PX4 Esc V1.6 board using STM32F446RET6
diff --git a/nuttx-configs/px4esc-v1/include/board.h b/nuttx-configs/px4esc-v1/include/board.h
new file mode 100755
index 0000000000..88b638c1b8
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/include/board.h
@@ -0,0 +1,358 @@
+/************************************************************************************
+ * nuttx-configs/px4esc-v1/include/board.h
+ *
+ * Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ * Author: Gregory Nutt <gnutt@nuttx.org>
+ * David Sidrane <david_s5@nscdg.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.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
+#define __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+#include "stm32_rcc.h"
+#include "stm32_sdio.h"
+#include "stm32.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The PX4ESC uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ * System Clock source : PLL (HSE)
+ * SYSCLK(Hz) : 180000000 Determined by PLL configuration
+ * HCLK(Hz) : 180000000 (STM32_RCC_CFGR_HPRE)
+ * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
+ * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
+ * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
+ * HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
+ * PLLM : 4 (STM32_PLLCFG_PLLM)
+ * PLLN : 180 (STM32_PLLCFG_PLLN)
+ * PLLP : 2 (STM32_PLLCFG_PLLP)
+ * PLLQ : 2 (STM32_PLLCFG_PPQ)
+ * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
+ * Flash Latency(WS) : 5
+ * Prefetch Buffer : OFF
+ * Instruction cache : ON
+ * Data cache : ON
+ * Require 48MHz for USB OTG FS, : Use PLLSA1M
+ */
+
+//TODO(Need to define and add the PLLSAIM );
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 24MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL 8000000ul
+
+#define STM32_HSI_FREQUENCY 16000000ul
+#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * = (8,000,000 / 4) * 180
+ * = 360,000,000
+ * SYSCLK = PLL_VCO / PLLP
+ * = 360,000,000/ 2 = 180,000,000
+ * USB OTG FS will use PLLSA1M
+ *
+ */
+//
+
+#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(4)
+#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(180)
+#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
+#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
+
+/* Configure factors for PLLSAI clock */
+
+#define STM32_RCC_PLLSAICFGR_PLLSAIM RCC_PLLSAICFGR_PLLSAIM(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(96)
+#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(2)
+
+/* Configure Dedicated Clock Configuration Register */
+
+#define STM32_RCC_DCKCFGR_PLLI2SDIVQ RCC_DCKCFGR_PLLI2SDIVQ(1)
+#define STM32_RCC_DCKCFGR_PLLSAIDIVQ RCC_DCKCFGR_PLLSAIDIVQ(1)
+#define STM32_RCC_DCKCFGR_SAI1SRC RCC_DCKCFGR_SAI1SRC_PLLSAI
+#define STM32_RCC_DCKCFGR_SAI2SRC RCC_DCKCFGR_SAI2SRC_PLLSAI
+#define STM32_RCC_DCKCFGR_TIMPRE 0
+#define STM32_RCC_DCKCFGR_I2S1SRC RCC_DCKCFGR_SAI1SRC_PLL
+#define STM32_RCC_DCKCFGR_I2S2SRC RCC_DCKCFGR_SAI2SRC_PLL
+
+
+
+/* Configure factors for PLLI2S clock */
+
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+
+/* Configure Dedicated Clock Configuration Register 2 */
+
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_CECSEL RCC_DCKCFGR2_CECSEL_HSI
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLLSAI
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+#define STM32_RCC_DCKCFGR2_SPDIFRXSEL RCC_DCKCFGR2_SPDIFRXSEL_PLL
+
+#define STM32_SYSCLK_FREQUENCY 180000000ul
+
+/* AHB clock (HCLK) is SYSCLK (180MHz) */
+
+#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (45MHz) */
+
+#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (90MHz) */
+
+#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
+
+/* Leds *************************************************************************/
+
+/* LED index values for use with board_setled() */
+
+#define BOARD_LED1 0
+#define BOARD_LED_RED BOARD_LED1
+#define BOARD_LED2 1
+#define BOARD_LED_GREEN BOARD_LED2
+#define BOARD_LED3 2
+#define BOARD_LED_BLUE BOARD_LED3
+#define BOARD_NLEDS 3
+
+/* LED bits for use with board_setleds() */
+
+#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
+#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
+#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
+
+/* TODO:define these
+ * 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 as follows:
+ *
+ * SYMBOL Meaning LED state
+ * Red Green Blue
+ * ------------------------ -------------------------- ------ ------ ----*/
+
+#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
+#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
+#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
+#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
+#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
+#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
+#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
+#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
+#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
+
+/*
+ * Thus if the blue is statically on, NuttX has successfully booted and is,
+ * apparently, running normally. If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ *
+ */
+
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+
+#define GPIO_USART3_RX GPIO_USART3_RX_4
+#define GPIO_USART3_TX GPIO_USART3_TX_1
+
+/* CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ * CAN2 is routed to the onboard transceiver.
+ */
+
+#define GPIO_CAN1_RX GPIO_CAN1_RX_2
+#define GPIO_CAN1_TX GPIO_CAN1_TX_2
+#define GPIO_CAN2_RX GPIO_CAN2_RX_2
+#define GPIO_CAN2_TX GPIO_CAN2_TX_2
+
+/* TIMERS */
+
+#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
+#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
+#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
+
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1 GPIO_TEST1
+# define PROBE_2 GPIO_TEST2
+# define PROBE_3 GPIO_TEST3
+# define PROBE_3 GPIO_TEST4
+
+# define PROBE_INIT(mask) \
+ do { \
+ if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+ if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+ if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+ } while(0)
+
+# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#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 initialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+void stm32_boardinitialize(void);
+
+/************************************************************************************
+ * Name: stm32_ledinit, stm32_setled, and stm32_setleds
+ *
+ * Description:
+ * If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
+ * CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
+ * control the LEDs from user applications.
+ *
+ ************************************************************************************/
+
+#ifndef CONFIG_ARCH_LEDS
+void stm32_led_initialize(void);
+void stm32_setled(int led, bool ledon);
+void stm32_setleds(uint8_t ledset);
+#endif
+
+#if !defined(CONFIG_NSH_LIBRARY)
+int app_archinitialize(void);
+#else
+#define app_archinitialize() (-ENOSYS)
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H */
diff --git a/nuttx-configs/px4esc-v1/nsh/Make.defs b/nuttx-configs/px4esc-v1/nsh/Make.defs
new file mode 100644
index 0000000000..431b33be39
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/nsh/Make.defs
@@ -0,0 +1,159 @@
+############################################################################
+# nuttx-configs/px4esc-v1/nsh/Make.defs
+#
+# Copyright (C) 2015 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.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
+
+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 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION = -Os
+ARCHCPUFLAGS = -mcpu=cortex-m4 \
+ -mthumb \
+ -march=armv7e-m \
+ -mfpu=fpv4-sp-d16 \
+ -mfloat-abi=hard
+
+# Enable precise stack overflow tracking
+
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
+endif
+
+# 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)/scripts/$(LDSCRIPT)}"
+else
+ ifeq ($(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/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+ else
+ # Linux/Cygwin-native toolchain
+ MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
+ ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+ ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+ ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(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}
+
+# Optimization 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 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+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/px4esc-v1/nsh/defconfig b/nuttx-configs/px4esc-v1/nsh/defconfig
new file mode 100644
index 0000000000..1c40a0b2b7
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/nsh/defconfig
@@ -0,0 +1,1263 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+
+#
+# The following line is needed because the upstream tools that generates
+# the include/nuttx/include/config.h file adds logic that relies on this
+# and our build flags include -Werror=undef
+#
+CONFIG_NSOCKET_DESCRIPTORS=0
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+CONFIG_DEFAULT_SMALL=y
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+CONFIG_BUILD_FLAT=y
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+# CONFIG_UBOOT_UIMAGE is not set
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDINT_H is not set
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+# CONFIG_ARCH_DEBUG_H is not set
+
+#
+# Debug Options
+#
+CONFIG_DEBUG_ALERT=y
+# CONFIG_DEBUG_FEATURES is not set
+CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_ARCH_HAVE_HEAPCHECK=y
+# CONFIG_HEAP_COLORATION is not set
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ARCH_HAVE_CUSTOMOPT=y
+CONFIG_DEBUG_NOOPT=y
+# CONFIG_DEBUG_CUSTOMOPT is not set
+# CONFIG_DEBUG_FULLOPT is not set
+
+#
+# System Type
+#
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_RGMP is not set
+# CONFIG_ARCH_SH is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_A1X is not set
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_EFM32 is not set
+# CONFIG_ARCH_CHIP_IMX1 is not set
+# CONFIG_ARCH_CHIP_IMX6 is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_TIVA is not set
+# CONFIG_ARCH_CHIP_LPC11XX is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAMA5 is not set
+# CONFIG_ARCH_CHIP_SAMD is not set
+# CONFIG_ARCH_CHIP_SAML is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+# CONFIG_ARCH_CHIP_SAMV7 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STM32F7 is not set
+# CONFIG_ARCH_CHIP_STM32L4 is not set
+# CONFIG_ARCH_CHIP_STR71X is not set
+# CONFIG_ARCH_CHIP_TMS570 is not set
+# CONFIG_ARCH_CHIP_MOXART is not set
+# CONFIG_ARCH_ARM7TDMI is not set
+# CONFIG_ARCH_ARM926EJS is not set
+# CONFIG_ARCH_ARM920T is not set
+# CONFIG_ARCH_CORTEXM0 is not set
+# CONFIG_ARCH_CORTEXM3 is not set
+CONFIG_ARCH_CORTEXM4=y
+# CONFIG_ARCH_CORTEXM7 is not set
+# CONFIG_ARCH_CORTEXA5 is not set
+# CONFIG_ARCH_CORTEXA8 is not set
+# CONFIG_ARCH_CORTEXA9 is not set
+# CONFIG_ARCH_CORTEXR4 is not set
+# CONFIG_ARCH_CORTEXR4F is not set
+# CONFIG_ARCH_CORTEXR5 is not set
+# CONFIG_ARCH_CORTEX5F is not set
+# CONFIG_ARCH_CORTEXR7 is not set
+# CONFIG_ARCH_CORTEXR7F is not set
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+# CONFIG_ARM_TOOLCHAIN_IAR is not set
+CONFIG_ARM_TOOLCHAIN_GNU=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+# CONFIG_ARMV7M_LAZYFPU is not set
+CONFIG_ARCH_HAVE_FPU=y
+# CONFIG_ARCH_HAVE_DPFPU is not set
+CONFIG_ARCH_FPU=y
+# CONFIG_ARCH_HAVE_TRUSTZONE is not set
+CONFIG_ARM_HAVE_MPU_UNIFIED=y
+# CONFIG_ARM_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_HAVE_ICACHE is not set
+# CONFIG_ARMV7M_HAVE_DCACHE is not set
+# CONFIG_ARMV7M_HAVE_ITCM is not set
+# CONFIG_ARMV7M_HAVE_DTCM is not set
+# CONFIG_ARMV7M_TOOLCHAIN_IARL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
+CONFIG_ARMV7M_HAVE_STACKCHECK=y
+# CONFIG_ARMV7M_STACKCHECK is not set
+# CONFIG_ARMV7M_ITMSYSLOG is not set
