diff --git a/Images/tap-v1.prototype b/Images/tap-v1.prototype
new file mode 100644
index 0000000000000000000000000000000000000000..8876ec5e8835c296129ad0b1b07285829ebe312d
--- /dev/null
+++ b/Images/tap-v1.prototype
@@ -0,0 +1,12 @@
+{
+ "board_id": 78,
+ "magic": "PX4FWv1",
+ "description": "Firmware for the TAPv1 board",
+ "image": "",
+ "build_time": 0,
+ "summary": "TAPv1",
+ "version": "0.1",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}
diff --git a/Makefile b/Makefile
index e97f0c43ce55596a57c7e86c50e63e3e12a5c396..31978311b20a2029f337b71dc8d45174563fd59f 100644
--- a/Makefile
+++ b/Makefile
@@ -137,6 +137,9 @@ endef
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
+tap-v1_default:
+ $(call cmake-build,nuttx_tap-v1_default)
+
px4fmu-v1_default:
$(call cmake-build,nuttx_px4fmu-v1_default)
@@ -249,6 +252,7 @@ checks_defaults: \
check_px4fmu-v2_default \
check_mindpx-v2_default \
check_px4-stm32f4discovery_default \
+ check_tap-v1_default \
checks_bootloaders: \
diff --git a/ROMFS/tap_common/init.d/4001_quad_x b/ROMFS/tap_common/init.d/4001_quad_x
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c8da3567d3c0008b4d7063f31c41501a43e33
--- /dev/null
+++ b/ROMFS/tap_common/init.d/4001_quad_x
@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Quadrotor X config
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+set PWM_OUT 1234
diff --git a/ROMFS/tap_common/init.d/6001_hexa_x b/ROMFS/tap_common/init.d/6001_hexa_x
new file mode 100644
index 0000000000000000000000000000000000000000..584c4a381ce6072b50fc3a949fc34f05a3a33729
--- /dev/null
+++ b/ROMFS/tap_common/init.d/6001_hexa_x
@@ -0,0 +1,19 @@
+#!nsh
+#
+# @name Generic Hexarotor x geometry
+#
+# @type Hexarotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER hexa_x
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
diff --git a/ROMFS/tap_common/init.d/rc.fw_apps b/ROMFS/tap_common/init.d/rc.fw_apps
new file mode 100644
index 0000000000000000000000000000000000000000..040bcbde03546f4a202e142950f9444e08ff6513
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.fw_apps
@@ -0,0 +1,20 @@
+#!nsh
+#
+# Standard apps for fixed wing
+#
+
+#
+# Start the attitude and position estimator
+#
+ekf2 start
+
+#
+# Start attitude controller
+#
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+#
+land_detector start fixedwing
diff --git a/ROMFS/tap_common/init.d/rc.fw_defaults b/ROMFS/tap_common/init.d/rc.fw_defaults
new file mode 100644
index 0000000000000000000000000000000000000000..f876353263d81f2e9e4664b23b19ae5d2d83a9c6
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.fw_defaults
@@ -0,0 +1,28 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $AUTOCNF == yes ]
+then
+#
+# Default parameters for FW
+#
+ param set RTL_RETURN_ALT 100
+ param set RTL_DESCEND_ALT 100
+ param set RTL_LAND_DELAY -1
+
+ param set NAV_ACC_RAD 50
+
+ param set PE_VELNE_NOISE 0.3
+ param set PE_VELD_NOISE 0.35
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 1.0
+fi
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
diff --git a/ROMFS/tap_common/init.d/rc.interface b/ROMFS/tap_common/init.d/rc.interface
new file mode 100644
index 0000000000000000000000000000000000000000..bfa105b5375ab7c7b3dc932616996592ad919ef3
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.interface
@@ -0,0 +1,83 @@
+#!nsh
+#
+# Script to configure control interface
+#
+
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+
+if [ $MIXER != none -a $MIXER != skip ]
+then
+ #
+ # Load main mixer
+ #
+
+ # Use the mixer file
+ set MIXER_FILE /etc/mixers/$MIXER.main.mix
+
+ set OUTPUT_DEV /dev/pwm_output0
+
+ if [ $OUTPUT_MODE == uavcan_esc ]
+ then
+ set OUTPUT_DEV /dev/uavcan/esc
+ fi
+
+ if mixer load $OUTPUT_DEV $MIXER_FILE
+ then
+ echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
+ else
+ echo "ERROR [init] Error loading mixer: $MIXER_FILE"
+ echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
+ tone_alarm $TUNE_ERR
+ fi
+
+ unset MIXER_FILE
+else
+ if [ $MIXER != skip ]
+ then
+ echo "ERROR [init] Mixer not defined"
+ echo "ERROR [init] Mixer not defined" >> $LOG_FILE
+ tone_alarm $TUNE_ERR
+ fi
+fi
+
+if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
+then
+ if [ $PWM_OUT != none ]
+ then
+ #
+ # Set PWM output frequency
+ #
+ if [ $PWM_RATE != none ]
+ then
+ pwm rate -c $PWM_OUT -r $PWM_RATE
+ fi
+
+ #
+ # Set disarmed, min and max PWM values
+ #
+ if [ $PWM_DISARMED != none ]
+ then
+ pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
+ fi
+ if [ $PWM_MIN != none ]
+ then
+ pwm min -c $PWM_OUT -p $PWM_MIN
+ fi
+ if [ $PWM_MAX != none ]
+ then
+ pwm max -c $PWM_OUT -p $PWM_MAX
+ fi
+ fi
+
+ if [ $FAILSAFE != none ]
+ then
+ pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+ fi
+fi
+
+unset PWM_OUT
+unset PWM_RATE
+unset PWM_MIN
+unset PWM_MAX
+unset FAILSAFE
+unset OUTPUT_DEV
diff --git a/ROMFS/tap_common/init.d/rc.mc_apps b/ROMFS/tap_common/init.d/rc.mc_apps
new file mode 100644
index 0000000000000000000000000000000000000000..399f4398ac23903164b65ca81d56209c4a72e5aa
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.mc_apps
@@ -0,0 +1,39 @@
+#!nsh
+#
+# Standard apps for multirotors:
+# att & pos estimator, att & pos control.
+#
+
+
+#---------------------------------------
+# Estimator group selction
+#
+# INAV
+if param compare SYS_MC_EST_GROUP 0
+then
+ attitude_estimator_q start
+ position_estimator_inav start
+fi
+
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+ attitude_estimator_q start
+ local_position_estimator start
+fi
+
+# EKF
+if param compare SYS_MC_EST_GROUP 2
+then
+ ekf2 start
+fi
+#---------------------------------------
+
+mc_att_control start
+
+mc_pos_control start
+
+#
+# Start Land Detector
+#
+land_detector start multicopter
diff --git a/ROMFS/tap_common/init.d/rc.mc_defaults b/ROMFS/tap_common/init.d/rc.mc_defaults
new file mode 100644
index 0000000000000000000000000000000000000000..0bf41dcac621679f1fda75e90e3ac65b3ab18036
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.mc_defaults
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+ param set PE_VELNE_NOISE 0.5
+ param set PE_VELD_NOISE 0.35
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 1.25
+
+ param set NAV_ACC_RAD 2.0
+ param set RTL_RETURN_ALT 30.0
+ param set RTL_DESCEND_ALT 10.0
+ param set PWM_DISARMED 900
+ param set PWM_MIN 1075
+ param set PWM_MAX 1950
+
+ param set RTL_LAND_DELAY 0
+fi
+
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1500
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+ param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+ param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+ param set PWM_DISARMED 900
+fi
diff --git a/ROMFS/tap_common/init.d/rc.sensors b/ROMFS/tap_common/init.d/rc.sensors
new file mode 100644
index 0000000000000000000000000000000000000000..fdb835baffcf811acfd43f9070d95a27f0416760
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.sensors
@@ -0,0 +1,46 @@
+#!nsh
+#
+# Standard startup script for TAP v1 onboard sensor drivers.