+CONFIG_SERIAL_TERMIOS=y
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32L162ZD is not set
+# CONFIG_ARCH_CHIP_STM32L162VE is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F102CB is not set
+# CONFIG_ARCH_CHIP_STM32F103T8 is not set
+# CONFIG_ARCH_CHIP_STM32F103TB is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103CB is not set
+# CONFIG_ARCH_CHIP_STM32F103R8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RB is not set
+# CONFIG_ARCH_CHIP_STM32F103RC is not set
+# CONFIG_ARCH_CHIP_STM32F103RD is not set
+# CONFIG_ARCH_CHIP_STM32F103RE is not set
+# CONFIG_ARCH_CHIP_STM32F103RG is not set
+# CONFIG_ARCH_CHIP_STM32F103V8 is not set
+# CONFIG_ARCH_CHIP_STM32F103VB is not set
+# CONFIG_ARCH_CHIP_STM32F103VC is not set
+# CONFIG_ARCH_CHIP_STM32F103VE is not set
+# CONFIG_ARCH_CHIP_STM32F103ZE is not set
+# CONFIG_ARCH_CHIP_STM32F105VB is not set
+# CONFIG_ARCH_CHIP_STM32F105RB is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F205RG is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F207ZE is not set
+# CONFIG_ARCH_CHIP_STM32F302K6 is not set
+# CONFIG_ARCH_CHIP_STM32F302K8 is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303K6 is not set
+# CONFIG_ARCH_CHIP_STM32F303K8 is not set
+# CONFIG_ARCH_CHIP_STM32F303C6 is not set
+# CONFIG_ARCH_CHIP_STM32F303C8 is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303RD is not set
+# CONFIG_ARCH_CHIP_STM32F303RE is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+# CONFIG_ARCH_CHIP_STM32F372C8 is not set
+# CONFIG_ARCH_CHIP_STM32F372R8 is not set
+# CONFIG_ARCH_CHIP_STM32F372V8 is not set
+# CONFIG_ARCH_CHIP_STM32F372CB is not set
+# CONFIG_ARCH_CHIP_STM32F372RB is not set
+# CONFIG_ARCH_CHIP_STM32F372VB is not set
+# CONFIG_ARCH_CHIP_STM32F372CC is not set
+# CONFIG_ARCH_CHIP_STM32F372RC is not set
+# CONFIG_ARCH_CHIP_STM32F372VC is not set
+# CONFIG_ARCH_CHIP_STM32F373C8 is not set
+# CONFIG_ARCH_CHIP_STM32F373R8 is not set
+# CONFIG_ARCH_CHIP_STM32F373V8 is not set
+# CONFIG_ARCH_CHIP_STM32F373CB is not set
+# CONFIG_ARCH_CHIP_STM32F373RB is not set
+# CONFIG_ARCH_CHIP_STM32F373VB is not set
+# CONFIG_ARCH_CHIP_STM32F373CC is not set
+# CONFIG_ARCH_CHIP_STM32F373RC is not set
+# CONFIG_ARCH_CHIP_STM32F373VC is not set
+# CONFIG_ARCH_CHIP_STM32F401RE is not set
+# CONFIG_ARCH_CHIP_STM32F411RE is not set
+# CONFIG_ARCH_CHIP_STM32F411VE is not set
+# CONFIG_ARCH_CHIP_STM32F405RG is not set
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+# CONFIG_ARCH_CHIP_STM32F427V is not set
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_ARCH_CHIP_STM32F429V is not set
+# CONFIG_ARCH_CHIP_STM32F429Z is not set
+# CONFIG_ARCH_CHIP_STM32F429I is not set
+# CONFIG_ARCH_CHIP_STM32F429B is not set
+# CONFIG_ARCH_CHIP_STM32F429N is not set
+# CONFIG_ARCH_CHIP_STM32F446M is not set
+CONFIG_ARCH_CHIP_STM32F446R=y
+# CONFIG_ARCH_CHIP_STM32F446V is not set
+# CONFIG_ARCH_CHIP_STM32F446Z is not set
+# CONFIG_ARCH_CHIP_STM32F469A is not set
+# CONFIG_ARCH_CHIP_STM32F469I is not set
+# CONFIG_ARCH_CHIP_STM32F469B is not set
+# CONFIG_ARCH_CHIP_STM32F469N is not set
+CONFIG_STM32_FLASH_CONFIG_DEFAULT=y
+# CONFIG_STM32_FLASH_CONFIG_4 is not set
+# CONFIG_STM32_FLASH_CONFIG_6 is not set
+# CONFIG_STM32_FLASH_CONFIG_8 is not set
+# CONFIG_STM32_FLASH_CONFIG_B is not set
+# CONFIG_STM32_FLASH_CONFIG_C is not set
+# CONFIG_STM32_FLASH_CONFIG_D is not set
+# CONFIG_STM32_FLASH_CONFIG_E is not set
+# CONFIG_STM32_FLASH_CONFIG_F is not set
+# CONFIG_STM32_FLASH_CONFIG_G is not set
+# CONFIG_STM32_FLASH_CONFIG_I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_USBACCESSLINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F205 is not set
+# CONFIG_STM32_STM32F207 is not set
+# CONFIG_STM32_STM32F30XX is not set
+# CONFIG_STM32_STM32F302 is not set
+# CONFIG_STM32_STM32F303 is not set
+# CONFIG_STM32_STM32F37XX is not set
+CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_STM32F401 is not set
+# CONFIG_STM32_STM32F411 is not set
+# CONFIG_STM32_STM32F405 is not set
+# CONFIG_STM32_STM32F407 is not set
+# CONFIG_STM32_STM32F427 is not set
+# CONFIG_STM32_STM32F429 is not set
+CONFIG_STM32_STM32F446=y
+# CONFIG_STM32_STM32F469 is not set
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+# CONFIG_STM32_HAVE_CCM is not set
+# CONFIG_STM32_HAVE_USBDEV is not set
+CONFIG_STM32_HAVE_OTGFS=y
+# CONFIG_STM32_HAVE_FSMC is not set
+# CONFIG_STM32_HAVE_LTDC is not set
+CONFIG_STM32_HAVE_USART3=y
+CONFIG_STM32_HAVE_UART4=y
+CONFIG_STM32_HAVE_UART5=y
+CONFIG_STM32_HAVE_USART6=y
+# CONFIG_STM32_HAVE_UART7 is not set
+# CONFIG_STM32_HAVE_UART8 is not set
+CONFIG_STM32_HAVE_TIM1=y
+# CONFIG_STM32_HAVE_TIM2 is not set
+CONFIG_STM32_HAVE_TIM3=y
+CONFIG_STM32_HAVE_TIM4=y
+# CONFIG_STM32_HAVE_TIM5 is not set
+CONFIG_STM32_HAVE_TIM6=y
+CONFIG_STM32_HAVE_TIM7=y
+CONFIG_STM32_HAVE_TIM8=y
+CONFIG_STM32_HAVE_TIM9=y
+CONFIG_STM32_HAVE_TIM10=y
+CONFIG_STM32_HAVE_TIM11=y
+CONFIG_STM32_HAVE_TIM12=y
+CONFIG_STM32_HAVE_TIM13=y
+CONFIG_STM32_HAVE_TIM14=y
+# CONFIG_STM32_HAVE_TIM15 is not set
+# CONFIG_STM32_HAVE_TIM16 is not set
+# CONFIG_STM32_HAVE_TIM17 is not set
+CONFIG_STM32_HAVE_ADC2=y
+CONFIG_STM32_HAVE_ADC3=y
+# CONFIG_STM32_HAVE_ADC4 is not set
+# CONFIG_STM32_HAVE_ADC1_DMA is not set
+# CONFIG_STM32_HAVE_ADC2_DMA is not set
+# CONFIG_STM32_HAVE_ADC3_DMA is not set
+# CONFIG_STM32_HAVE_ADC4_DMA is not set
+CONFIG_STM32_HAVE_CAN1=y
+CONFIG_STM32_HAVE_CAN2=y
+CONFIG_STM32_HAVE_DAC1=y
+CONFIG_STM32_HAVE_DAC2=y
+# CONFIG_STM32_HAVE_RNG is not set
+# CONFIG_STM32_HAVE_ETHMAC is not set
+CONFIG_STM32_HAVE_I2C2=y
+CONFIG_STM32_HAVE_I2C3=y
+CONFIG_STM32_HAVE_SPI2=y
+CONFIG_STM32_HAVE_SPI3=y
+CONFIG_STM32_HAVE_SPI4=y
+# CONFIG_STM32_HAVE_SPI5 is not set
+# CONFIG_STM32_HAVE_SPI6 is not set
+CONFIG_STM32_HAVE_SAIPLL=y
+CONFIG_STM32_HAVE_I2SPLL=y
+# CONFIG_STM32_ADC1 is not set
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+# CONFIG_STM32_BKPSRAM is not set
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+# CONFIG_STM32_CCMDATARAM is not set
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_HASH is not set
+# CONFIG_STM32_I2C1 is not set
+# CONFIG_STM32_I2C2 is not set
+# CONFIG_STM32_I2C3 is not set
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_SDIO is not set
+# CONFIG_STM32_SPI1 is not set
+# CONFIG_STM32_SPI2 is not set
+# CONFIG_STM32_SPI3 is not set
+# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+CONFIG_STM32_TIM3=y
+# CONFIG_STM32_TIM4 is not set
+# CONFIG_STM32_TIM6 is not set
+# CONFIG_STM32_TIM7 is not set
+# CONFIG_STM32_TIM8 is not set
+# CONFIG_STM32_TIM9 is not set
+# CONFIG_STM32_TIM10 is not set
+# CONFIG_STM32_TIM11 is not set
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+# CONFIG_STM32_USART1 is not set
+# CONFIG_STM32_USART2 is not set
+CONFIG_STM32_USART3=y
+# CONFIG_STM32_UART4 is not set
+# CONFIG_STM32_UART5 is not set
+# CONFIG_STM32_USART6 is not set
+# CONFIG_STM32_IWDG is not set
+# CONFIG_STM32_WWDG is not set
+# CONFIG_STM32_NOEXT_VECTORS is not set
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_JTAG_DISABLE is not set
+# CONFIG_STM32_JTAG_FULL_ENABLE is not set
+CONFIG_STM32_JTAG_NOJNTRST_ENABLE=y
+# CONFIG_STM32_JTAG_SW_ENABLE is not set
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_FORCEPOWER=y
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+CONFIG_STM32_SAIPLL=y
+CONFIG_STM32_I2SPLL=y
+CONFIG_STM32_DMACAPABLE=y
+
+#
+# Timer Configuration
+#
+# CONFIG_STM32_ONESHOT is not set
+# CONFIG_STM32_FREERUN is not set
+# CONFIG_STM32_TIM1_PWM is not set
+# CONFIG_STM32_TIM3_PWM is not set
+# CONFIG_STM32_TIM1_CAP is not set
+# CONFIG_STM32_TIM3_CAP is not set
+# CONFIG_STM32_TIM4_CAP is not set
+# CONFIG_STM32_TIM8_CAP is not set
+# CONFIG_STM32_TIM9_CAP is not set
+# CONFIG_STM32_TIM10_CAP is not set
+# CONFIG_STM32_TIM11_CAP is not set
+# CONFIG_STM32_TIM12_CAP is not set
+# CONFIG_STM32_TIM13_CAP is not set
+# CONFIG_STM32_TIM14_CAP is not set
+CONFIG_STM32_USART=y
+CONFIG_STM32_SERIALDRIVER=y
+
+#
+# U[S]ART Configuration
+#
+
+#
+# U[S]ART Device Configuration
+#
+CONFIG_STM32_USART3_SERIALDRIVER=y
+# CONFIG_STM32_USART3_1WIREDRIVER is not set
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+
+#
+# Serial Driver Configuration
+#
+CONFIG_SERIAL_DISABLE_REORDERING=y
+# CONFIG_STM32_FLOWCONTROL_BROKEN is not set
+# CONFIG_STM32_USART_BREAKS is not set
+# CONFIG_STM32_USART_SINGLEWIRE is not set
+# CONFIG_STM32_HAVE_RTC_COUNTER is not set
+# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
+CONFIG_RTC_MAGIC_REG=1
+CONFIG_RTC_MAGIC=0xfacefeee
+# CONFIG_RTC_LSECLOCK is not set
+# CONFIG_RTC_LSICLOCK is not set
+CONFIG_RTC_HSECLOCK=y
+
+#
+# USB FS Host Configuration
+#
+
+#
+# USB HS Host Configuration
+#
+
+#
+# USB Host Debug Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_HAVE_IRQPRIO=y
+# CONFIG_ARCH_L2CACHE is not set
+# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
+# CONFIG_ARCH_HAVE_ADDRENV is not set
+# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
+# CONFIG_ARCH_HAVE_MULTICPU is not set
+CONFIG_ARCH_HAVE_VFORK=y
+# CONFIG_ARCH_HAVE_MMU is not set
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARCH_NAND_HWECC is not set
+# CONFIG_ARCH_HAVE_EXTCLK is not set
+# CONFIG_ARCH_HAVE_POWEROFF is not set
+CONFIG_ARCH_HAVE_RESET=y
+# CONFIG_ARCH_USE_MPU is not set
+CONFIG_ARCH_IRQPRIO=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_IDLE_CUSTOM is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=5483
+# CONFIG_ARCH_CALIBRATION is not set
+
+#
+# Interrupt options
+#
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=0
+CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
+CONFIG_ARCH_HIPRI_INTERRUPT=y
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Boot Memory Configuration
+#
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_SIZE=131072
+# CONFIG_ARCH_HAVE_SDRAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4ESC_V1=y
+CONFIG_ARCH_BOARD="px4esc-v1"
+
+#
+# Custom Board Configuration
+#
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_RESET_ON_CRASH=y
+# CONFIG_BOARD_CUSTOM_LEDS is not set
+# CONFIG_BOARD_CUSTOM_BUTTONS is not set
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_ARCH_HAVE_LEDS=y
+CONFIG_ARCH_LEDS=y
+
+#
+# Board-Specific Options
+#
+CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+# CONFIG_BOARDCTL_UNIQUEID is not set
+CONFIG_BOARDCTL_USBDEVCTRL=y
+# CONFIG_BOARDCTL_TSCTEST is not set
+# CONFIG_BOARDCTL_ADCTEST is not set
+# CONFIG_BOARDCTL_PWMTEST is not set
+# CONFIG_BOARDCTL_GRAPHICS is not set
+# CONFIG_BOARDCTL_IOCTL is not set
+CONFIG_BOARD_HAS_PROBES=y
+# CONFIG_BOARD_USE_PROBES is not set
+
+#
+# RTOS Features
+#
+# CONFIG_DISABLE_OS_API is not set
+
+#
+# Clocks and Timers
+#
+CONFIG_ARCH_HAVE_TICKLESS=y
+# CONFIG_SCHED_TICKLESS is not set
+CONFIG_USEC_PER_TICK=1000
+# CONFIG_SYSTEM_TIME64 is not set
+# CONFIG_CLOCK_MONOTONIC is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=20
+CONFIG_WDOG_INTRESERVE=4
+CONFIG_PREALLOC_TIMERS=20
+
+#
+# Tasks and Scheduling
+#
+# CONFIG_INIT_NONE is not set
+CONFIG_INIT_ENTRYPOINT=y
+# CONFIG_INIT_FILEPATH is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_RR_INTERVAL=0
+# CONFIG_SCHED_SPORADIC is not set
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_MAX_TASKS=16
+# CONFIG_SCHED_HAVE_PARENT is not set
+CONFIG_SCHED_WAITPID=y
+
+#
+# Pthread Options
+#
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_NPTHREAD_KEYS=4
+
+#
+# Performance Monitoring
+#
+# CONFIG_SCHED_CPULOAD is not set
+CONFIG_SCHED_INSTRUMENTATION=y
+# CONFIG_SCHED_INSTRUMENTATION_PREEMPTION is not set
+# CONFIG_SCHED_INSTRUMENTATION_CSECTION is not set
+# CONFIG_SCHED_INSTRUMENTATION_BUFFER is not set
+
+#
+# Files and I/O
+#
+CONFIG_DEV_CONSOLE=y
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_NFILE_DESCRIPTORS=51
+CONFIG_NFILE_STREAMS=12
+CONFIG_NAME_MAX=93
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+
+#
+# RTOS hooks
+#
+CONFIG_BOARD_INITIALIZE=y
+# CONFIG_BOARD_INITTHREAD is not set
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+# CONFIG_SIG_EVTHREAD is not set
+
+#
+# Signal Numbers
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# POSIX Message Queue Options
+#
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+# CONFIG_MODULE is not set
+
+#
+# Work queue support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SCHED_HPWORKPERIOD=5000
+CONFIG_SCHED_HPWORKSTACKSIZE=4096
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPNTHREADS=1
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPRIOMAX=176
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=4096
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_PTHREAD_STACK_MIN=4096
+CONFIG_PTHREAD_STACK_DEFAULT=4096
+# CONFIG_LIB_SYSCALL is not set
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_DEV_URANDOM is not set
+# CONFIG_DEV_LOOP is not set
+
+#
+# Buffering
+#
+# CONFIG_DRVR_WRITEBUFFER is not set
+# CONFIG_DRVR_READAHEAD is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
+# CONFIG_ARCH_HAVE_PWM_MULTICHAN is not set
+# CONFIG_PWM is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+# CONFIG_I2C is not set
+# CONFIG_SPI is not set
+# CONFIG_I2S is not set
+
+#
+# Timer Driver Support
+#
+# CONFIG_TIMER is not set
+CONFIG_RTC=y
+CONFIG_RTC_DATETIME=y
+# CONFIG_RTC_ALARM is not set
+# CONFIG_RTC_DRIVER is not set
+# CONFIG_RTC_EXTERNAL is not set
+CONFIG_WATCHDOG=y
+CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_VIDEO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_IOEXPANDER is not set
+
+#
+# LCD Driver Support
+#
+# CONFIG_LCD is not set
+# CONFIG_SLCD is not set
+
+#
+# LED Support
+#
+# CONFIG_RGBLED is not set
+# CONFIG_PCA9635PW is not set
+# CONFIG_NCP5623C is not set
+# CONFIG_MMCSD is not set
+# CONFIG_MODEM is not set
+# CONFIG_MTD is not set
+# CONFIG_EEPROM is not set
+CONFIG_PIPES=y
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=1024
+CONFIG_DEV_FIFO_SIZE=0
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+# CONFIG_SERCOMM_CONSOLE is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+CONFIG_SERIAL_CONSOLE=y
+# CONFIG_16550_UART is not set
+# CONFIG_UART_SERIALDRIVER is not set
+# CONFIG_UART0_SERIALDRIVER is not set
+# CONFIG_UART1_SERIALDRIVER is not set
+# CONFIG_UART2_SERIALDRIVER is not set
+# CONFIG_UART3_SERIALDRIVER is not set
+# CONFIG_UART4_SERIALDRIVER is not set
+# CONFIG_UART5_SERIALDRIVER is not set
+# CONFIG_UART6_SERIALDRIVER is not set
+# CONFIG_UART7_SERIALDRIVER is not set
+# CONFIG_UART8_SERIALDRIVER is not set
+# CONFIG_SCI0_SERIALDRIVER is not set
+# CONFIG_SCI1_SERIALDRIVER is not set
+# CONFIG_USART0_SERIALDRIVER is not set
+# CONFIG_USART1_SERIALDRIVER is not set
+# CONFIG_USART2_SERIALDRIVER is not set
+CONFIG_USART3_SERIALDRIVER=y
+# CONFIG_USART4_SERIALDRIVER is not set
+# CONFIG_USART5_SERIALDRIVER is not set
+# CONFIG_USART6_SERIALDRIVER is not set
+# CONFIG_USART7_SERIALDRIVER is not set
+# CONFIG_USART8_SERIALDRIVER is not set
+# CONFIG_OTHER_UART_SERIALDRIVER is not set
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_SERIAL_IFLOWCONTROL is not set
+# CONFIG_SERIAL_OFLOWCONTROL is not set
+# CONFIG_SERIAL_DMA is not set
+CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+# CONFIG_OTHER_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=32
+CONFIG_USART3_TXBUFSIZE=32
+CONFIG_USART3_BAUD=115200
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+# CONFIG_USART3_IFLOWCONTROL is not set
+# CONFIG_USART3_OFLOWCONTROL is not set
+# CONFIG_USART3_DMA is not set
+CONFIG_USBDEV=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_DMA is not set
+# CONFIG_ARCH_USBDEV_STALLQUEUE is not set
+# CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+# CONFIG_CDCACM_CONSOLE is not set
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=256
+CONFIG_CDCACM_TXBUFSIZE=256
+CONFIG_CDCACM_VENDORID=0x1d50
+CONFIG_CDCACM_PRODUCTID=0x60c7
+CONFIG_CDCACM_VENDORSTR="Zubax"
+CONFIG_CDCACM_PRODUCTSTR="PX4 ESC v1.6"
+# CONFIG_USBMSC is not set
+# CONFIG_USBHOST is not set
+# CONFIG_DRIVERS_WIRELESS is not set
+
+#
+# System Logging
+#
+# CONFIG_ARCH_SYSLOG is not set
+# CONFIG_RAMLOG is not set
+# CONFIG_SYSLOG_INTBUFFER is not set
+# CONFIG_SYSLOG_TIMESTAMP is not set
+CONFIG_SYSLOG_SERIAL_CONSOLE=y
+# CONFIG_SYSLOG_CHAR is not set
+CONFIG_SYSLOG_CONSOLE=y
+# CONFIG_SYSLOG_NONE is not set
+# CONFIG_SYSLOG_FILE is not set
+
+#
+# Networking Support
+#
+# CONFIG_ARCH_HAVE_NET is not set
+# CONFIG_ARCH_HAVE_PHY is not set
+# CONFIG_NET is not set
+
+#
+# Crypto API
+#
+# CONFIG_CRYPTO is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_AUTOMOUNTER is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_READABLE is not set
+# CONFIG_FS_WRITABLE is not set
+# CONFIG_FS_AIO is not set
+# CONFIG_FS_NAMED_SEMAPHORES is not set
+CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
+# CONFIG_FS_RAMMAP is not set
+# CONFIG_FS_FAT is not set
+# CONFIG_FS_NXFFS is not set
+# CONFIG_FS_ROMFS is not set
+# CONFIG_FS_TMPFS is not set
+# CONFIG_FS_SMARTFS is not set
+# CONFIG_FS_BINFS is not set
+# CONFIG_FS_PROCFS is not set
+# CONFIG_FS_UNIONFS is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=1
+# CONFIG_ARCH_HAVE_HEAP2 is not set
+# CONFIG_GRAN is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Wireless Support
+#
+
+#
+# Binary Loader
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=64
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+# CONFIG_LIBC_IOCTL_VARIADIC is not set
+CONFIG_LIB_RAND_ORDER=1
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=4096
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=4096
+CONFIG_LIBC_STRERROR=y
+# CONFIG_LIBC_STRERROR_SHORT is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_ARCH_LOWPUTC=y
+# CONFIG_LIBC_LOCALTIME is not set
+CONFIG_TIME_EXTENDED=y
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
+CONFIG_ARCH_MEMCPY=y
+# CONFIG_ARCH_MEMCMP is not set
+# CONFIG_ARCH_MEMMOVE is not set
+# CONFIG_ARCH_MEMSET is not set
+# CONFIG_MEMSET_OPTSPEED is not set
+# CONFIG_ARCH_STRCHR is not set
+# CONFIG_ARCH_STRCMP is not set
+# CONFIG_ARCH_STRCPY is not set
+# CONFIG_ARCH_STRNCPY is not set
+# CONFIG_ARCH_STRLEN is not set
+# CONFIG_ARCH_STRNLEN is not set
+# CONFIG_ARCH_BZERO is not set
+CONFIG_ARCH_HAVE_TLS=y
+# CONFIG_TLS is not set
+# CONFIG_LIBC_NETDB is not set
+
+#
+# Non-standard Library Support
+#
+# CONFIG_LIB_CRC64_FAST is not set
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=4096
+
+#
+# CAN Utilities
+#
+# CONFIG_CANUTILS_LIBUAVCAN is not set
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_CHAT is not set
+# CONFIG_EXAMPLES_CONFIGDATA is not set
+# CONFIG_EXAMPLES_CPUHOG is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+# CONFIG_EXAMPLES_HELLO is not set
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_MEDIA is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+# CONFIG_EXAMPLES_MOUNT is not set
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTERM is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PCA9635 is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_PPPD is not set
+# CONFIG_EXAMPLES_RGBLED is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERIALBLASTER is not set
+# CONFIG_EXAMPLES_SERIALRX is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMP is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+# CONFIG_EXAMPLES_WEBSERVER is not set
+
+#
+# File System Utilities
+#
+# CONFIG_FSUTILS_INIFILE is not set
+
+#
+# GPS Utilities
+#
+# CONFIG_GPSUTILS_MINMEA_LIB is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+# CONFIG_GRAPHICS_TRAVELER is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_MICROPYTHON is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# Network Utilities
+#
+# CONFIG_NETUTILS_CHAT is not set
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_ESP8266 is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_SMTP is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+# CONFIG_NSH_MOTD is not set
+
+#
+# Command Line Configuration
+#
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
+CONFIG_NSH_LINELEN=128
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+CONFIG_NSH_DISABLE_ADDROUTE=y
+CONFIG_NSH_DISABLE_BASENAME=y
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_CMP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DELROUTE=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOSETUP is not set
+CONFIG_NSH_DISABLE_LOSMART=y
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFIFO is not set
+# CONFIG_NSH_DISABLE_MKRD is not set
+# CONFIG_NSH_DISABLE_MH is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_MW is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PUT is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_REBOOT is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+CONFIG_NSH_DISABLE_SHUTDOWN=y
+# CONFIG_NSH_DISABLE_SLEEP is not set
+CONFIG_NSH_DISABLE_TIME=y
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNAME is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_NSH_DISABLE_WGET=y
+# CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_STRERROR=y
+
+#
+# Scripting Support
+#
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+
+#
+# Console Configuration
+#
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+# CONFIG_NSH_ALTCONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+# CONFIG_NSH_LOGIN is not set
+# CONFIG_NSH_CONSOLE_LOGIN is not set
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# Platform-specific Support
+#
+# CONFIG_PLATFORM_CONFIGDATA is not set
+
+#
+# System Libraries and NSH Add-Ons
+#
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CDCACM_DEVMINOR=0
+# CONFIG_SYSTEM_CLE is not set
+# CONFIG_SYSTEM_CUTERM is not set
+# CONFIG_SYSTEM_FREE is not set
+# CONFIG_SYSTEM_HEX2BIN is not set
+# CONFIG_SYSTEM_HEXED is not set
+# CONFIG_SYSTEM_INSTALL is not set
+# CONFIG_SYSTEM_RAMTEST is not set
+CONFIG_READLINE_HAVE_EXTMATCH=y
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_READLINE_MAX_BUILTINS=64
+CONFIG_READLINE_MAX_EXTCMDS=64
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_CMD_HISTORY_LINELEN=64
+CONFIG_READLINE_CMD_HISTORY_LEN=4
+# CONFIG_SYSTEM_STACKMONITOR is not set
+# CONFIG_SYSTEM_SUDOKU is not set
+# CONFIG_SYSTEM_UBLOXMODEM is not set
+# CONFIG_SYSTEM_VI is not set
+# CONFIG_SYSTEM_ZMODEM is not set
diff --git a/nuttx-configs/px4esc-v1/nsh/setenv.sh b/nuttx-configs/px4esc-v1/nsh/setenv.sh
new file mode 100755
index 0000000000..08da2316d5
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/nsh/setenv.sh
@@ -0,0 +1,80 @@
+#!/bin/bash
+# nuttx-configs/px4esc-v1/nsh/setenv.sh
+#
+# Copyright (C) 2015 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 [ "$_" = "$0" ] ; then
+ echo "You must source this script, not run it!" 1>&2
+ exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+ echo "This script must be executed from the top-level NuttX build directory"
+ exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+ export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows. You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows. You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows. You will also have to edit this if you install
+# the Atollic toolchain in any other location. /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
+# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx-configs/px4esc-v1/scripts/bootloaderld.script b/nuttx-configs/px4esc-v1/scripts/bootloaderld.script
new file mode 100644
index 0000000000..74e8cdf719
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/scripts/bootloaderld.script
@@ -0,0 +1,129 @@
+/****************************************************************************
+ * nuttx-configs/px4esc-v1/scripts/bootloaderld.script
+ *
+ * Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F446RE has 512KiB of FLASH beginning at address 0x0800:0000 and
+ * 112KiB of SRAM beginning at address 0x2000:0000. With an addtional 16 KiB
+ * located at 0x2001:c000.