+#
+
+if adc start
+then
+fi
+
+# External I2C bus
+if hmc5883 -C -T -X start
+then
+fi
+
+if lis3mdl -R 2 start
+then
+fi
+
+# Internal SPI bus is rotated 90 deg yaw
+if hmc5883 -C -T -S -R 2 start
+then
+fi
+
+# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+if mpu6000 -R 2 -T 20608 start
+then
+fi
+
+# Internal SPI bus mpu9250 is rotated 90 deg yaw
+if mpu9250 -R 2 start
+then
+fi
+
+if meas_airspeed start
+then
+fi
+
+if sf10a start
+then
+fi
+
+# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 20000
+if sensors start
+then
+fi
diff --git a/ROMFS/tap_common/init.d/rc.vtol_apps b/ROMFS/tap_common/init.d/rc.vtol_apps
new file mode 100644
index 0000000000000000000000000000000000000000..c3d54fd299e81cbc53cd37da40320e1c8b2a7e15
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.vtol_apps
@@ -0,0 +1,44 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+#
+
+
+#---------------------------------------
+# Estimator group selction
+#
+# INAV
+if param compare SYS_MC_EST_GROUP 0
+then
+ attitude_estimator_q start
+ position_estimator_inav start
+fi
+
+# LPE
+if param compare SYS_MC_EST_GROUP 1
+then
+ attitude_estimator_q start
+ local_position_estimator start
+fi
+
+# EKF
+if param compare SYS_MC_EST_GROUP 2
+then
+ ekf2 start
+fi
+#---------------------------------------
+
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
+
+#
+# Start Land Detector
+# Multicopter for now until we have something for VTOL
+#
+land_detector start vtol
diff --git a/ROMFS/tap_common/init.d/rc.vtol_defaults b/ROMFS/tap_common/init.d/rc.vtol_defaults
new file mode 100644
index 0000000000000000000000000000000000000000..d8dab16cf0c7aa58330f1bcfc0cd6c99a30e3f66
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rc.vtol_defaults
@@ -0,0 +1,49 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $AUTOCNF == yes ]
+then
+ param set MC_ROLL_P 6.0
+ param set MC_PITCH_P 6.0
+ param set MC_YAW_P 4
+
+ param set PE_VELNE_NOISE 0.5
+ param set PE_VELD_NOISE 0.3
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 1.25
+ param set PE_ABIAS_PNOISE 0.0001
+
+ #
+ # Default parameters for mission and position handling
+ #
+ param set NAV_ACC_RAD 3
+ param set MPC_TKO_SPEED 1.0
+ param set MPC_LAND_SPEED 0.7
+ param set MPC_Z_VEL_MAX 1.5
+ param set MPC_XY_VEL_MAX 4.0
+ param set MIS_YAW_TMT 10
+ param set MPC_ACC_HOR_MAX 2.0
+ param set RTL_LAND_DELAY 0
+fi
+
+# set environment variables (!= parameters)
+set PWM_RATE 400
+# tell the mixer to use parameters for these instead
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
+
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+ param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+ param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+ param set PWM_DISARMED 900
+fi
diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
new file mode 100644
index 0000000000000000000000000000000000000000..643e421bae9ae50ace4e23077feb0fa5a09aaeee
--- /dev/null
+++ b/ROMFS/tap_common/init.d/rcS
@@ -0,0 +1,482 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+#
+# Start CDC/ACM serial driver
+#
+sercon
+
+#
+# Default to auto-start mode.
+#
+set MODE autostart
+
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
+set LOG_FILE /fs/microsd/bootlog.txt
+
+#
+# Try to mount the microSD card.
+#
+# REBOOTWORK this needs to start after the flight control loop
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+ # Start playing the startup tune
+ tone_alarm start
+else
+ tone_alarm MBAGP
+ if mkfatfs /dev/mmcsd0
+ then
+ if mount -t vfat /dev/mmcsd0 /fs/microsd
+ then
+ echo "INFO [init] MicroSD card formatted"
+ else
+ echo "ERROR [init] Format failed"
+ tone_alarm MNBG
+ set LOG_FILE /dev/null
+ fi
+ else
+ set LOG_FILE /dev/null
+ fi
+fi
+
+#
+# Look for an init script on the microSD card.
+# Disable autostart if the script found.
+#
+set FRC /fs/microsd/etc/rc.txt
+if [ -f $FRC ]
+then
+ echo "INFO [init] Executing script: $FRC"
+ sh $FRC
+ set MODE custom
+fi
+unset FRC
+
+if [ $MODE == autostart ]
+then
+
+ #
+ # Start the ORB (first app to start)
+ #
+ uorb start
+
+ #
+ # Load parameters
+ #
+ set PARAM_FILE /fs/microsd/params
+ if mtd start
+ then
+ set PARAM_FILE /fs/mtd_params
+ fi
+
+ param select $PARAM_FILE
+ if param load
+ then
+ else
+ if param reset
+ then
+ fi
+ fi
+
+ #
+ # Start system state indicator
+ #
+ if rgbled start
+ then
+ fi
+
+ #
+ # Set AUTOCNF flag to use it in AUTOSTART scripts
+ #
+ if param compare SYS_AUTOCONFIG 1
+ then
+ # Wipe out params except RC*
+ param reset_nostart RC*
+ set AUTOCNF yes
+ else
+ set AUTOCNF no
+ fi
+
+ #
+ # Set default values
+ #
+ set VEHICLE_TYPE none
+ set MIXER none
+ set OUTPUT_MODE none
+ set PWM_OUT none
+ set PWM_RATE none
+ set PWM_DISARMED none
+ set PWM_MIN none
+ set PWM_MAX none
+ set FMU_MODE pwm
+ set MAVLINK_F default
+ set EXIT_ON_END no
+ set MAV_TYPE none
+ set FAILSAFE none
+
+ #
+ # Set parameters and env variables for selected AUTOSTART
+ #
+ if param compare SYS_AUTOSTART 0
+ then
+ echo "INFO [init] No autostart"
+ else
+ sh /etc/init.d/rc.autostart
+ fi
+ unset MODE
+
+ #
+ # If autoconfig parameter was set, reset it and save parameters
+ #
+ if [ $AUTOCNF == yes ]
+ then
+ param set SYS_AUTOCONFIG 0
+ param save
+ fi
+ unset AUTOCNF
+
+ #
+ # Set default output if not set
+ #
+ if [ $OUTPUT_MODE == none ]
+ then
+ if [ $USE_IO == yes ]
+ then
+ set OUTPUT_MODE io
+ else
+ set OUTPUT_MODE fmu
+ fi
+ fi
+
+ # waypoint storage
+ # REBOOTWORK this needs to start in parallel
+ if dataman start
+ then
+ fi
+
+ #
+ # Sensors System (start before Commander so Preflight checks are properly run)
+ #
+ sh /etc/init.d/rc.sensors
+
+ commander start
+
+ #
+ # Start CPU load monitor
+ #
+ load_mon start
+
+ #
+ # Start primary output
+ #
+ set TTYS1_BUSY no
+
+ #
+ # Check if UAVCAN is enabled, default to it for ESCs
+ #
+ if param greater UAVCAN_ENABLE 2
+ then
+ set OUTPUT_MODE uavcan_esc
+ fi
+
+ # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
+ if [ $OUTPUT_MODE != none ]
+ then
+ if [ $OUTPUT_MODE == uavcan_esc ]
+ then
+ if param compare UAVCAN_ENABLE 0
+ then
+ echo "INFO [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
+ param set UAVCAN_ENABLE 1
+ fi
+ fi
+
+ if [ $OUTPUT_MODE == fmu ]
+ then
+ if fmu mode_$FMU_MODE
+ then
+ else
+ echo "ERR [init] FMU start failed" >> $LOG_FILE
+ tone_alarm $TUNE_ERR
+ fi
+ fi
+
+ if fmu mode_pwm4
+ then
+ else
+ echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+ tone_alarm $TUNE_ERR
+ fi
+ fi
+
+ mavlink start -r 1200 -d /dev/ttyS1
+
+ #
+ # Starting stuff according to UAVCAN_ENABLE value
+ #
+ if param greater UAVCAN_ENABLE 0
+ then
+ if uavcan start
+ then
+ else
+ tone_alarm $TUNE_ERR
+ fi
+ fi
+
+ if param greater UAVCAN_ENABLE 1
+ then
+ if uavcan start fw
+ then
+ else
+ tone_alarm $TUNE_ERR
+ fi
+ fi
+
+ #
+ # Optional drivers
+ #
+
+ # Sensors on the PWM interface bank
+ if param compare SENS_EN_LL40LS 1
+ then
+ if pwm_input start
+ then
+ if ll40ls start pwm
+ then
+ fi
+ fi
+ fi
+
+ # sf0x lidar sensor
+ if param compare SENS_EN_SF0X 1
+ then
+ sf0x start
+ fi
+
+ # Start USB shell if no microSD present, MAVLink else
+ if [ $LOG_FILE == /dev/null ]
+ then
+ # Try to get an USB console
+ nshterm /dev/ttyACM0 &
+ else
+ mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+ fi
+
+ #
+ # Logging
+ #
+ if param compare SYS_LOGGER 0
+ then
+ if sdlog2 start -r 100 -a -b 9 -t
+ then
+ fi
+ else
+ if logger start -b 12
+ then
+ fi
+ fi
+
+ #
+ # Fixed wing setup
+ #
+ if [ $VEHICLE_TYPE == fw ]
+ then
+ echo "INFO [init] Fixedwing"
+
+ if [ $MIXER == none ]
+ then
+ # Set default mixer for fixed wing if not defined
+ set MIXER AERT
+ fi
+
+ if [ $MAV_TYPE == none ]
+ then
+ # Use MAV_TYPE = 1 (fixed wing) if not defined
+ set MAV_TYPE 1
+ fi
+
+ param set MAV_TYPE $MAV_TYPE
+
+ # Load mixer and configure outputs
+ sh /etc/init.d/rc.interface
+
+ # Start standard fixedwing apps
+ sh /etc/init.d/rc.fw_apps
+ fi
+
+ #
+ # Multicopters setup
+ #
+ if [ $VEHICLE_TYPE == mc ]
+ then
+ echo "INFO [init] Multicopter"
+
+ if [ $MIXER == none ]
+ then
+ echo "INFO [init] Mixer undefined"
+ fi
+
+ if [ $MAV_TYPE == none ]
+ then
+ # Use mixer to detect vehicle type
+ if [ $MIXER == quad_x -o $MIXER == quad_+ ]
+ then
+ set MAV_TYPE 2
+ fi
+ if [ $MIXER == quad_w ]
+ then
+ set MAV_TYPE 2
+ fi
+ if [ $MIXER == quad_h ]
+ then
+ set MAV_TYPE 2
+ fi
+ if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+ then
+ set MAV_TYPE 15
+ fi
+ if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+ then
+ set MAV_TYPE 13
+ fi
+ if [ $MIXER == hexa_cox ]
+ then
+ set MAV_TYPE 13
+ fi
+ if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+ then
+ set MAV_TYPE 14
+ fi
+ fi
+
+ # Still no MAV_TYPE found
+ if [ $MAV_TYPE == none ]
+ then
+ echo "WARN [init] Unknown MAV_TYPE"
+ param set MAV_TYPE 2
+ else
+ param set MAV_TYPE $MAV_TYPE
+ fi
+
+ # Load mixer and configure outputs
+ sh /etc/init.d/rc.interface
+
+ # Start standard multicopter apps
+ sh /etc/init.d/rc.mc_apps
+ fi
+
+ #
+ # VTOL setup
+ #
+ if [ $VEHICLE_TYPE == vtol ]
+ then
+ echo "INFO [init] VTOL"
+
+ if [ $MIXER == none ]
+ then
+ echo "WARN [init] VTOL mixer undefined"
+ fi
+
+ if [ $MAV_TYPE == none ]
+ then
+ # Use mixer to detect vehicle type
+ if [ $MIXER == caipirinha_vtol ]
+ then
+ set MAV_TYPE 19
+ fi
+ if [ $MIXER == firefly6 ]
+ then
+ set MAV_TYPE 21
+ fi
+ if [ $MIXER == quad_x_pusher_vtol ]
+ then
+ set MAV_TYPE 22
+ fi
+ fi
+
+ # Still no MAV_TYPE found
+ if [ $MAV_TYPE == none ]
+ then
+ echo "WARN [init] Unknown MAV_TYPE"
+ param set MAV_TYPE 19
+ else
+ param set MAV_TYPE $MAV_TYPE
+ fi
+
+ # Load mixer and configure outputs
+ sh /etc/init.d/rc.interface
+
+ # Start standard vtol apps
+ sh /etc/init.d/rc.vtol_apps
+ fi
+
+ #
+ # Rover setup
+ #
+ if [ $VEHICLE_TYPE == rover ]
+ then
+ # 10 is MAV_TYPE_GROUND_ROVER
+ set MAV_TYPE 10
+
+ # Load mixer and configure outputs
+ sh /etc/init.d/rc.interface
+
+ # Start standard rover apps
+ sh /etc/init.d/rc.axialracing_ax10_apps
+
+ param set MAV_TYPE 10
+ fi
+
+ unset MIXER
+ unset MAV_TYPE
+ unset OUTPUT_MODE
+
+ #
+ # Start the navigator
+ #
+ navigator start
+
+ #
+ # Generic setup (autostart ID not found)
+ #
+ if [ $VEHICLE_TYPE == none ]
+ then
+ echo "WARN [init] No autostart ID found"
+ fi
+
+ # Start any custom addons
+ set FEXTRAS /fs/microsd/etc/extras.txt
+ if [ -f $FEXTRAS ]
+ then
+ echo "INFO [init] Addons script: $FEXTRAS"
+ sh $FEXTRAS
+ fi
+ unset FEXTRAS
+
+ # Run no SD alarm
+ if [ $LOG_FILE == /dev/null ]
+ then
+ # Play SOS
+ tone_alarm error
+ fi
+
+# End of autostart
+fi
+
+# There is no further script processing, so we can free some RAM
+# XXX potentially unset all script variables.
+unset TUNE_ERR
+
+# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+mavlink boot_complete
+
+if [ $EXIT_ON_END == yes ]
+then
+ echo "INFO [init] NSH exit"
+ exit
+fi
+unset EXIT_ON_END
diff --git a/ROMFS/tap_common/mixers/README.md b/ROMFS/tap_common/mixers/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0e591ca288ef36d641a57a44c4c4f433a89d28bf
--- /dev/null
+++ b/ROMFS/tap_common/mixers/README.md
@@ -0,0 +1,105 @@
+## PX4 mixer definitions ##
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+For a detailed description of the mixing architecture and examples see:
+http://px4.io/dev/mixing
+
+### Syntax ###
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition, and the number of
+actuator outputs generated by a mixer is specific to the mixer.
+
+For example: each simple or null mixer is assigned to outputs 1 to x
+in the order they appear in the mixer file.
+
+A mixer begins with a line of the form
+
+ <tag>: <mixer arguments>
+
+The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
+multirotor mixer, etc.
+
+#### Null Mixer ####
+
+A null mixer consumes no controls and generates a single actuator output whose
+value is always zero. Typically a null mixer is used as a placeholder in a
+collection of mixers in order to achieve a specific pattern of actuator outputs.
+
+The null mixer definition has the form:
+
+ Z:
+
+#### Simple Mixer ####
+
+A simple mixer combines zero or more control inputs into a single actuator
+output. Inputs are scaled, and the mixing function sums the result before
+applying an output scaler.
+
+A simple mixer definition begins with:
+
+ M: <control count>
+ O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+If <control count> is zero, the sum is effectively zero and the mixer will
+output a fixed value that is <offset> constrained by <lower limit> and <upper
+limit>.
+
+The second line defines the output scaler with scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
+
+The definition continues with <control count> entries describing the control
+inputs and their scaling, in the form:
+
+ S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The <group> value identifies the control group from which the scaler will read,
+and the <index> value an offset within that group. These values are specific to
+the device reading the mixer definition.
+
+When used to mix vehicle controls, mixer group zero is the vehicle attitude
+control group, and index values zero through three are normally roll, pitch,
+yaw and thrust respectively.
+
+The remaining fields on the line configure the control scaler with parameters as
+discussed above. Whilst the calculations are performed as floating-point
+operations, the values stored in the definition file are scaled by a factor of
+10000; i.e. an offset of -0.5 is encoded as -5000.
+
+#### Multirotor Mixer ####
+
+The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
+into a set of actuator outputs intended to drive motor speed controllers.
+
+The mixer definition is a single line of the form:
+
+ R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+
+The supported geometries include:
+
+ * 4x - quadrotor in X configuration
+ * 4+ - quadrotor in + configuration
+ * 6x - hexcopter in X configuration
+ * 6+ - hexcopter in + configuration
+ * 8x - octocopter in X configuration
+ * 8+ - octocopter in + configuration
+
+Each of the roll, pitch and yaw scale values determine scaling of the roll,
+pitch and yaw controls relative to the thrust control. Whilst the calculations
+are performed as floating-point operations, the values stored in the definition
+file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
+
+Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
+thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
+range -1.0 to 1.0.