+ * 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.
+ * The bootloader only uses the first 16KiB of flash.
+ */
+
+MEMORY
+{
+ flash (rx) : ORIGIN = 0x08000000, LENGTH = 16K
+ sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
+ sram1 (rwx) : ORIGIN = 0x2001C000, LENGTH = 16K
+}
+
+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.*)
+ *(.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 STM32F446RE has 112KiB 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/px4esc-v1/scripts/ld.script b/nuttx-configs/px4esc-v1/scripts/ld.script
new file mode 100644
index 0000000000..2df6e904a2
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/scripts/ld.script
@@ -0,0 +1,154 @@
+/****************************************************************************
+ * nuttx-configs/px4esc-v1/scripts/ld.script
+ *
+ * Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F446RE has 512KiB of FLASH beginning at address 0x0800:0000 and
+ * 112KiB of SRAM beginning at address 0x2000:0000. With an addtional 16 KiB
+ * located at 0x2001:c000.
+ * 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.
+ * The bootloader only uses the first 16KiB of flash.
+ * Paramater storage will use the next 2 16KiB Sectors.
+ */
+
+MEMORY
+{
+ flash (rx) : ORIGIN = 0x0800C000, LENGTH = 464K
+ sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
+ sram1 (rwx) : ORIGIN = 0x2001C000, LENGTH = 16K
+}
+
+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)
+ . = ALIGN(8);
+ /*
+ * This section positions the app_descriptor_t used
+ * by the make_can_boot_descriptor.py tool to set
+ * the application image's descriptor so that the
+ * uavcan bootloader has the ability to validate the
+ * image crc, size etc
+ */
+ KEEP(*(.app_descriptor))
+ *(.text .text.*)
+ *(.fixup)
+ *(.gnu.warning)
+ *(.rodata .rodata.*)
+ *(.gnu.linkonce.t.*)
+ *(.got)
+ *(.gcc_except_table)
+ *(.gnu.linkonce.r.*)
+ _etext = ABSOLUTE(.);
+ /*
+ * This is a hack to make the newlib libm __errno() call
+ * use the NuttX get_errno_ptr() function.
+ */
+ __errno = get_errno_ptr;
+ } > flash
+
+/*
+ * Init functions (static constructors and the like)
+ */
+ .init_section : {
+ _sinit = ABSOLUTE(.);
+ KEEP(*(.init_array .init_array.*))
+ _einit = ABSOLUTE(.);
+ } > flash
+
+ /*
+ * Construction data for parameters.
+ */
+ __param ALIGN(4): {
+ __param_start = ABSOLUTE(.);
+ KEEP(*(__param*))
+ __param_end = ABSOLUTE(.);
+ } > flash
+
+ .ARM.extab : {
+ *(.ARM.extab*)
+ } > flash
+
+ __exidx_start = ABSOLUTE(.);
+ .ARM.exidx : {
+ *(.ARM.exidx*)
+ } > flash
+ __exidx_end = ABSOLUTE(.);
+
+ _eronly = ABSOLUTE(.);
+
+ /* The STM32F446RE has 112KiB 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/px4esc-v1/src/Makefile b/nuttx-configs/px4esc-v1/src/Makefile
new file mode 100644
index 0000000000..1e0b1010e0
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/src/Makefile
@@ -0,0 +1,100 @@
+############################################################################
+#
+# Copyright (C) 2015 Gregory Nutt. All rights reserved.
+# Author: Gregory Nutt <gnutt@nuttx.org>
+# David Sidrane <david_s5@nscdg.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.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS += -I$(TOPDIR)/sched
+
+ASRCS =
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+
+ifeq ($(CONFIG_BOOTLOADER),)
+CSRCS = empty.c
+endif
+ifeq ($(CONFIG_BOOTLOADER),y)
+
+SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan
+
+CSRCS = ostubs.c
+
+CFLAGS += $(addprefix -I,$(SRC_SEARCH))
+DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH))
+VPATH= $(SRC_SEARCH)
+endif
+
+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)
+ $(call DELFILE, .depend)
+
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
+-include Make.dep
diff --git a/nuttx-configs/px4esc-v1/src/empty.c b/nuttx-configs/px4esc-v1/src/empty.c
new file mode 100644
index 0000000000..5de10699fb
--- /dev/null
+++ b/nuttx-configs/px4esc-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/px4esc-v1/src/ostubs.c b/nuttx-configs/px4esc-v1/src/ostubs.c
new file mode 100644
index 0000000000..4d0bb7a20a
--- /dev/null
+++ b/nuttx-configs/px4esc-v1/src/ostubs.c
@@ -0,0 +1,215 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane <david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/init.h>
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <syslog.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include "up_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+volatile dq_queue_t g_readytorun;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+void timer_init(void);
+int __wrap_up_svcall(int irq, FAR void *context);
+
+/****************************************************************************
+ * Name: os_start
+ *
+ * Description:
+ * This function hijacks the entry point of the OS. Normally called by the
+ * statup code for a given architecture
+ *
+ ****************************************************************************/
+#ifdef CONFIG_STACK_COLORATION
+inline static void irq_stack_collor(void *pv, unsigned int nwords)
+{
+#ifdef CONFIG_ARCH_INTERRUPTSTACK
+ /* Set the Interrupt stack to the stack coloration value then jump to
+ * os_start(). We take extreme care here because were currently
+ * executing on this stack.
+ *
+ * We want to avoid sneak stack access generated by the compiler.
+ */
+
+ __asm__ __volatile__
+ (
+ "\tmov r0, %[addr]\n" /* R0 = Address */
+ "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/
+ "\tbeq 2f\n" /* (should not happen) */
+
+ "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */
+ "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */
+ "\tmovt r2, #0xdead\n"
+
+ "1:\n" /* Top of the loop */
+ "\tsub r1, r1, #1\n" /* R1 nwords-- */
+ "\tcmp r1, #0\n" /* Check (nwords == 0) */
+ "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */
+ "\tbne 1b\n" /* Bottom of the loop */
+
+ "2:\n"
+ :
+ : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/
+ : /* No clobbers */
+
+ );
+#endif
+}
+#endif
+
+void os_start(void)
+{
+
+ /* Color the irq stack */
+#ifdef CONFIG_STACK_COLORATION
+
+ irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t));
+
+#endif
+
+ /* Initialize the timer software subsystem */
+
+ timer_init();
+
+ /* Initialize the interrupt subsystem */
+
+ up_irqinitialize();
+
+ /* Initialize the OS's timer subsystem */
+#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
+ !defined(CONFIG_SYSTEMTICK_EXTCLK)
+ up_timer_initialize();
+#endif
+
+ /* Keep the compiler happy for a no return function */
+
+ while (1)
+ {
+ main(0, 0);
+ }
+}
+
+/****************************************************************************
+ * Name: malloc
+ *
+ * Description:
+ * This function hijacks the OS's malloc and provides no allocation
+ *
+ ****************************************************************************/
+
+FAR void *malloc(size_t size)
+{
+ return NULL;
+}
+
+/****************************************************************************
+ * Name: malloc
+ *
+ * Description:
+ * This function hijacks the systems exit
+ *
+ ****************************************************************************/
+void exit(int status)
+{
+ while (1);
+}
+
+/****************************************************************************
+ * Name: sched_ufree
+ *
+ * Description:
+ * This function hijacks the systems sched_ufree that my be called during
+ * exception processing.
+ *
+ ****************************************************************************/
+
+void sched_ufree(FAR void *address)
+{
+
+}
+
+/****************************************************************************
+ * Name: up_svcall
+ *
+ * Description:
+ * This function hijacks by the way of a compile time wrapper the systems
+ * up_svcall
+ *
+ ****************************************************************************/
+
+int __wrap_up_svcall(int irq, FAR void *context)
+{
+ return 0;
+}
diff --git a/src/drivers/boards/px4esc-v1/CMakeLists.txt b/src/drivers/boards/px4esc-v1/CMakeLists.txt
new file mode 100644
index 0000000000..ac55da2c67
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/CMakeLists.txt
@@ -0,0 +1,67 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+include_directories(../../bootloaders/include)
+
+set(SRCS)
+list(APPEND SRCS
+ ../common/board_name.c
+ px4esc_init.c
+ px4esc_led.c
+ px4esc_usb.c
+ ../../../drivers/bootloaders/src/common/boot_app_shared.c
+ ../../../drivers/bootloaders/src/util/crc.c
+)
+
+if(${OS} STREQUAL "nuttx")
+ if (NOT ${BOARD} STREQUAL "sim")
+ list(APPEND SRCS
+ ../../../drivers/device/device_nuttx.cpp
+ ../../../drivers/device/cdev.cpp
+ )
+ endif()
+else()
+ list(APPEND SRCS
+ ../../../drivers/device/device_posix.cpp
+ ../../../drivers/device/vdev.cpp
+ )
+endif()
+
+px4_add_module(
+ MODULE drivers__boards__px4esc-v1
+ COMPILE_FLAGS
+ -Os
+ SRCS ${SRCS}
+ DEPENDS
+ platforms__common
+ )
diff --git a/src/drivers/boards/px4esc-v1/board_config.h b/src/drivers/boards/px4esc-v1/board_config.h
new file mode 100644
index 0000000000..28b9d39cab
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/board_config.h
@@ -0,0 +1,363 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2015 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 board_config.h
+ *
+ * PX4ESCv1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+#if STM32_NSPI < 1
+# undef CONFIG_STM32_SPI1
+# undef CONFIG_STM32_SPI2
+#elif STM32_NSPI < 2
+# undef CONFIG_STM32_SPI2
+#endif
+
+/* High-resolution timer
+ */
+#define HRT_TIMER 8 /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
+
+/* GPIO ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 17 RC_PWM
+ * PA[04] PA4/SPI1_NSS 20 OC_ADJ
+ * PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1 21 EN_GATE
+ * PA[06] PA6/TIM1_BKIN/TIM3_CH1/TIM8_BKIN/SPI1_MISO 22 DC_CAL
+ *
+ */
+
+#define GPIO_RC_PWM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTA | GPIO_PIN3)
+#define GPIO_OC_ADJ (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
+#define GPIO_EN_GATE (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
+#define GPIO_DC_CAL (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTA | GPIO_PIN6 | GPIO_OUTPUT_CLEAR)
+
+
+/* GPIO ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PB[02] PB2/TIM2_CH4/SPI3_MOSI 28 GAIN
+ * PB[03] PB3/TIM2_CH2/I2C2_SDA/SPI1_SCK 55 TEST2
+ * PB[04] PB4/TIM3_CH1/I2C3_SDA/SPI1_MISO/SPI3_MISO 56 TEST3
+ *
+ */
+
+#define GPIO_GAIN (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTB | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
+#define GPIO_TEST2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTB | GPIO_PIN3 | GPIO_OUTPUT_CLEAR)
+#define GPIO_TEST3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTB | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
+
+/* CAN ************************************************************************ *
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ------------------------
+ *
+ * PB[05] PB5/TIM3_CH2/SPI1_MOSI/CAN2_RX 57 CAN2_RX
+ * PB[06] PB6/TIM4_CH1/USART1_TX/CAN2_TX 58 CAN2_TX
+ * PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
+ * PB[08] PB8/TIM4_CH3/I2C1_SCL/CAN1_RX 61 CAN1_RX
+ * PB[09] PB9/TIM4_CH4/I2C1_SDA/CAN1_TX 62 CAN1_TX
+ *
+ */
+
+#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTB | GPIO_PIN7)
+
+/* UART3 ************************************************************************ *
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ------------------------
+ *
+ * PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 29 DBG_TX
+ * PC[05] PC5/USART3_RX/SPDIFRX_IN3/FMC_SDCKE0 25 DBG_RX
+ *
+ */
+
+
+/* Analog ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PC[00] PC0/ADC123_IN10 8 TEMP_SENS
+ * PC[01] PC1/ADC123_IN11/SPI3_MOSI/SPI2_MOSI 9 VBAT_SENS
+ * PC[02] PC2/ADC123_IN12/SPI2_MISO, 10 CURR_SENS2
+ * PC[03] PC3/ADC123_IN13/SPI2_MOSI 11 CURR_SENS1
+ *
+ */
+
+/* GPIO ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PC[06] TIM3_CH1/TIM8_CH1/USART6_TX 37 RPM
+ *
+ */
+
+#define GPIO_RPM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN6)
+
+/* LEDs ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PC[07] PC7/TIM3_CH2/TIM8_CH2 38 LED_RED
+ * PC[08] PC8/TIM3_CH3/TIM8_CH3 39 LED_GREEN
+ * PC[09] PC9/TIM3_CH4/TIM8_CH4 40 LED_BLUE
+ */
+
+#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTC | GPIO_PIN7 | GPIO_OUTPUT_CLEAR)
+#define GPIO_LED_RED GPIO_LED1
+
+#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTC | GPIO_PIN8 | GPIO_OUTPUT_CLEAR)
+#define GPIO_LED_GREEN GPIO_LED2
+
+#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_CLEAR)
+#define GPIO_LED_BLUE GPIO_LED3
+
+
+/* GPIO ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/ 51 HWID0
+ * PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX 52 HWID1
+ * PC[12] PC12/I2C2_SDA/SPI3_MOSI/USART3_CK/UART5_TX 53 TEST4
+ * PC[13] PC13/TAMP_1/WKUP1 2 PWRGD
+ * PC[14] PC14/OSC32_IN 3 OCTW
+ * PC[15] PC15/OSC32_OUT 4 FAULT
+ *
+ */
+
+#define GPIO_HWID0 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN10)
+#define GPIO_HWID1 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN11)
+#define GPIO_TEST4 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_CLEAR)
+
+#define GPIO_PWRGD (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
+#define GPIO_OCTW (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN14)
+#define GPIO_FAULT (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15)
+
+/* GPIO ***********************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------
+ *
+ * PD[02] PD2/TIM3_ETR/UART5_RX/SDIO_CMD 54 TEST1
+ */
+#define GPIO_TEST1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
+ GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
+
+#define BOARD_NAME "PX4ESC_V1"
+
+__BEGIN_DECLS
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins.
+ *
+ ************************************************************************************/
+
+#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
+ defined(CONFIG_STM32_SPI3)
+void weak_function board_spiinitialize(void);
+#endif
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ * Called to setup USB-related GPIO pins.
+ *
+ ************************************************************************************/
+
+void stm32_usbinitialize(void);
+
+/************************************************************************************
+ * Name: stm32_usb_set_pwr_callback()
+ *
+ * Description:
+ * Called to setup set a call back for USB power state changes.
+ *
+ * Inputs:
+ * pwr_changed_handler: An interrupt handler that will be called on VBUS power
+ * state changes.
+ *
+ ************************************************************************************/
+
+void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
+
+/****************************************************************************
+ * Name: stm32_led_initialize
+ *
+ * Description:
+ * This functions is called very early in initialization to perform board-
+ * specific initialization of LED-related resources. This includes such
+ * things as, for example, configure GPIO pins to drive the LEDs and also
+ * putting the LEDs in their correct initial state.
+ *
+ * NOTE: In most architectures, LED initialization() is called from
+ * board-specific initialization and should, therefore, have the name
+ * <arch>_led_intialize(). But there are a few architectures where the
+ * LED initialization function is still called from common chip
+ * architecture logic. This interface is not, however, a common board
+ * interface in any event and the name board_autoled_initialization is
+ * deprecated.
+ *
+ * Input Parameters:
+ * None
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_LEDS
+void board_autoled_initialize(void);
+#endif
+
+/************************************************************************************
+ * Name: stm32_can_initialize
+ *
+ * Description:
+ * Called at application startup time to initialize the CAN functionality.
+ *
+ ************************************************************************************/
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+int board_can_initialize(void);
+#endif
+
+/************************************************************************************
+ * Name: board_button_initialize
+ *
+ * Description:
+ * Called at application startup time to initialize the Buttons functionality.
+ *
+ ************************************************************************************/
+
+#if defined(CONFIG_ARCH_BUTTONS)
+void board_button_initialize(void);
+#endif
+
+/****************************************************************************
+ * Name: usbmsc_archinitialize
+ *
+ * Description:
+ * Called from the application system/usbmc or the boards_nsh if the
+ * application is not included.
+ * Perform architecture specific initialization. This function must
+ * configure the block device to export via USB. This function must be
+ * provided by architecture-specific logic in order to use this add-on.
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
+int usbmsc_archinitialize(void);
+#endif
+
+/****************************************************************************
+ * Name: composite_archinitialize
+ *
+ * Description:
+ * Called from the application system/composite or the boards_nsh if the
+ * application is not included.
+ * Perform architecture specific initialization. This function must
+ * configure the block device to export via USB. This function must be
+ * provided by architecture-specific logic in order to use this add-on.
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
+extern int composite_archinitialize(void);
+#endif
+
+#include "../common/board_common.h"
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt b/src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt
new file mode 100644
index 0000000000..1bbe81a46d
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt
@@ -0,0 +1,65 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+
+add_definitions(
+ -DHW_UAVCAN_NAME=${uavcanblid_name}
+ -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+ -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+
+include_directories(${px4_bootloader_base}include)
+include_directories(${px4_module_base}systemlib)
+include_directories(.)
+
+px4_add_module(
+ MODULE drivers__boards__px4esc-v1__bootloader
+ COMPILE_FLAGS
+ -Os
+ SRCS
+ boot.c
+ led.c
+ ${px4_bootloader_base}src/uavcan/main.c
+ ${px4_bootloader_base}src/common/boot_app_shared.c
+ ${px4_bootloader_base}src/sched/timer.c
+ ${px4_bootloader_base}src/fs/flash.c
+ ${px4_bootloader_base}src/util/crc.c
+ ${px4_bootloader_base}src/util/random.c
+ ${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
+ ${px4_bootloader_base}src/protocol/uavcan.c
+ DEPENDS
+ nuttx_export_${BOARD}
+)
+
+
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/boards/px4esc-v1/bootloader/boot.c b/src/drivers/boards/px4esc-v1/bootloader/boot.c
new file mode 100644
index 0000000000..e01e52b955
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/bootloader/boot.c
@@ -0,0 +1,221 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Author: Ben Dyer <ben_dyer@mac.com>
+ * Pavel Kirienko <pavel.kirienko@zubax.com>
+ * David Sidrane <david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * 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 initialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+ putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+ stm32_configgpio(GPIO_CAN1_RX);
+ stm32_configgpio(GPIO_CAN1_TX);
+ putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
+ STM32_RCC_APB1RSTR);
+ putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
+ STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+ stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: stm32_boarddeinitialize
+ *
+ * Description:
+ * This function is called by the bootloader code prior to booting
+ * the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void stm32_boarddeinitialize(void)
+{
+
+ putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
+ STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ * Called to retrieve the product name. The returned value is a assumed
+ * to be written to a pascal style string that will be length prefixed
+ * and not null terminated
+ *
+ * Input Parameters:
+ * product_name - A pointer to a buffer to write the name.
+ * maxlen - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ * The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+ DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+ memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+ return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ * Called to retrieve the hardware version information. The function
+ * will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ * hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ * Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+ size_t length = 12;
+ memset(hw_version, 0 , sizeof(uavcan_HardwareVersion_t));
+
+ hw_version->major = HW_VERSION_MAJOR;
+ hw_version->minor = HW_VERSION_MINOR;
+
+ memcpy(hw_version->unique_id, (void *) STM32_SYSMEM_UID, length);
+ return length;
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ * Provides User feedback to indicate the state of the bootloader
+ * on board specific hardware.
+ *
+ * Input Parameters:
+ * indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ * None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef struct packed_struct led_t {
+ uint16_t red : 5;
+ uint16_t green : 6;
+ uint16_t blue : 5;
+ uint8_t hz;
+} led_t;
+
+static const led_t i2l[] = {
+
+ led(0, off, 0, 0, 0, 0),
+ led(1, reset, 10, 63, 31, 255),
+ led(2, autobaud_start, 0, 63, 0, 1),
+ led(3, autobaud_end, 0, 63, 0, 2),
+ led(4, allocation_start, 0, 0, 31, 2),
+ led(5, allocation_end, 0, 63, 31, 3),
+ led(6, fw_update_start, 15, 63, 31, 3),
+ led(7, fw_update_erase_fail, 15, 63, 15, 3),
+ led(8, fw_update_invalid_response, 31, 0, 0, 1),
+ led(9, fw_update_timeout, 31, 0, 0, 2),
+ led(a, fw_update_invalid_crc, 31, 0, 0, 4),
+ led(b, jump_to_app, 0, 63, 0, 10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+ rgb_led(i2l[indication].red << 3,
+ i2l[indication].green << 2,
+ i2l[indication].blue << 3,
+ i2l[indication].hz);
+}
diff --git a/src/drivers/boards/px4esc-v1/bootloader/boot_config.h b/src/drivers/boards/px4esc-v1/bootloader/boot_config.h
new file mode 100644
index 0000000000..eb36b19c69
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/bootloader/boot_config.h
@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2015 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "../board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS 5000
+#define OPT_NODE_STATUS_RATE_MS 800
+#define OPT_NODE_INFO_RATE_MS 50
+#define OPT_BL_NUMBER_TIMERS 7
+
+/*
+ * This Option set is set to 1 ensure a provider of firmware has an
+ * opportunity update the node's firmware.
+ * This Option is the default policy and can be overridden by
+ * a jumper
+ * When this Policy is set, the node will ignore tboot and
+ * wait indefinitely for a GetNodeInfo request before booting.
+ *
+ * OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ * the polarity of the jumper to be True Active
+ *
+ * wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ * Jumper
+ * yes 1 0 x
+ * yes 1 1 Active
+ * no 1 1 Not Active
+ * no 0 0 X
+ * yes 0 1 Active
+ * no 0 1 Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO 0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+
+#define OPT_ENABLE_WD 1
+
+#define OPT_RESTART_TIMEOUT_MS 20000
+
+/* Reserved for the Boot loader */
+#define OPT_BOOTLOADER_SIZE_IN_K (1024*16)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K (32*1024) /* Parameters will use the 2nd, 3rd 16KiB sectors*/
+
+#define OPT_APPLICATION_IMAGE_OFFSET (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K)
+#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE STM32_FLASH_BASE
+#define FLASH_NUMBER_PAGES STM32_FLASH_NPAGES
+#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
+#define FLASH_SIZE ((4*16*1024) + (1*64*1024) + (3*128*1024))
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
+ defined(CONFIG_STM32_FLASH_CONFIG_F) || \
+ defined(CONFIG_STM32_FLASH_CONFIG_G) || \
+ defined(CONFIG_STM32_FLASH_CONFIG_I)
+#define OPT_USE_YIELD
+#endif
+
+/* Bootloader Option*****************************************************************
+ *
+ * GPIO Function MPU Board
+ * Pin # Name
+ * -- ----- -------------------------------- ----------------------------
+ * PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
+ */
+#define GPIO_GETNODEINFO_JUMPER GPIO_WAIT_GETNODEINFO
diff --git a/src/drivers/boards/px4esc-v1/bootloader/led.c b/src/drivers/boards/px4esc-v1/bootloader/led.c
new file mode 100644
index 0000000000..becd712995
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/bootloader/led.c
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <arch/board/board.h>
+#include "chip/stm32_tim.h"
+
+
+#include "led.h"
+#define TMR_BASE STM32_TIM3_BASE
+#define TMR_FREQUENCY STM32_APB1_TIM3_CLKIN
+#define TMR_REG(o) (TMR_BASE+(o))
+
+
+void rgb_led(int r, int g , int b, int freqs)
+{
+
+ long fosc = TMR_FREQUENCY;
+ long prescale = 2048;
+ long p1s = fosc / prescale;
+ long p0p5s = p1s / 2;
+ uint16_t val;
+ static bool once = 0;
+
+ if (!once) {
+ once = 1;
+
+ /* Enabel Clock to Block */
+ modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
+
+ /* Reload */
+
+ val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+ val |= ATIM_EGR_UG;
+ putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+ /* Set Prescaler STM32_TIM_SETCLOCK */
+
+ putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+ /* Enable STM32_TIM_SETMODE*/
+
+ putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+ putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+ putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE |
+ (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC4M_SHIFT) | ATIM_CCMR2_OC4PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+ putreg16(ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+ ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+ ATIM_CCER_CC4E | ATIM_CCER_CC4P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+ stm32_configgpio(GPIO_TIM3_CH2OUT);
+ stm32_configgpio(GPIO_TIM3_CH3OUT);
+ stm32_configgpio(GPIO_TIM3_CH4OUT);
+
+
+ }
+
+ long p = freqs == 0 ? p1s : p1s / freqs;
+ putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+ p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+ putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+ putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+ putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR4_OFFSET));
+
+ val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+ if (freqs == 0) {
+ val &= ~ATIM_CR1_CEN;
+
+ } else {
+ val |= ATIM_CR1_CEN;
+ }
+
+ putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
diff --git a/src/drivers/boards/px4esc-v1/bootloader/led.h b/src/drivers/boards/px4esc-v1/bootloader/led.h
new file mode 100644
index 0000000000..1f0e67734e
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/bootloader/led.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <systemlib/visibility.h>
+
+__BEGIN_DECLS
+void rgb_led(int r, int g , int b, int freqs);
+__END_DECLS
diff --git a/src/drivers/boards/px4esc-v1/px4esc_init.c b/src/drivers/boards/px4esc-v1/px4esc_init.c
new file mode 100644
index 0000000000..756eaaae59
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/px4esc_init.c
@@ -0,0 +1,209 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2015 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 px4flow_init.c
+ *
+ * PX4ESC-specific early startup code. This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "stm32_uart.h"
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
+
+#include <systemlib/cpuload.h>
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+#include <systemlib/systemlib.h>
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+# include <systemlib/flashparams/flashfs.h>
+#endif
+
+#include "board_config.h"
+
+/* todo: This is constant but not proper */
+__BEGIN_DECLS
+extern void led_off(int led);
+__END_DECLS
+
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ * All STM32 architectures must provide the following entry point. This entry point
+ * is called early in the initialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+ /* configure LEDs */
+ board_autoled_initialize();
+#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
+ defined(CONFIG_STM32_SPI3)
+ board_spiinitialize();
+#endif
+}
+
+
+__EXPORT void board_initialize(void)
+{
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ * Perform application specific initialization. This function is never
+ * called directly from application code, but only indirectly via the
+ * (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ * arg - The boardctl() argument is passed to the board_app_initialize()
+ * implementation without modification. The argument has no
+ * meaning to NuttX; the meaning of the argument is a contract
+ * between the board-specific initalization logic and the the
+ * matching application logic. The value cold be such things as a
+ * mode enumeration value, a set of DIP switch switch settings, a
+ * pointer to configuration data read from a file or serial FLASH,
+ * or whatever you would like to do with it. Every implementation
+ * should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ * Zero (OK) is returned on success; a negated errno value is returned on
+ * any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+
+ int result = OK;
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+ /* run C++ ctors before we go any further */
+
+ up_cxxinitialize();
+
+# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+# endif
+
+#else
+# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+ /* configure the high-resolution time/callout interface */
+ hrt_init();
+
+ /* set up the serial DMA polling */
+ static struct hrt_call serial_dma_call;
+ struct timespec ts;
+
+ /*
+ * Poll at 1ms intervals for received bytes that have not triggered
+ * a DMA event.