+
+In the case where an actuator saturates, all actuator values are rescaled so that
+the saturating actuator is limited to 1.0.
diff --git a/ROMFS/tap_common/mixers/hexa_x.main.mix b/ROMFS/tap_common/mixers/hexa_x.main.mix
new file mode 100644
index 0000000000000000000000000000000000000000..16e6e22f907d69593863c757ff2d7d412cc8d970
--- /dev/null
+++ b/ROMFS/tap_common/mixers/hexa_x.main.mix
@@ -0,0 +1,3 @@
+# Hexa X
+
+R: 6x 10000 10000 10000 0
diff --git a/ROMFS/tap_common/mixers/quad_x.main.mix b/ROMFS/tap_common/mixers/quad_x.main.mix
new file mode 100644
index 0000000000000000000000000000000000000000..bf034e7c1f1dcf5d66556e5bf4002347a3b1cb60
--- /dev/null
+++ b/ROMFS/tap_common/mixers/quad_x.main.mix
@@ -0,0 +1,7 @@
+R: 4x 10000 10000 10000 0
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 3 5 10000 10000 0 -10000 10000
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 3 6 10000 10000 0 -10000 10000
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..d4753fdaca38904ba317afee7bd4ebdaf46ad391
--- /dev/null
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -0,0 +1,125 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+ #
+ # Board support modules
+ #
+ drivers/device
+ drivers/stm32
+ drivers/stm32/adc
+ drivers/stm32/tone_alarm
+ drivers/led
+ drivers/px4fmu
+ drivers/boards/tap-v1
+ drivers/rgbled_pwm
+ #drivers/mpu6500
+ drivers/ms5611
+ drivers/gps
+ drivers/airspeed
+ drivers/meas_airspeed
+ modules/sensors
+ drivers/camera_trigger
+
+ #
+ # System commands
+ #
+ systemcmds/bl_update
+ systemcmds/mixer
+ systemcmds/param
+ systemcmds/perf
+ systemcmds/pwm
+ systemcmds/reboot
+ systemcmds/top
+ systemcmds/config
+ systemcmds/nshterm
+ systemcmds/mtd
+ systemcmds/dumpfile
+ systemcmds/ver
+
+ #
+ # General system control
+ #
+ modules/commander
+ modules/load_mon
+ modules/navigator
+ modules/mavlink
+ modules/land_detector
+
+ #
+ # Estimation modules (EKF/ SO3 / other filters)
+ #
+ modules/ekf2
+
+ #
+ # Vehicle Control
+ #
+ modules/fw_pos_control_l1
+ modules/fw_att_control
+ modules/mc_att_control
+ modules/mc_pos_control
+ modules/vtol_att_control
+
+ #
+ # Logging
+ #
+ modules/logger
+
+ #
+ # Library modules
+ #
+ modules/param
+ modules/systemlib
+ modules/systemlib/mixer
+ modules/uORB
+ modules/dataman
+
+ #
+ # Libraries
+ #
+ lib/controllib
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/ecl
+ lib/external_lgpl
+ lib/geo
+ lib/geo_lookup
+ lib/conversion
+ lib/launchdetection
+ lib/terrain_estimation
+ lib/runway_takeoff
+ lib/tailsitter_recovery
+ lib/DriverFramework/framework
+ platforms/nuttx
+
+ # had to add for cmake, not sure why wasn't in original config
+ platforms/common
+ platforms/nuttx/px4_layer
+)
+
+set(config_extra_builtin_cmds
+ serdis
+ sercon
+ )
+
+set(config_io_board
+ )
+
+set(config_extra_libs
+ )
+
+set(config_io_extra_libs
+ )
+
+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/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 8ceddfe44af51ff1fec3136b656fc371ce86ff97..c969263be10de4d1315fe50eb746de799355a2df 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -450,47 +450,20 @@ function(px4_os_add_flags)
endif()
set(cpu_flags)
- if (${BOARD} STREQUAL "px4fmu-v1")
+ # Handle non-F4 boards specifically here
+ if (${BOARD} STREQUAL "px4io-v1")
set(cpu_flags
- -mcpu=cortex-m4
- -mthumb
- -march=armv7e-m
- -mfpu=fpv4-sp-d16
- -mfloat-abi=hard
- )
- elseif (${BOARD} STREQUAL "px4fmu-v2")
- set(cpu_flags
- -mcpu=cortex-m4
- -mthumb
- -march=armv7e-m
- -mfpu=fpv4-sp-d16
- -mfloat-abi=hard
- )
- elseif (${BOARD} STREQUAL "px4fmu-v4")
- set(cpu_flags
- -mcpu=cortex-m4
- -mthumb
- -march=armv7e-m
- -mfpu=fpv4-sp-d16
- -mfloat-abi=hard
- )
- elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
- set(cpu_flags
- -mcpu=cortex-m4
+ -mcpu=cortex-m3
-mthumb
- -march=armv7e-m
- -mfpu=fpv4-sp-d16
- -mfloat-abi=hard
+ -march=armv7-m
)
- elseif (${BOARD} STREQUAL "aerocore")
+ elseif (${BOARD} STREQUAL "px4io-v2")
set(cpu_flags
- -mcpu=cortex-m4
+ -mcpu=cortex-m3
-mthumb
- -march=armv7e-m
- -mfpu=fpv4-sp-d16
- -mfloat-abi=hard
+ -march=armv7-m
)
- elseif (${BOARD} STREQUAL "mindpx-v2")
+ else ()
set(cpu_flags
-mcpu=cortex-m4
-mthumb
@@ -498,18 +471,6 @@ function(px4_os_add_flags)
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
)
- elseif (${BOARD} STREQUAL "px4io-v1")
- set(cpu_flags
- -mcpu=cortex-m3
- -mthumb
- -march=armv7-m
- )
- elseif (${BOARD} STREQUAL "px4io-v2")
- set(cpu_flags
- -mcpu=cortex-m3
- -mthumb
- -march=armv7-m
- )
endif()
list(APPEND c_flags ${cpu_flags})
list(APPEND cxx_flags ${cpu_flags})
diff --git a/nuttx-configs/tap-v1/include/board.h b/nuttx-configs/tap-v1/include/board.h
new file mode 100644
index 0000000000000000000000000000000000000000..8df409912459e8af4812700ecc6b4462435f66c6
--- /dev/null
+++ b/nuttx-configs/tap-v1/include/board.h
@@ -0,0 +1,448 @@
+/************************************************************************************
+ * configs/tap-v1/include/board.h
+ * include/arch/board/board.h
+ *
+ * Copyright (C) 2012-2016 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 __CONFIG_TAP_V1_INCLUDE_BOARD_H
+#define __CONFIG_TAP_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"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The TAP V1 uses a 16MHz crystal connected to the HSE.
+ *
+ * This is the canonical configuration:
+ * System Clock source : PLL (HSE)
+ * SYSCLK(Hz) : 168000000 Determined by PLL configuration
+ * HCLK(Hz) : 168000000 (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) : 16000000 (STM32_BOARD_XTAL)
+ * PLLM : 8 (STM32_PLLCFG_PLLM)
+ * PLLN : 168 (STM32_PLLCFG_PLLN)
+ * PLLP : 2 (STM32_PLLCFG_PLLP)
+ * PLLQ : 7 (STM32_PLLCFG_PLLQ)
+ * 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, : Enabled
+ * SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 16MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL 16000000ul
+
+#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
+ * = (16,000,000 / 8) * 168
+ * = 336,000,000
+ * SYSCLK = PLL_VCO / PLLP
+ * = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ * = PLL_VCO / PLLQ
+ * = 336,000,000 / 7
+ * = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168)
+#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY 168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#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 (42MHz) */
+
+#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 (84MHz) */
+
+#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 are on APB2, others on APB1
+ */
+
+#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
+#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
+
+/* LED definitions ******************************************************************/
+/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way. The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with stm32_setled()
+ *
+ * PC4 BLUE_LED D4 Blue LED cathode
+ * PC5 RED_LED D5 Red LED cathode
+*/
+#define BOARD_RED 0
+#define BOARD_LED2 1
+#define BOARD_NLEDS 2
+
+#define BOARD_LED_BLUE BOARD_LED1
+#define BOARD_LED_RED BOARD_LED2
+
+/* LED bits for use with stm32_setleds() */
+
+#define BOARD_LED1_BIT (1 << BOARD_LED1)
+#define BOARD_LED2_BIT (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
+ * the tap-v1. The following definitions describe how NuttX controls
+ * the LEDs:
+ */
+
+#define LED_STARTED 0 /* BLUE */
+#define LED_HEAPALLOCATE 1 /* LED2 */
+#define LED_IRQSENABLED 2 /* BLUE */
+#define LED_STACKCREATED 3 /* BLUE + RED */
+#define LED_INIRQ 4 /* BLUE */
+#define LED_SIGNAL 5 /* RED */
+#define LED_ASSERTION 6 /* BLUE + RED */
+#define LED_PANIC 7 /* BLUE + RED */
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * USARTs.