+ */
+ ts.tv_sec = 0;
+ ts.tv_nsec = 1000000;
+
+ hrt_call_every(&serial_dma_call,
+ ts_to_abstime(&ts),
+ ts_to_abstime(&ts),
+ (hrt_callout)stm32_serial_dma_poll,
+ NULL);
+
+#if defined(FLASH_BASED_PARAMS)
+ static sector_descriptor_t sector_map[] = {
+ {1, 16 * 1024, 0x08004000},
+ {2, 16 * 1024, 0x08008000},
+ {0, 0, 0},
+ };
+ static uint8_t param_buffer[PARAMETER_BUFFER_SIZE];
+
+ parameter_flashfs_init(sector_map, param_buffer, sizeof(param_buffer));
+#endif
+ return result;
+}
+
+
+__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
+{
+}
diff --git a/src/drivers/boards/px4esc-v1/px4esc_led.c b/src/drivers/boards/px4esc-v1/px4esc_led.c
new file mode 100644
index 0000000000..68b93034d7
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/px4esc_led.c
@@ -0,0 +1,192 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2015 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 px4esc_led.c
+ *
+ * PX4ESC LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+#include <nuttx/board.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+#include <systemlib/px4_macros.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+ GPIO_LED_RED, // Indexed by BOARD_LED_RED
+ GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
+ GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
+};
+
+__EXPORT void led_init(void)
+{
+ /* Configure LED GPIOs for output */
+ for (size_t l = 0; l < arraySize(g_ledmap); l++) {
+ stm32_configgpio(g_ledmap[l]);
+ }
+}
+
+__EXPORT void board_autoled_initialize(void)
+{
+ led_init();
+}
+
+static void phy_set_led(int led, bool state)
+{
+ /* Pull Down to switch on */
+ stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+ return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+ phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+ phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+ phy_set_led(led, !phy_get_led(led));
+}
+
+static bool g_initialized;
+
+// Nuttx Usages
+
+__EXPORT
+void board_autoled_on(int led)
+{
+ switch (led) {
+ default:
+ case LED_STARTED:
+ case LED_HEAPALLOCATE:
+ phy_set_led(BOARD_LED_BLUE, true);
+ break;
+
+ case LED_IRQSENABLED:
+ phy_set_led(BOARD_LED_GREEN, true);
+ break;
+
+ case LED_STACKCREATED:
+ phy_set_led(BOARD_LED_GREEN, true);
+ phy_set_led(BOARD_LED_BLUE, true);
+ g_initialized = true;
+ break;
+
+ case LED_INIRQ:
+ case LED_SIGNAL:
+ phy_set_led(BOARD_LED_GREEN, true);
+ break;
+
+ case LED_ASSERTION:
+ phy_set_led(BOARD_LED_RED, true);
+ phy_set_led(BOARD_LED_GREEN, true);
+ break;
+
+ case LED_PANIC:
+ phy_set_led(BOARD_LED_RED, true);
+ break;
+
+ case LED_IDLE : /* IDLE */
+ phy_set_led(BOARD_LED_RED, true);
+ phy_set_led(BOARD_LED_BLUE, true);
+ break;
+ }
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+
+__EXPORT void board_autoled_off(int led)
+{
+ switch (led) {
+ default:
+ case LED_STARTED:
+ case LED_HEAPALLOCATE:
+ case LED_IRQSENABLED:
+ phy_set_led(BOARD_LED_BLUE, false);
+
+ case LED_STACKCREATED:
+ break;
+
+ case LED_INIRQ:
+ case LED_SIGNAL:
+ case LED_ASSERTION:
+ phy_set_led(BOARD_LED_RED, false);
+ phy_set_led(BOARD_LED_GREEN, false);
+
+ break;
+
+ case LED_PANIC:
+ phy_set_led(BOARD_LED_RED, false);
+ phy_set_led(BOARD_LED_GREEN, false);
+ break;
+
+ case LED_IDLE: /* IDLE */
+ phy_set_led(BOARD_LED_GREEN, g_initialized);
+ break;
+ }
+}
diff --git a/src/drivers/boards/px4esc-v1/px4esc_usb.c b/src/drivers/boards/px4esc-v1/px4esc_usb.c
new file mode 100644
index 0000000000..50f18d8f64
--- /dev/null
+++ b/src/drivers/boards/px4esc-v1/px4esc_usb.c
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 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 px4esc_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ * Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+ /* The OTG FS has an internal soft pull-up */
+
+ /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+ /* XXX We only support device mode
+ stm32_configgpio(GPIO_OTGFS_VBUS);
+ stm32_configgpio(GPIO_OTGFS_PWRON);
+ stm32_configgpio(GPIO_OTGFS_OVER);
+ */
+#endif
+}
+
+/************************************************************************************
+ * Name: stm32_usbsuspend
+ *
+ * Description:
+ * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ * used. This function is called whenever the USB enters or leaves suspend mode.
+ * This is an opportunity for the board logic to shutdown clocks, power, etc.
+ * while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+ uinfo("resume: %d\n", resume);
+}
diff --git a/src/modules/uavcanesc/.gitignore b/src/modules/uavcanesc/.gitignore
new file mode 100644
index 0000000000..24fbf171f0
--- /dev/null
+++ b/src/modules/uavcanesc/.gitignore
@@ -0,0 +1 @@
+./dsdlc_generated/
diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/modules/uavcanesc/CMakeLists.txt
new file mode 100644
index 0000000000..908a84c83c
--- /dev/null
+++ b/src/modules/uavcanesc/CMakeLists.txt
@@ -0,0 +1,84 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
+set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
+
+string(TOUPPER "${OS}" OS_UPPER)
+add_definitions(
+ -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
+ -DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+ -DUAVCAN_MEM_POOL_BLOCK_SIZE=48
+ -DUAVCAN_NO_ASSERTIONS
+ -DUAVCAN_PLATFORM=stm32
+ -DUAVCAN_STM32_${OS_UPPER}=1
+ -DUAVCAN_STM32_NUM_IFACES=1
+ -DUAVCAN_STM32_TIMER_NUMBER=2
+ -DUAVCAN_USE_CPP03=ON
+ -DUAVCAN_USE_EXTERNAL_SNPRINT
+ -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+ -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+ -DHW_UAVCAN_NAME=${uavcanblid_name}
+ -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+ -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+ )
+
+px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
+add_dependencies(uavcan platforms__nuttx)
+
+include_directories(../../drivers/bootloaders/include)
+include_directories(../uavcan/libuavcan/libuavcan/include)
+include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
+include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
+include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
+include_directories(../systemlib/flashparams)
+
+px4_add_module(
+ MODULE modules__uavcanesc
+ MAIN uavcanesc
+ STACK_MAIN 4096
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ uavcanesc_main.cpp
+ indication_controller.cpp
+ led.cpp
+ uavcanesc_params.c
+ ../systemlib/flashparams/flashparams.c
+ ../systemlib/flashparams/flashfs.c
+
+ DEPENDS
+ platforms__common
+ uavcan
+ )
diff --git a/src/modules/uavcanesc/commands/cfg/CMakeLists.txt b/src/modules/uavcanesc/commands/cfg/CMakeLists.txt
new file mode 100644
index 0000000000..36709de5c6
--- /dev/null
+++ b/src/modules/uavcanesc/commands/cfg/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__commands__cfg
+ MAIN cfg
+ STACK_MAIN 1024
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ esc_cfg.cpp
+
+ DEPENDS
+ platforms__common
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/commands/cfg/esc_cfg.cpp b/src/modules/uavcanesc/commands/cfg/esc_cfg.cpp
new file mode 100644
index 0000000000..fba6e7b0dd
--- /dev/null
+++ b/src/modules/uavcanesc/commands/cfg/esc_cfg.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_cfg.hpp"
+
+
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\tcfg {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int cfg_main(int argc, char *argv[]);
+int cfg_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/commands/cfg/esc_cfg.hpp b/src/modules/uavcanesc/commands/cfg/esc_cfg.hpp
new file mode 100644
index 0000000000..df773e49f9
--- /dev/null
+++ b/src/modules/uavcanesc/commands/cfg/esc_cfg.hpp
@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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/src/modules/uavcanesc/commands/dc/CMakeLists.txt b/src/modules/uavcanesc/commands/dc/CMakeLists.txt
new file mode 100644
index 0000000000..bc60d562df
--- /dev/null
+++ b/src/modules/uavcanesc/commands/dc/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__commands__dc
+ MAIN dc
+ STACK_MAIN 1024
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ esc_dc.cpp
+
+ DEPENDS
+ platforms__common
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/commands/dc/esc_dc.cpp b/src/modules/uavcanesc/commands/dc/esc_dc.cpp
new file mode 100644
index 0000000000..33dbe9525a
--- /dev/null
+++ b/src/modules/uavcanesc/commands/dc/esc_dc.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_dc.hpp"
+
+
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\tdc {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int dc_main(int argc, char *argv[]);
+int dc_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/commands/dc/esc_dc.hpp b/src/modules/uavcanesc/commands/dc/esc_dc.hpp
new file mode 100644
index 0000000000..df773e49f9
--- /dev/null
+++ b/src/modules/uavcanesc/commands/dc/esc_dc.hpp
@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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/src/modules/uavcanesc/commands/rpm/CMakeLists.txt b/src/modules/uavcanesc/commands/rpm/CMakeLists.txt
new file mode 100644
index 0000000000..2934f2b2af
--- /dev/null
+++ b/src/modules/uavcanesc/commands/rpm/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__commands__rpm
+ MAIN rpm
+ STACK_MAIN 1024
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ esc_rpm.cpp
+
+ DEPENDS
+ platforms__common
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/commands/rpm/esc_rpm.cpp b/src/modules/uavcanesc/commands/rpm/esc_rpm.cpp
new file mode 100644
index 0000000000..b7f17a7ffa
--- /dev/null
+++ b/src/modules/uavcanesc/commands/rpm/esc_rpm.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_rpm.hpp"
+
+
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\trpm {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int rpm_main(int argc, char *argv[]);
+int rpm_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/commands/rpm/esc_rpm.hpp b/src/modules/uavcanesc/commands/rpm/esc_rpm.hpp
new file mode 100644
index 0000000000..df773e49f9
--- /dev/null
+++ b/src/modules/uavcanesc/commands/rpm/esc_rpm.hpp
@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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/src/modules/uavcanesc/commands/selftest/CMakeLists.txt b/src/modules/uavcanesc/commands/selftest/CMakeLists.txt
new file mode 100644
index 0000000000..35d3285476
--- /dev/null
+++ b/src/modules/uavcanesc/commands/selftest/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__commands__selftest
+ MAIN selftest
+ STACK_MAIN 1024
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ esc_selftest.cpp
+
+ DEPENDS
+ platforms__common
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/commands/selftest/esc_selftest.cpp b/src/modules/uavcanesc/commands/selftest/esc_selftest.cpp
new file mode 100644
index 0000000000..c5464984cf
--- /dev/null
+++ b/src/modules/uavcanesc/commands/selftest/esc_selftest.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_selftest.hpp"
+
+
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\tselftest {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int selftest_main(int argc, char *argv[]);
+int selftest_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/commands/selftest/esc_selftest.hpp b/src/modules/uavcanesc/commands/selftest/esc_selftest.hpp
new file mode 100644
index 0000000000..df773e49f9
--- /dev/null
+++ b/src/modules/uavcanesc/commands/selftest/esc_selftest.hpp
@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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/src/modules/uavcanesc/commands/stat/CMakeLists.txt b/src/modules/uavcanesc/commands/stat/CMakeLists.txt
new file mode 100644
index 0000000000..0c9859579a
--- /dev/null
+++ b/src/modules/uavcanesc/commands/stat/CMakeLists.txt
@@ -0,0 +1,49 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__commands__stat
+ MAIN cfg
+ STACK_MAIN 1024
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -O3
+ SRCS
+ esc_stat.cpp
+
+ DEPENDS
+ platforms__common
+
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/commands/stat/esc_stat.cpp b/src/modules/uavcanesc/commands/stat/esc_stat.cpp
new file mode 100644
index 0000000000..88e379285e
--- /dev/null
+++ b/src/modules/uavcanesc/commands/stat/esc_stat.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_stat.hpp"
+
+
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\tstat {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int stat_main(int argc, char *argv[]);
+int stat_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/commands/stat/esc_stat.hpp b/src/modules/uavcanesc/commands/stat/esc_stat.hpp
new file mode 100644
index 0000000000..df773e49f9
--- /dev/null
+++ b/src/modules/uavcanesc/commands/stat/esc_stat.hpp
@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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/src/modules/uavcanesc/indication_controller.cpp b/src/modules/uavcanesc/indication_controller.cpp
new file mode 100644
index 0000000000..f02780f692
--- /dev/null
+++ b/src/modules/uavcanesc/indication_controller.cpp
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ * Author: Pavel Kirienko <pavel.kirienko@gmail.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 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.
+ *
+ ****************************************************************************/
+
+#include <systemlib/systemlib.h>
+#include "indication_controller.hpp"
+#include <uavcan/equipment/indication/LightsCommand.hpp>
+#include "led.hpp"
+
+namespace
+{
+unsigned self_light_index = 0;
+
+void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
+{
+ uavcan::uint32_t red = 0;
+ uavcan::uint32_t green = 0;
+ uavcan::uint32_t blue = 0;
+
+ for (auto &cmd : msg.commands) {
+ if (cmd.light_id == self_light_index) {
+ using uavcan::equipment::indication::RGB565;
+
+ red = uavcan::uint32_t(float(cmd.color.red) *
+ (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
+
+ green = uavcan::uint32_t(float(cmd.color.green) *
+ (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
+
+ blue = uavcan::uint32_t(float(cmd.color.blue) *
+ (255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
+
+ red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
+ green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
+ blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
+ }
+ }
+}
+}
+
+int init_indication_controller(uavcan::INode &node)
+{
+ static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
+
+ self_light_index = 0;
+
+ int res = 0;
+
+ res = sub_light.start(cb_light_command);
+
+ if (res != 0) {
+ return res;
+ }
+
+ return 0;
+}
diff --git a/src/modules/uavcanesc/indication_controller.hpp b/src/modules/uavcanesc/indication_controller.hpp
new file mode 100644
index 0000000000..b8a33aa733
--- /dev/null
+++ b/src/modules/uavcanesc/indication_controller.hpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ * Author: Pavel Kirienko <pavel.kirienko@gmail.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 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+
+
+int init_indication_controller(uavcan::INode &node);
diff --git a/src/modules/uavcanesc/led.cpp b/src/modules/uavcanesc/led.cpp
new file mode 100644
index 0000000000..16d431a146
--- /dev/null
+++ b/src/modules/uavcanesc/led.cpp
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+#include <arch/board/board.h>
+#include "chip/stm32_tim.h"
+
+
+#include "led.hpp"
+
+void rgb_led(int r, int g , int b, int freqs)
+{
+
+ long fosc = 72000000;
+ long prescale = 2048;
+ long p1s = fosc / prescale;
+ long p0p5s = p1s / 2;
+ stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
+ static struct stm32_tim_dev_s *tim = 0;
+
+ if (tim == 0) {
+ tim = stm32_tim_init(3);
+ STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
+ STM32_TIM_SETCLOCK(tim, p1s - 8);
+ STM32_TIM_SETPERIOD(tim, p1s);
+ STM32_TIM_SETCOMPARE(tim, 1, 0);
+ STM32_TIM_SETCOMPARE(tim, 2, 0);
+ STM32_TIM_SETCOMPARE(tim, 3, 0);
+ STM32_TIM_SETCHANNEL(tim, 1, mode);
+ STM32_TIM_SETCHANNEL(tim, 2, mode);
+ STM32_TIM_SETCHANNEL(tim, 3, mode);
+ }
+
+ long p = freqs == 0 ? p1s : p1s / freqs;
+ STM32_TIM_SETPERIOD(tim, p);
+
+ p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+ STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
+ STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
+ STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
+}
diff --git a/src/modules/uavcanesc/led.hpp b/src/modules/uavcanesc/led.hpp
new file mode 100644
index 0000000000..1f0e67734e
--- /dev/null
+++ b/src/modules/uavcanesc/led.hpp
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ * Author: David Sidrane<david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+#include <systemlib/visibility.h>
+
+__BEGIN_DECLS
+void rgb_led(int r, int g , int b, int freqs);
+__END_DECLS
diff --git a/src/modules/uavcanesc/nshterm/CMakeLists.txt b/src/modules/uavcanesc/nshterm/CMakeLists.txt
new file mode 100644
index 0000000000..9a6ffc82c4
--- /dev/null
+++ b/src/modules/uavcanesc/nshterm/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_module(
+ MODULE modules__uavcanesc__nshterm
+ MAIN nshterm
+ STACK_MAIN 1500
+ COMPILE_FLAGS
+ -Wno-deprecated-declarations
+ -Os
+ SRCS
+ nshterm.c
+ PRIORITY "SCHED_PRIORITY_DEFAULT-30"
+ DEPENDS
+ platforms__common
+ )
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/uavcanesc/nshterm/nshterm.c b/src/modules/uavcanesc/nshterm/nshterm.c
new file mode 100644
index 0000000000..1bff13bc07
--- /dev/null
+++ b/src/modules/uavcanesc/nshterm/nshterm.c
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ * Author: Andrew Tridgell
+ *
+ * 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 nshterm.c
+ * start a nsh terminal on a given port. This can be useful for error
+ * handling in startup scripts to start a nsh shell on /dev/ttyACM0
+ * for diagnostics
+ */
+
+#include <px4_config.h>
+#include <termios.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <nshlib/nshlib.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+__EXPORT int nshterm_main(int argc, char *argv[]);
+
+int
+nshterm_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ printf("Usage: nshterm <device>\n");
+ exit(1);
+ }
+
+ unsigned retries = 0;
+ int fd = -1;
+
+ /* back off 800 ms to avoid running into the USB setup timing */
+ while (hrt_absolute_time() < 800U * 1000U) {
+ usleep(50000);
+ }
+
+ /* try to bring up the console - stop doing so if the system gets armed */
+ while (true) {
+
+ /* the retries are to cope with the behaviour of /dev/ttyACM0 */
+ /* which may not be ready immediately. */
+ fd = open(argv[1], O_RDWR);
+
+ if (fd != -1) {
+ break;
+ }
+
+ usleep(100000);
+ retries++;
+ }
+
+ if (fd == -1) {
+ perror(argv[1]);
+ exit(1);
+ }
+
+ /* set up the serial port with output processing */
+
+ /* Try to set baud rate */
+ struct termios uart_config;
+ int termios_state;
+
+ /* Back up the original uart configuration to restore it after exit */
+ if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+ warnx("ERR get config %s: %d\n", argv[1], termios_state);
+ close(fd);
+ return -1;
+ }
+
+ /* Set ONLCR flag (which appends a CR for every LF) */
+ uart_config.c_oflag |= (ONLCR | OPOST);
+
+ if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+ warnx("ERR set config %s\n", argv[1]);
+ close(fd);
+ return -1;
+ }
+
+ /* setup standard file descriptors */
+ close(0);
+ close(1);
+ close(2);
+ dup2(fd, 0);
+ dup2(fd, 1);
+ dup2(fd, 2);
+
+ nsh_consolemain(0, NULL);
+
+ close(fd);
+
+ return OK;
+}
diff --git a/src/modules/uavcanesc/uavcanesc_main.cpp b/src/modules/uavcanesc/uavcanesc_main.cpp
new file mode 100644
index 0000000000..763694fe7f
--- /dev/null
+++ b/src/modules/uavcanesc/uavcanesc_main.cpp
@@ -0,0 +1,543 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ * David Sidrane <david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+
+
+#include <px4_config.h>
+#include <px4_log.h>
+
+#include <cstdlib>
+#include <cstring>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
+#include <version/version.h>
+#include <arch/board/board.h>
+#include <arch/chip/chip.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "uavcanesc_main.hpp"
+#include "led.hpp"
+#include "indication_controller.hpp"
+
+#include "boot_app_shared.h"
+
+/**
+ *
+ * Implements basic functionality of UAVCAN esc.
+ */
+
+/*
+ * This is the AppImageDescriptor used
+ * by the make_can_boot_descriptor.py tool to set
+ * the application image's descriptor so that the
+ * uavcan bootloader has the ability to validate the
+ * image crc, size etc of this application
+*/
+
+boot_app_shared_section app_descriptor_t AppDescriptor = {
+ .signature = {APP_DESCRIPTOR_SIGNATURE},
+ .image_crc = 0,
+ .image_size = 0,
+ .vcs_commit = 0,
+ .major_version = APP_VERSION_MAJOR,
+ .minor_version = APP_VERSION_MINOR,
+ .reserved = {0xff , 0xff , 0xff , 0xff , 0xff , 0xff }
+};
+
+/*
+ * UavcanNode
+ */
+UavcanEsc *UavcanEsc::_instance;
+
+UavcanEsc::UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
+ CDev("uavcanesc", UAVCAN_DEVICE_PATH),
+ active_bitrate(0),
+ _node(can_driver, system_clock),
+ _node_mutex(),
+ _fw_update_listner(_node),
+ _reset_timer(_node)
+{
+ const int res = pthread_mutex_init(&_node_mutex, nullptr);
+
+ if (res < 0) {
+ std::abort();
+ }
+
+}
+
+UavcanEsc::~UavcanEsc()
+{
+ if (_task != -1) {
+ /* tell the task we want it to go away */
+ _task_should_exit = true;
+
+ unsigned i = 10;
+
+ do {
+ /* wait 5ms - it should wake every 10ms or so worst-case */
+ ::usleep(5000);
+
+ /* if we have given up, kill it */
+ if (--i == 0) {
+ task_delete(_task);
+ break;
+ }
+
+ } while (_task != -1);
+ }
+
+ _instance = nullptr;
+
+}
+
+int UavcanEsc::start(uavcan::NodeID node_id, uint32_t bitrate)
+{
+
+
+ if (_instance != nullptr) {
+ PX4_WARN("Already started");
+ return -1;
+ }
+
+ /*
+ * GPIO config.
+ * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
+ * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
+ * fail during initialization.
+ */
+ px4_arch_configgpio(GPIO_CAN1_RX);
+ px4_arch_configgpio(GPIO_CAN1_TX);
+#if defined(GPIO_CAN2_RX)
+ px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
+ px4_arch_configgpio(GPIO_CAN2_TX);
+#endif
+ /*
+ * CAN driver init
+ */
+ static CanInitHelper can;
+ static bool can_initialized = false;
+
+ if (!can_initialized) {
+ const int can_init_res = can.init(bitrate);
+
+ if (can_init_res < 0) {
+ PX4_WARN("CAN driver init failed %i", can_init_res);
+ return can_init_res;
+ }
+
+ can_initialized = true;
+ }
+
+ /*
+ * Node init
+ */
+ _instance = new UavcanEsc(can.driver, uavcan_stm32::SystemClock::instance());
+
+ if (_instance == nullptr) {
+ PX4_WARN("Out of memory");
+ return -1;
+ }
+
+
+ const int node_init_res = _instance->init(node_id);
+
+ if (node_init_res < 0) {
+ delete _instance;
+ _instance = nullptr;
+ PX4_WARN("Node init failed %i", node_init_res);
+ return node_init_res;
+ }
+
+
+ /* Keep the bit rate for reboots on BenginFirmware updates */
+
+ _instance->active_bitrate = bitrate;
+
+ /*
+ * Start the task. Normally it should never exit.