+ *
+ *
+ * Peripheral Port Signal Name CONN
+ * USART1_TX PB6 GPS_USART1_TX JP1-15,16
+ * USART1_RX PB7 GPS_USART1_RX JP1-13,14
+ * USART2_TX PA2 GB_USART2_TX JP2-19,20
+ * USART2_RX PA3 GB_USART2_RX JP2-21,22
+ * USART3_TX PC10 RF2_USART3_TX J3-2
+ * USART3_RX PC11 RF2_USART3_RX J3-1
+ * USART6_TX PC6 RF_USART6_TX JP2-15,16
+ * USART6_RX PC7 RF_USART6_RX JP2-17,18
+*/
+
+#define GPIO_USART1_TX GPIO_USART1_TX_2
+#define GPIO_USART1_RX GPIO_USART1_RX_2
+
+#define GPIO_USART2_TX GPIO_USART2_TX_1
+#define GPIO_USART2_RX GPIO_USART2_RX_1
+
+#define GPIO_USART3_TX GPIO_USART3_TX_2
+#define GPIO_USART3_RX GPIO_USART3_RX_2
+
+#define GPIO_USART6_TX GPIO_USART6_TX_1
+#define GPIO_USART6_RX GPIO_USART6_RX_1
+
+/* USART DMA configuration for USART 1 and 6 */
+
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+
+/*
+ * UARTs.
+ *
+ * N.B. The 's' is here to match the wrong labeling on Schematic
+ *
+ * Peripheral Port Signal Name CONN
+ * UART4_TX PA0 OFS_UsART4_TX JP1-19,20
+ * UART4_RX PA1 OFS_UsART4_RX JP1-17,18
+ * UART5_TX PC12 ESC_UsART5_TX U7-HCT244 etal ESC
+ * UART5_RX PD2 ESC_UsART5_RX U8-5 74HCT151
+ *
+ * Note that UART5 has no optional pinout, so it is not listed here.
+ *
+*/
+
+#define GPIO_UART4_TX GPIO_UART4_TX_1
+#define GPIO_UART4_RX GPIO_UART4_RX_1
+
+/*
+ * I2C
+ *
+ * Peripheral Port Signal Name CONN
+ * I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
+ * I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
+ * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
+ * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
+ * I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
+ * I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves. They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
+#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
+#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+/*
+ * SPI
+ *
+ * Peripheral Port Signal Name CONN
+ * SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
+ * SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
+ * SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
+ * SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
+ *
+ */
+
+#define GPIO_SPI2_NSS (GPIO_SPI2_NSS_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2 | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1 | GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)
+
+/* SPI DMA configuration for SPI2 (microSD) */
+#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
+#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
+
+/* The following Pin Mapping is just for completeness */
+/*
+ * JTAG
+ *
+ * We will only enable SW-DP, JTAG-DP will be disabled
+ *
+ * Function Port Signal Name CONN
+ * SWDIO PA13 DAT J10-3,J7
+ * SWCLK PA14 CLK J10-4,J8
+ *
+ */
+
+/*
+ * BOOT
+ *
+ * Function Port Signal Name CONN
+ * BOOT0 NA BOOT0 GND via 10 K
+ * BOOT1 PB2 BOOT1 V3.3 - 10 K
+ *
+ * As jumpered the device can only boot from FLASH.
+ *
+ * It can be booted to:
+ *
+ * SRAM if BOOT0 is pulled High with 1K.
+ * System memory if:
+ * BOOT0 is pulled High with 1K and
+ * BOOT1 is pulled Low with 1K
+*/
+
+/*
+ * Timer PWM
+ *
+ * Peripheral Port Signal Name CONN
+ * TIM3_CH1 PA6 LED_R JP2-23,24
+ * TIM3_CH2 PA7 LED_G JP2-25,26
+ * TIM3_CH3 PB0 LED_B JP2-27,28
+ * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
+ */
+
+/*
+ * GPIO
+ * todo:Revisit - cannnot tell from schematic - some could be ADC
+ * Port Signal Name CONN
+ * PA4 POWER JP1-23,24
+ * PB4 TEMP_CONT J2-2,11,14,23 MPU6050 TEMP
+ * PC0 VOLTAGE JP2-13,14
+ * PC1 KEY_AD JP1-31,32
+ * PC2 SD_SW SD-9 SW
+ * PC3 PCON_RADIO JP1-29,30
+ * PC13 S2 U8-9 74HCT151
+ * PC14 S1 U8-10 74HCT151
+ * PC15 S0 U8-11 74HCT151
+ */
+
+/*
+ * USB
+ *
+ * Port Signal Name CONN
+ * PA9 OTG_FS_VBUS J1-1
+ * PA10 OTG_FS_ID J1-4
+ * PA11 OTG_FS_DM J1-2
+ * PA12 OTG_FS_DP J1-3
+ */
+
+/*
+ * UNUSED PINS - In an idle world - these would have been tied to pads to
+ * facilitate debugging probs.
+ * Port
+ * PA15
+ * PB3
+ * PB5
+ * PC8
+*/
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
+# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+
+# 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); } \
+ if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+ } 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 intitialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+EXTERN 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 interfacesare available to
+ * control the LEDs from user applications.
+ *
+ ************************************************************************************/
+
+#ifndef CONFIG_ARCH_LEDS
+EXTERN void stm32_ledinit(void);
+EXTERN void stm32_setled(int led, bool ledon);
+EXTERN void stm32_setleds(uint8_t ledset);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __CONFIG_TAP_V1_INCLUDE_BOARD_H */
diff --git a/nuttx-configs/tap-v1/include/nsh_romfsimg.h b/nuttx-configs/tap-v1/include/nsh_romfsimg.h
new file mode 100644
index 0000000000000000000000000000000000000000..beb1a924cf4739f113e6677f7ddb63852251792c
--- /dev/null
+++ b/nuttx-configs/tap-v1/include/nsh_romfsimg.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
diff --git a/nuttx-configs/tap-v1/nsh/Make.defs b/nuttx-configs/tap-v1/nsh/Make.defs
new file mode 100644
index 0000000000000000000000000000000000000000..7601fcc09597cf5f8744e896dfb5cf08f69017a8
--- /dev/null
+++ b/nuttx-configs/tap-v1/nsh/Make.defs
@@ -0,0 +1,160 @@
+############################################################################
+# configs/tap-v1/nsh/Make.defs
+#
+# Copyright (C) 2011 Gregory Nutt. All rights reserved.
+# Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+include $(TOPDIR)/PX4_Warnings.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(CROSSDEV)ar rcs
+NM = $(CROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION = -Os
+ARCHCPUFLAGS = -mcpu=cortex-m4 \
+ -mthumb \
+ -march=armv7e-m \
+ -mfpu=fpv4-sp-d16 \
+ -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
+endif
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS += $(LIBM)
+
+# use our linker script
+LDSCRIPT = ld.script
+
+ifeq ($(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.sh
+ 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}
+
+# optimisation flags
+ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
+ -fno-strict-aliasing \
+ -fno-strength-reduce \
+ -fomit-frame-pointer \
+ -funsafe-math-optimizations \
+ -fno-builtin-printf \
+ -ffunction-sections \
+ -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION += -g
+endif
+
+ARCHCFLAGS = -std=gnu99
+ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS = $(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/tap-v1/nsh/defconfig b/nuttx-configs/tap-v1/nsh/defconfig
new file mode 100644
index 0000000000000000000000000000000000000000..c55ddf53cdfc57fd5f627eeb0d4191303d9348f6
--- /dev/null
+++ b/nuttx-configs/tap-v1/nsh/defconfig
@@ -0,0 +1,982 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+CONFIG_NUTTX_NEWCONFIG=y
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+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_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
+
+#
+# Customize Header Files
+#
+# 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
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG is not set
+CONFIG_DEBUG_SYMBOLS=y
+
+#
+# System Type
+#
+# CONFIG_ARCH_8051 is not set
+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_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_IMX 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_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_SAM34 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STR71X is not set
+CONFIG_ARCH_CORTEXM4=y
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+CONFIG_ARCH_HAVE_FPU=y
+CONFIG_ARCH_FPU=y
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARMV7M_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# 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_EABI=y
+# CONFIG_ARMV7M_STACKCHECK 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_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_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
+# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F207IG 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_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_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+CONFIG_ARCH_CHIP_STM32F405RG=y
+# 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_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_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
+CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# 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_ETHMAC is not set
+# CONFIG_STM32_FSMC is not set
+# CONFIG_STM32_HASH is not set
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2C3=y
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+# CONFIG_STM32_SDIO is not set
+# CONFIG_STM32_SPI1 is not set
+CONFIG_STM32_SPI2=y
+# CONFIG_STM32_SPI3 is not set
+CONFIG_STM32_SYSCFG=y
+# CONFIG_STM32_TIM1 is not set
+# CONFIG_STM32_TIM2 is not set
+# CONFIG_STM32_TIM3 is not set
+CONFIG_STM32_TIM4=y
+CONFIG_STM32_TIM5=y
+CONFIG_STM32_TIM6=y
+CONFIG_STM32_TIM7=y
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM12=y
+CONFIG_STM32_TIM13=y
+CONFIG_STM32_TIM14=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART5=y
+CONFIG_STM32_USART6=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=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 is not set
+CONFIG_STM32_JTAG_SW_ENABLE=y
+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_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM5_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM10_PWM is not set
+# CONFIG_STM32_TIM11_PWM is not set
+# CONFIG_STM32_TIM12_PWM is not set
+# CONFIG_STM32_TIM13_PWM is not set
+# CONFIG_STM32_TIM14_PWM is not set
+# CONFIG_STM32_TIM4_ADC is not set
+# CONFIG_STM32_TIM5_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# CONFIG_USART1_RS485 is not set
+CONFIG_USART1_RXDMA=y
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+# CONFIG_UART4_RS485 is not set
+CONFIG_UART4_RXDMA=y
+# CONFIG_UART5_RS485 is not set
+CONFIG_UART5_RXDMA=y
+# CONFIG_USART6_RS485 is not set
+CONFIG_USART6_RXDMA=y
+CONFIG_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+# CONFIG_STM32_I2CTIMEOTICKS is not set (PX4 Codbase has this)
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+
+#
+# USB Host Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# External Memory Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_IRQPRIO=y
+# CONFIG_CUSTOM_STACK is not set
+# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_VFORK=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG 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=16717
+# CONFIG_ARCH_CALIBRATION is not set
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_SIZE=196608
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=750
+
+#
+# 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
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_TAP_V1=y
+CONFIG_ARCH_BOARD="tap-v1"
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_NSH_MMCSDSPIPORTNO=2
+
+#
+# Board-Specific Options
+#
+
+#
+# RTOS Features
+#
+# CONFIG_BOARD_INITIALIZE is not set
+CONFIG_MSEC_PER_TICK=1
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_TASK_NAME_SIZE=24
+# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+CONFIG_DEV_CONSOLE=y
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+# CONFIG_DISABLE_OS_API 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
+
+#
+# Sizes of configurable things (0 disables)
+#
+CONFIG_MAX_TASKS=32
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=42
+CONFIG_NFILE_STREAMS=8
+CONFIG_NAME_MAX=32
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=1000
+CONFIG_USERMAIN_STACKSIZE=2500
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_LOOP is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_PWM is not set
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+CONFIG_I2C_TRANSFER=y
+# CONFIG_I2C_WRITEREAD is not set
+# CONFIG_I2C_POLLED is not set
+# CONFIG_I2C_TRACE is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C_RESET=y
+CONFIG_SPI=y
+# CONFIG_SPI_OWNBUS is not set
+CONFIG_SPI_EXCHANGE=y
+# CONFIG_SPI_CMDDATA is not set
+# CONFIG_RTC is not set
+CONFIG_WATCHDOG=y
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_LCD is not set
+CONFIG_MMCSD=y
+CONFIG_MMCSD_NSLOTS=1
+# CONFIG_MMCSD_READONLY is not set
+# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_HAVECARDDETECT is not set
+# CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE is not set
+CONFIG_MMCSD_SPI=y
+CONFIG_MMCSD_SPICLOCK=24000000
+# CONFIG_MMCSD_SDIO is not set
+# CONFIG_MTD is not set
+CONFIG_PIPES=y
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+# CONFIG_16550_UART is not set
+CONFIG_ARCH_HAVE_UART4=y
+CONFIG_ARCH_HAVE_UART5=y
+CONFIG_ARCH_HAVE_USART1=y
+CONFIG_ARCH_HAVE_USART2=y
+CONFIG_ARCH_HAVE_USART3=y
+CONFIG_ARCH_HAVE_USART6=y
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+CONFIG_USART3_SERIAL_CONSOLE=y
+# CONFIG_UART4_SERIAL_CONSOLE is not set
+# CONFIG_UART5_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_TXBUFSIZE=128
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=300
+CONFIG_USART2_TXBUFSIZE=300
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+# CONFIG_USART2_IFLOWCONTROL is not set
+# CONFIG_USART2_OFLOWCONTROL 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
+
+#
+# UART4 Configuration
+#
+CONFIG_UART4_RXBUFSIZE=256
+CONFIG_UART4_TXBUFSIZE=256
+CONFIG_UART4_BAUD=115200
+CONFIG_UART4_BITS=8
+CONFIG_UART4_PARITY=0
+CONFIG_UART4_2STOP=0
+# CONFIG_UART4_IFLOWCONTROL is not set
+# CONFIG_UART4_OFLOWCONTROL is not set
+
+#
+# UART5 Configuration
+#
+CONFIG_UART5_RXBUFSIZE=300
+CONFIG_UART5_TXBUFSIZE=300
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_BITS=8
+CONFIG_UART5_PARITY=0
+CONFIG_UART5_2STOP=0
+# CONFIG_UART5_IFLOWCONTROL is not set
+# CONFIG_UART5_OFLOWCONTROL is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART6_TXBUFSIZE=64
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+# CONFIG_SERIAL_IFLOWCONTROL is not set
+# CONFIG_SERIAL_OFLOWCONTROL 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_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_NWRREQS=4
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=300
+CONFIG_CDCACM_TXBUFSIZE=1000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0010
+CONFIG_CDCACM_VENDORSTR="The Autopilot"
+CONFIG_CDCACM_PRODUCTSTR="PX4 TAP v1.x"
+# CONFIG_USBMSC is not set
+# CONFIG_USBHOST is not set
+# CONFIG_WIRELESS is not set
+
+#
+# System Logging Device Options
+#
+
+#
+# System Logging
+#
+# CONFIG_RAMLOG is not set
+
+#
+# Networking Support
+#
+# CONFIG_NET is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+# CONFIG_FAT_DMAMEMORY is not set
+# CONFIG_FS_NXFFS is not set
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+
+#
+# System Logging
+#
+# CONFIG_SYSLOG_ENABLE is not set
+# CONFIG_SYSLOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_MULTIHEAP is not set
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+CONFIG_GRAN=y
+# CONFIG_GRAN_SINGLE is not set
+# CONFIG_GRAN_INTR is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Binary Formats
+#
+# 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 is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=180
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+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=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
+CONFIG_LIBC_STRERROR=y
+# CONFIG_LIBC_STRERROR_SHORT is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_ARCH_LOWPUTC=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
+
+#
+# Non-standard Library Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=5000
+CONFIG_SCHED_WORKSTACKSIZE=1600
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=1600
+# 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=1024
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_BUTTONS is not set
+# CONFIG_EXAMPLES_CAN is not set
+CONFIG_EXAMPLES_CDCACM=y
+# CONFIG_EXAMPLES_COMPOSITE 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_JSON is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_LCDRW is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXCONSOLE is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXFLAT is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PASHELLO is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_QENCODER is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_UDP is not set
+# CONFIG_EXAMPLES_UIP is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBMSC is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# Network Utilities
+#
+
+#
+# Networking Utilities
+#
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_DHCPC is not set
+# CONFIG_NETUTILS_DHCPD is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_FTPD is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_RESOLV is not set
+# CONFIG_NETUTILS_SMTP is not set
+# CONFIG_NETUTILS_TELNETD is not set
+# CONFIG_NETUTILS_TFTPC is not set
+# CONFIG_NETUTILS_THTTPD is not set
+# CONFIG_NETUTILS_UIPLIB is not set
+# CONFIG_NETUTILS_WEBCLIENT is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# 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_KILL is not set
+CONFIG_NSH_DISABLE_LOSETUP=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_MKFATFS 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_MW is not set
+CONFIG_NSH_DISABLE_NSFMOUNT=y
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_NSH_DISABLE_PING=y
+CONFIG_NSH_DISABLE_PUT=y
+# CONFIG_NSH_DISABLE_PWD 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_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT 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_FILEIOSIZE=512
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT="/tmp"
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+
+#
+# USB Trace Support
+#
+# CONFIG_NSH_CONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# System NSH Add-Ons
+#
+
+#
+# Custom Free Memory Command
+#
+# CONFIG_SYSTEM_FREE is not set
+
+#
+# I2C tool
+#
+# CONFIG_SYSTEM_I2CTOOL is not set
+
+#
+# FLASH Program Installation
+#
+# CONFIG_SYSTEM_INSTALL is not set
+
+#
+# FLASH Erase-all Command
+#
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# Power Off
+#
+# CONFIG_SYSTEM_POWEROFF is not set
+
+#
+# RAMTRON
+#
+# CONFIG_SYSTEM_RAMTRON is not set
+
+#
+# SD Card
+#
+# CONFIG_SYSTEM_SDCARD is not set
+
+#
+# Sysinfo
+#
+CONFIG_SYSTEM_SYSINFO=y
+
+#
+# USB Monitor
+#
diff --git a/nuttx-configs/tap-v1/nsh/setenv.sh b/nuttx-configs/tap-v1/nsh/setenv.sh
new file mode 100755
index 0000000000000000000000000000000000000000..db372217cdbda0b66e25e5da2718cda66d997c7b
--- /dev/null
+++ b/nuttx-configs/tap-v1/nsh/setenv.sh
@@ -0,0 +1,75 @@
+#!/bin/bash
+# configs/px4fmu-v1/usbnsh/setenv.sh
+#
+# Copyright (C) 2013 Gregory Nutt. All rights reserved.
+# Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# 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="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows. You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows. You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows. You will also have to edit this if you install
+# the Atollic toolchain in any other location. /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${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/tap-v1/scripts/ld.script b/nuttx-configs/tap-v1/scripts/ld.script
new file mode 100644
index 0000000000000000000000000000000000000000..4cf52e0a4b65f4295f546d00729a8dddd497a79c
--- /dev/null
+++ b/nuttx-configs/tap-v1/scripts/ld.script
@@ -0,0 +1,149 @@
+/****************************************************************************
+ * configs/tap-v1/scripts/ld.script
+ *
+ * Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ * Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2) 16Kb of SRAM beginning at address 0x2001:c000
+ * 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+ flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
+ sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+ ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+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(.);
+
+ /*
+ * 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(.);
+
+ .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/tap-v1/src/Makefile b/nuttx-configs/tap-v1/src/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8f86d0ada195cbef8047823b3b1b5b900ed883ac
--- /dev/null
+++ b/nuttx-configs/tap-v1/src/Makefile
@@ -0,0 +1,84 @@
+############################################################################
+# configs/tap-v1/src/Makefile
+#
+# Copyright (C) 2013 Gregory Nutt. All rights reserved.
+# Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS += -I$(TOPDIR)/sched
+
+ASRCS =
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+
+CSRCS = empty.c
+COBJS = $(CSRCS:.c=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+ CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+ -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+ -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+ CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+ $(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+ $(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+ $(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+ $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+ $(Q) touch $@
+
+depend: .depend
+
+clean:
+ $(call DELFILE, libboard$(LIBEXT))
+ $(call CLEAN)
+
+distclean: clean
+ $(call DELFILE, Make.dep)
+ $(call DELFILE, .depend)
+
+-include Make.dep
+
diff --git a/nuttx-configs/tap-v1/src/empty.c b/nuttx-configs/tap-v1/src/empty.c
new file mode 100644
index 0000000000000000000000000000000000000000..5de10699fbb42872cc118f96f4ba065d31964233
--- /dev/null
+++ b/nuttx-configs/tap-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/src/drivers/boards/tap-v1/CMakeLists.txt b/src/drivers/boards/tap-v1/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca3baa3e31a600b357e954bc71114fe839361790
--- /dev/null
+++ b/src/drivers/boards/tap-v1/CMakeLists.txt
@@ -0,0 +1,48 @@
+############################################################################
+#
+# Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+ MODULE drivers__boards__tap-v1
+ COMPILE_FLAGS
+ -Os
+ SRCS
+ ../common/board_name.c
+ tap_init.c
+ tap_timer_config.c
+ tap_spi.c
+ tap_usb.c
+ tap_led.c
+ DEPENDS
+ platforms__common
+ )
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/boards/tap-v1/board_config.h b/src/drivers/boards/tap-v1/board_config.h
new file mode 100644
index 0000000000000000000000000000000000000000..0111e20114fae3f592f62beca69156955c0ef1d1
--- /dev/null
+++ b/src/drivers/boards/tap-v1/board_config.h
@@ -0,0 +1,276 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * TAP_V1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32.h>
+#include <arch/board/board.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+#define UDID_START 0x1FFF7A10
+
+/* PX4FMU GPIOs ***********************************************************************************/
+/* LEDs
+ *
+ * PC4 BLUE_LED D4 Blue LED cathode
+ * PC5 RED_LED D5 Red LED cathode
+*/
+
+#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
+#define GPIO_BLUE_LED GPIO_LED1
+#define GPIO_RED_LED GPIO_LED1
+/*
+ * SPI
+ *
+ * Peripheral Port Signal Name CONN
+ * SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
+ * SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
+ * SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
+ * SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
+ *
+ * PC2 SD_SW SD-9 SW
+ *
+ */
+#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
+
+
+/*
+ * I2C busses
+ *
+ * Peripheral Port Signal Name CONN
+ * I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
+ * I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
+ *
+ * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
+ * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
+ *
+ * I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
+ * I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
+ *
+ */
+#define PX4_I2C_BUS_ONBOARD 1
+#define PX4_I2C_BUS_SONAR 2
+#define PX4_I2C_BUS_EXPANSION 3
+
+/*
+ * Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses (not includinf R/W).
+ */
+
+/* todo:
+ * Cannot tell from the schematic if there is one or 2 MPU6050
+ * The slave address of the MPU-60X0 is b110100X which is 7 bits long.
+ * The LSB bit of the 7 bit address is determined by the logic level
+ * on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
+ * When used in this configuration, the address of the one of the devices
+ * should be b1101000 (pin AD0 is logic low) and the address of the other
+ * should be b1101001 (pin AD0 is logic high).
+ */
+#define PX4_I2C_ON_BOARD_MPU6050_ADDRS {0x68,0x69}
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 10)
+/* todo:Revisit - cannnot tell from schematic - some could be ADC */
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL 10
+#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
+
+
+/* User GPIOs
+ *
+ * TIM3_CH1 PA6 LED_R JP2-23,24
+ * TIM3_CH2 PA7 LED_G JP2-25,26
+ * TIM3_CH3 PB0 LED_B JP2-27,28
+ * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
+ *
+ * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
+ * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
+ *
+ */
+#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
+
+#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * Tone alarm output
+ */
+/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
+#define TONE_ALARM_TIMER 3 /* timer 3 */
+#define TONE_ALARM_CHANNEL 3 /* channel 3 */
+#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
+
+/*
+ * PWM
+ *
+ * Four PWM outputs can be configured on pins
+ *
+ *
+ * Peripheral Port Signal Name CONN
+ * TIM3_CH1 PA6 LED_R JP2-23,24
+ * TIM3_CH2 PA7 LED_G JP2-25,26
+ * TIM3_CH3 PB0 LED_B JP2-27,28
+ * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
+ *
+ */
+#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
+#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
+#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
+#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
+#define DIRECT_PWM_OUTPUT_CHANNELS 4
+
+/* USB OTG FS
+ *
+ * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
+ */
+#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer
+ */
+#define HRT_TIMER 1 /* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
+
+#define BOARD_NAME "TAP_V1"
+
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and herefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID (1)
+#define BOARD_ADC_SERVO_VALID (1)
+#define BOARD_ADC_PERIPH_5V_OC (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB { \
+ {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
+ {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
+ {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
+ {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
+ {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
+ {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, }
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+#define board_spi_reset(ms)
+#define board_peripheral_reset(ms)
+
+extern void stm32_usbinitialize(void);
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ * Perform architecture specific initialization for NSH.
+ *
+ * CONFIG_NSH_ARCHINIT=y :
+ * Called from the NSH library
+ *
+ * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
+ * CONFIG_NSH_ARCHINIT=n :
+ * Called from board_initialize().
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_LIBRARY
+int nsh_archinitialize(void);
+#endif
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/src/drivers/boards/tap-v1/tap_init.c b/src/drivers/boards/tap-v1/tap_init.c
new file mode 100644
index 0000000000000000000000000000000000000000..9bcfcdabc23b1221c2d0942f93e67a685f6146e8
--- /dev/null
+++ b/src/drivers/boards/tap-v1/tap_init.c
@@ -0,0 +1,204 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tap-v1_init.c
+ *
+ * tap-v1-specific early startup code. This file implements the
+ * nsh_archinitialize() 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 initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/i2c.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>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+# ifdef CONFIG_DEBUG
+# define message(...) lowsyslog(__VA_ARGS__)
+# else
+# define message(...) printf(__VA_ARGS__)
+# endif
+#else
+# ifdef CONFIG_DEBUG
+# define message lowsyslog
+# else
+# define message printf
+# endif
+#endif
+
+/*
+ * 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);
+__END_DECLS
+
+/****************************************************************************
+ * 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 intitialization -- after all memory has been configured
+ * and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+ /* configure always-on ADC pins */
+ stm32_configgpio(GPIO_ADC1_IN10);
+
+ /* configure SPI interfaces */
+ stm32_spiinitialize();
+
+ /* configure LEDs (empty call to NuttX' ledinit) */
+ up_ledinit();
+}
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ * Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi;
+
+#include <math.h>
+
+__EXPORT int nsh_archinitialize(void)
+{
+ int result;
+
+ /* configure the high-resolution time/callout interface */
+ hrt_init();
+
+ /* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+ cpuload_initialize_once();
+#endif
+
+ /* 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);
+
+ /* initial LED state */
+ drv_led_start();
+ led_off(LED_AMBER);
+ led_off(LED_BLUE);
+
+ /* Get the SPI port for the microSD slot */
+
+ spi = up_spiinitialize(CONFIG_NSH_MMCSDSPIPORTNO);
+
+ if (!spi) {
+ message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
+ up_ledon(LED_AMBER);
+ return -ENODEV;
+ }
+
+ /* Now bind the SPI interface to the MMCSD driver */
+ result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi);
+
+ if (result != OK) {
+ message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
+ up_ledon(LED_AMBER);
+ return -ENODEV;
+ }
+
+ return OK;
+}
diff --git a/src/drivers/boards/tap-v1/tap_led.c b/src/drivers/boards/tap-v1/tap_led.c
new file mode 100644
index 0000000000000000000000000000000000000000..d39e8f4a841ac81f2f74632f495a46976217f93d
--- /dev/null
+++ b/src/drivers/boards/tap-v1/tap_led.c
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tap-v1_led.c
+ *
+ * TAP_V1 LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.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
+
+__EXPORT void led_init(void)
+{
+ /* Configure LED1-2 GPIOs for output */
+
+ stm32_configgpio(GPIO_BLUE_LED);
+ stm32_configgpio(GPIO_RED_LED);
+}
+
+__EXPORT void led_on(int led)
+{
+ if (led == 0) {
+ /* Pull down to switch on */
+ stm32_gpiowrite(GPIO_BLUE_LED, false);
+ }
+
+ if (led == 1) {
+ /* Pull down to switch on */
+ stm32_gpiowrite(GPIO_RED_LED, false);
+ }
+}
+
+__EXPORT void led_off(int led)
+{
+ if (led == 0) {
+ /* Pull up to switch off */
+ stm32_gpiowrite(GPIO_BLUE_LED, true);
+ }
+
+ if (led == 1) {
+ /* Pull up to switch off */
+ stm32_gpiowrite(GPIO_RED_LED, true);
+ }
+}
+
+__EXPORT void led_toggle(int led)
+{
+ if (led == 0) {
+ if (stm32_gpioread(GPIO_BLUE_LED)) {
+ stm32_gpiowrite(GPIO_BLUE_LED, false);
+
+ } else {
+ stm32_gpiowrite(GPIO_BLUE_LED, true);
+ }
+ }
+
+ if (led == 1) {
+ if (stm32_gpioread(GPIO_RED_LED)) {
+ stm32_gpiowrite(GPIO_RED_LED, false);
+
+ } else {
+ stm32_gpiowrite(GPIO_RED_LED, true);
+ }
+ }
+}
diff --git a/src/drivers/boards/tap-v1/tap_spi.c b/src/drivers/boards/tap-v1/tap_spi.c
new file mode 100644
index 0000000000000000000000000000000000000000..87f4df51109f183b3cbced9888ba7879af2ff972
--- /dev/null
+++ b/src/drivers/boards/tap-v1/tap_spi.c
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tap-v1_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/spi.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "chip.h"
+#include "stm32.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins for the tap-v1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_spiinitialize(void)
+{
+ stm32_configgpio(GPIO_SPI_CS_SDCARD);
+ stm32_configgpio(GPIO_SPI_SD_SW);
+}
+
+
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+ /* there can only be one device on this bus, so always select it */
+ stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+ return stm32_gpioread(GPIO_SPI_SD_SW);
+}
+
diff --git a/src/drivers/boards/tap-v1/tap_timer_config.c b/src/drivers/boards/tap-v1/tap_timer_config.c
new file mode 100644
index 0000000000000000000000000000000000000000..e59fdfe641222a0f9322a49bbe560ced22becc9f
--- /dev/null
+++ b/src/drivers/boards/tap-v1/tap_timer_config.c
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file tap-v1_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+ {
+ .base = STM32_TIM3_BASE,
+ .clock_register = STM32_RCC_APB1ENR,
+ .clock_bit = RCC_APB1ENR_TIM3EN,
+ .clock_freq = STM32_APB1_TIM3_CLKIN,
+ .first_channel_index = 0,
+ .last_channel_index = 3,
+ .handler = io_timer_handler0,
+ .vectorno = STM32_IRQ_TIM3,
+ }
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+ {
+ .gpio_out = GPIO_TIM3_CH1OUT,
+ .gpio_in = 0,
+ .timer_index = 0,
+ .timer_channel = 1,
+ .ccr_offset = STM32_GTIM_CCR1_OFFSET,
+ .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+ },
+ {
+ .gpio_out = GPIO_TIM3_CH2OUT,
+ .gpio_in = 0,
+ .timer_index = 0,
+ .timer_channel = 2,
+ .ccr_offset = STM32_GTIM_CCR2_OFFSET,
+ .masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+ },
+ {
+ .gpio_out = GPIO_TIM3_CH3OUT,
+ .gpio_in = 0,
+ .timer_index = 0,
+ .timer_channel = 3,
+ .ccr_offset = STM32_GTIM_CCR3_OFFSET,
+ .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+ },
+ {
+ .gpio_out = GPIO_TIM3_CH4OUT,
+ .gpio_in = 0,
+ .timer_index = 0,
+ .timer_channel = 4,
+ .ccr_offset = STM32_GTIM_CCR4_OFFSET,
+ .masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
+ }
+};
diff --git a/src/drivers/boards/tap-v1/tap_usb.c b/src/drivers/boards/tap-v1/tap_usb.c
new file mode 100644
index 0000000000000000000000000000000000000000..2afd1e44e4f7349b9c00d40a96aa32e23a4dcf6b
--- /dev/null
+++ b/src/drivers/boards/tap-v1/tap_usb.c
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tap-v1_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 tap-v1 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
+ stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name: stm32_usbsuspend
+ *
+ * Description:
+ * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ * used. This function is called whenever the USB enters or leaves suspend mode.
+ * This is an opportunity for the board logic to shutdown clocks, power, etc.
+ * while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+ //ulldbg("resume: %d\n", resume);
+}
+
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index 856f604fec60fccd58dfeafa3bbe3b4601ebd1d8..6b600fbe2da6215551a3d6ed0da540d2a801b248 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -117,6 +117,24 @@
#endif
+#ifdef CONFIG_ARCH_BOARD_TAP_V1
+/*
+ * PX4FMUv3 GPIO numbers.
+ *
+ * There are no alternate functions on this board.
+ */
+# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
+# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
+# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
+# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
+
+/**
+ * Device paths for things that support the GPIO ioctl protocol.
+ */
+# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
+
+#endif
+
#ifdef CONFIG_ARCH_BOARD_AEROCORE
/*
* AeroCore GPIO numbers and configuration.
@@ -144,8 +162,9 @@
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
- !defined(CONFIG_ARCH_BOARD_MINDPX_V2) &&\
- !defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL)
+ !defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \
+ !defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \
+ !defined(CONFIG_ARCH_BOARD_TAP_V1)
# error No CONFIG_ARCH_BOARD_xxxx set
#endif
/*
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index a1100287c28094185b4f58a85798ab295d7e2def..fac3dc0eff8a20360fec8d03145ad3cdebbefe84 100644
--- a/src/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
@@ -72,7 +72,7 @@
#define DRV_RNG_DEVTYPE_MB12XX 0x31
#define DRV_RNG_DEVTYPE_LL40LS 0x32
-#ifdef CONFIG_ARCH_BOARD_MINDPX_V2
+#if defined (CONFIG_ARCH_BOARD_MINDPX_V2) || defined (CONFIG_ARCH_BOARD_TAP_V1)
#define DRV_ACC_DEVTYPE_MPU6050 0x14
#define DRV_ACC_DEVTYPE_MPU6500 0x13