+ */
+ static auto run_trampoline = [](int, char *[]) {return UavcanEsc::_instance->run();};
+ _instance->_task = px4_task_spawn_cmd("uavcanesc", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
+ static_cast<main_t>(run_trampoline), nullptr);
+
+ if (_instance->_task < 0) {
+ PX4_WARN("start failed: %d", errno);
+ return -errno;
+ }
+
+ return OK;
+}
+
+void UavcanEsc::fill_node_info()
+{
+ /* software version */
+ uavcan::protocol::SoftwareVersion swver;
+
+ // Extracting the first 8 hex digits of FW_GIT and converting them to int
+ char fw_git_short[9] = {};
+ std::memmove(fw_git_short, FW_GIT, 8);
+ assert(fw_git_short[8] == '\0');
+ char *end = nullptr;
+ swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
+ swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
+ swver.major = AppDescriptor.major_version;
+ swver.minor = AppDescriptor.minor_version;
+ swver.image_crc = AppDescriptor.image_crc;
+
+ PX4_WARN("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
+
+ _node.setSoftwareVersion(swver);
+
+ /* hardware version */
+ uavcan::protocol::HardwareVersion hwver;
+
+ hwver.major = HW_VERSION_MAJOR;
+ hwver.minor = HW_VERSION_MINOR;
+
+ uint8_t udid[12] = {}; // Someone seems to love magic numbers
+ get_board_serial(udid);
+ uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
+
+ _node.setHardwareVersion(hwver);
+}
+
+static void cb_reboot(const uavcan::TimerEvent &)
+{
+ px4_systemreset(false);
+
+}
+
+void UavcanEsc::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request>
+ &req,
+ uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp)
+{
+ static bool inprogress = false;
+
+ rsp.error = rsp.ERROR_UNKNOWN;
+
+ if (req.image_file_remote_path.path.size()) {
+ rsp.error = rsp.ERROR_IN_PROGRESS;
+
+ if (!inprogress) {
+ inprogress = true;
+ bootloader_app_shared_t shared;
+ shared.bus_speed = active_bitrate;
+ shared.node_id = _node.getNodeID().get();
+ bootloader_app_shared_write(&shared, App);
+ rgb_led(255, 128 , 0 , 5);
+ _reset_timer.setCallback(cb_reboot);
+ _reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
+ rsp.error = rsp.ERROR_OK;
+ }
+ }
+}
+
+int UavcanEsc::init(uavcan::NodeID node_id)
+{
+ int ret = -1;
+
+ // Do regular cdev init
+ ret = CDev::init();
+
+ if (ret != OK) {
+ return ret;
+ }
+
+ _node.setName(HW_UAVCAN_NAME);
+
+ _node.setNodeID(node_id);
+
+ fill_node_info();
+
+ const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
+ &UavcanEsc::cb_beginfirmware_update));
+
+ if (srv_start_res < 0) {
+ return ret;
+ }
+
+ return _node.start();
+}
+
+
+/*
+ * Restart handler
+ */
+class RestartRequestHandler: public uavcan::IRestartRequestHandler
+{
+ bool handleRestartRequest(uavcan::NodeID request_source) override
+ {
+ ::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
+ ::usleep(20 * 1000 * 1000);
+ px4_systemreset(false);
+ return true; // Will never be executed BTW
+ }
+} restart_request_handler;
+
+void UavcanEsc::node_spin_once()
+{
+ const int spin_res = _node.spin(uavcan::MonotonicTime());
+
+ if (spin_res < 0) {
+ PX4_WARN("node spin error %i", spin_res);
+ }
+}
+
+/*
+ add a fd to the list of polled events. This assumes you want
+ POLLIN for now.
+ */
+int UavcanEsc::add_poll_fd(int fd)
+{
+ int ret = _poll_fds_num;
+
+ if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) {
+ errx(1, "uavcan: too many poll fds, exiting");
+ }
+
+ _poll_fds[_poll_fds_num] = ::pollfd();
+ _poll_fds[_poll_fds_num].fd = fd;
+ _poll_fds[_poll_fds_num].events = POLLIN;
+ _poll_fds_num += 1;
+ return ret;
+}
+
+
+int UavcanEsc::run()
+{
+
+ get_node().setRestartRequestHandler(&restart_request_handler);
+
+ while (init_indication_controller(get_node()) < 0) {
+ ::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
+ ::sleep(1);
+ }
+
+ (void)pthread_mutex_lock(&_node_mutex);
+
+ const unsigned PollTimeoutMs = 50;
+
+ const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
+
+ if (busevent_fd < 0) {
+ PX4_WARN("Failed to open %s", uavcan_stm32::BusEvent::DevName);
+ _task_should_exit = true;
+ }
+
+ /* If we had an RTC we would call uavcan_stm32::clock::setUtc()
+ * but for now we use adjustUtc with a correction of 0
+ */
+// uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(0));
+
+ _node.setModeOperational();
+
+ /*
+ * This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
+ * Please note that with such multiplexing it is no longer possible to rely only on
+ * the value returned from poll() to detect whether actuator control has timed out or not.
+ * Instead, all ORB events need to be checked individually (see below).
+ */
+ add_poll_fd(busevent_fd);
+
+ while (!_task_should_exit) {
+ // Mutex is unlocked while the thread is blocked on IO multiplexing
+ (void)pthread_mutex_unlock(&_node_mutex);
+
+ const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+
+
+ (void)pthread_mutex_lock(&_node_mutex);
+
+ node_spin_once(); // Non-blocking
+
+
+ // this would be bad...
+ if (poll_ret < 0) {
+ PX4_ERR("poll error %d", errno);
+ continue;
+
+ } else {
+ // Do Something
+ }
+ }
+
+ teardown();
+ PX4_WARN("exiting.");
+
+ exit(0);
+}
+
+int
+UavcanEsc::teardown()
+{
+ return 0;
+}
+
+
+
+int
+UavcanEsc::ioctl(file *filp, int cmd, unsigned long arg)
+{
+ int ret = OK;
+
+ lock();
+
+ switch (cmd) {
+
+
+
+ default:
+ ret = -ENOTTY;
+ break;
+ }
+
+ unlock();
+
+ if (ret == -ENOTTY) {
+ ret = CDev::ioctl(filp, cmd, arg);
+ }
+
+ return ret;
+}
+
+void
+UavcanEsc::print_info()
+{
+ if (!_instance) {
+ PX4_WARN("not running, start first");
+ }
+
+ (void)pthread_mutex_lock(&_node_mutex);
+
+
+ (void)pthread_mutex_unlock(&_node_mutex);
+}
+
+/*
+ * App entry point
+ */
+static void print_usage()
+{
+ PX4_INFO("usage: \n"
+ "\tuavcanesc {start|status|stop}");
+}
+
+extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
+
+int uavcannode_start(int argc, char *argv[])
+{
+ // CAN bitrate
+ int32_t bitrate = 0;
+ // Node ID
+ int32_t node_id = 0;
+
+ // Did the bootloader auto baud and get a node ID Allocated
+
+ bootloader_app_shared_t shared;
+ int valid = bootloader_app_shared_read(&shared, BootLoader);
+
+ if (valid == 0) {
+
+ bitrate = shared.bus_speed;
+ node_id = shared.node_id;
+
+ // Invalidate to prevent deja vu
+
+ bootloader_app_shared_invalidate();
+
+ } else {
+
+ // Node ID
+ (void)param_get(param_find("ESC_NODE_ID"), &node_id);
+ (void)param_get(param_find("ESC_BITRATE"), &bitrate);
+ }
+
+ if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
+ PX4_WARN("Invalid Node ID %i", node_id);
+ ::exit(1);
+ }
+
+ // Start
+ PX4_WARN("Node ID %u, bitrate %u", node_id, bitrate);
+ int rv = UavcanEsc::start(node_id, bitrate);
+ ::sleep(1);
+ return rv;
+}
+
+extern "C" __EXPORT int uavcanesc_main(int argc, char *argv[]);
+int uavcanesc_main(int argc, char *argv[])
+{
+ if (argc < 2) {
+ print_usage();
+ ::exit(1);
+ }
+
+ if (!std::strcmp(argv[1], "start")) {
+
+ if (UavcanEsc::instance()) {
+ errx(1, "already started");
+ }
+
+ return uavcannode_start(argc, argv);
+ }
+
+ /* commands below require the app to be started */
+ UavcanEsc *const inst = UavcanEsc::instance();
+
+ if (!inst) {
+ PX4_ERR("application not running");
+ ::exit(1);
+
+ }
+
+ if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
+ inst->print_info();
+ ::exit(0);
+ }
+
+ if (!std::strcmp(argv[1], "stop")) {
+ delete inst;
+ ::exit(0);
+ }
+
+ print_usage();
+ ::exit(1);
+}
diff --git a/src/modules/uavcanesc/uavcanesc_main.hpp b/src/modules/uavcanesc/uavcanesc_main.hpp
new file mode 100644
index 0000000000..5e13c4e37a
--- /dev/null
+++ b/src/modules/uavcanesc/uavcanesc_main.hpp
@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ * Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ * David Sidrane <david_s5@nscdg.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 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_config.h>
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/device/device.h>
+#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
+#include <uavcan/node/timer.hpp>
+/**
+ *
+ * Defines functionality of UAVCAN ESC node.
+ */
+
+#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
+#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
+
+// we add two to allow for actuator_direct and busevent
+#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
+
+/**
+ * A UAVCAN node.
+ */
+class UavcanEsc : public device::CDev
+{
+ /*
+ * This memory is reserved for uavcan to use as over flow for message
+ * Coming from multiple sources that my not be considered at development
+ * time.
+ *
+ * The call to getNumFreeBlocks will tell how many blocks there are
+ * free -and multiply it times getBlockSize to get the number of bytes
+ *
+ */
+ static constexpr unsigned MemPoolSize = 2048;
+
+ /*
+ * This memory is reserved for uavcan to use for queuing CAN frames.
+ * At 1Mbit there is approximately one CAN frame every 200 uS.
+ * The number of buffers sets how long you can go without calling
+ * node_spin_xxxx. Since our task is the only one running and the
+ * driver will light the fd when there is a CAN frame we can nun with
+ * a minimum number of buffers to conserver memory. Each buffer is
+ * 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required
+ * poll rate of ~1 mS
+ *
+ */
+ static constexpr unsigned RxQueueLenPerIface = 5;
+
+ /*
+ * This memory is uses for the tasks stack size
+ */
+
+ static constexpr unsigned StackSize = 4096;
+
+public:
+ typedef uavcan::Node<MemPoolSize> Node;
+ typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
+ typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
+
+ UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
+
+ virtual ~UavcanEsc();
+
+ virtual int ioctl(file *filp, int cmd, unsigned long arg);
+
+ static int start(uavcan::NodeID node_id, uint32_t bitrate);
+
+ Node &get_node() { return _node; }
+
+ int teardown();
+
+ void print_info();
+
+ static UavcanEsc *instance() { return _instance; }
+
+
+ /* The bit rate that can be passed back to the bootloader */
+
+ int32_t active_bitrate;
+
+
+private:
+ void fill_node_info();
+ int init(uavcan::NodeID node_id);
+ void node_spin_once();
+ int run();
+ int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
+
+
+ int _task = -1; ///< handle to the OS task
+ bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
+
+ static UavcanEsc *_instance; ///< singleton pointer
+ Node _node; ///< library instance
+ pthread_mutex_t _node_mutex;
+
+ pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
+ unsigned _poll_fds_num = 0;
+
+ typedef uavcan::MethodBinder<UavcanEsc *,
+ void (UavcanEsc::*)(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &,
+ uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &)>
+ BeginFirmwareUpdateCallBack;
+
+ uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
+ void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &req,
+ uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp);
+
+public:
+
+ /* A timer used to reboot after the response is sent */
+
+ uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
+
+};
diff --git a/src/modules/uavcanesc/uavcanesc_params.c b/src/modules/uavcanesc/uavcanesc_params.c
new file mode 100644
index 0000000000..6bb2d1c0d4
--- /dev/null
+++ b/src/modules/uavcanesc/uavcanesc_params.c
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <px4_config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * UAVCAN Node ID.
+ *
+ * Read the specs at http://uavcan.org to learn more about Node ID.
+ *
+ * @min 1
+ * @max 125
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ESC_NODE_ID, 120);
+
+/**
+ * UAVCAN CAN bus bitrate.
+ *
+ * @min 20000
+ * @max 1000000
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ESC_BITRATE, 1000000);
--
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