Changes to px4fmu-v1 for upstream Nuttx

cmake/configs/nuttx_px4fmu-v1_default.cmake

 include(nuttx/px4_impl_nuttx)
 
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list

nuttx-configs/px4fmu-v1/include/board.h

 /************************************************************************************
- * configs/stm32f4discovery/include/board.h
+ * nuttx-configs/px4fmu-v1/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
@@ -150,11 +150,23 @@
 
 /* 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
+ * Note: TIM1,8-11 are on APB2, others on APB1
  */
 
-#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
 
 /* LED definitions ******************************************************************/
 /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any

nuttx-configs/px4fmu-v1/nsh/Make.defs

 ############################################################################
-# configs/px4fmu-v1/nsh/Make.defs
+# nuttx-configs/px4fmu-v1/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,14 +35,14 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
-
 include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
 
 #
 # We only support building with the ARM bare-metal toolchain from
 # https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
 #
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
 
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
@@ -62,17 +62,18 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mfpu=fpv4-sp-d16 \
 			   -mfloat-abi=hard
 
+# Enable precise stack overflow tracking
 
-# 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
+# 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
+# Use our linker script
+
 LDSCRIPT		 = ld.script
 
 ifeq ($(WINTOOL),y)
@@ -94,18 +95,20 @@ else
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
     # Linux/Cygwin-native toolchain
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    MKDEP		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
     ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
     ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
     ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   endif
 endif
 
-# tool versions
+# 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
+# Optimization flags
+
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
@@ -127,7 +130,8 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
 ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
-# this seems to be the only way to add linker flags
+# This seems to be the only way to add linker flags
+
 EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
@@ -146,8 +150,8 @@ OBJEXT			 = .o
 LIBEXT			 = .a
 EXEEXT			 =
 
+# Produce partially-linked $1 from files in $2
 
-# produce partially-linked $1 from files in $2
 define PRELINK
 	@echo "PRELINK: $1"
 	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1

nuttx-configs/px4fmu-v1/nsh/setenv.sh

 #!/bin/bash
-# configs/px4fmu-v1/usbnsh/setenv.sh
+# nuttx-configs/px4fmu-v1/nsh/setenv.sh
 #
 #   Copyright (C) 2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4fmu-v1/scripts/ld.script

 /****************************************************************************
- * configs/px4fmu-v1/scripts/ld.script
+ * nuttx-configs/px4fmu-v1/scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>

nuttx-configs/px4fmu-v1/src/Makefile

 ############################################################################
-# configs/px4fmu-v1/src/Makefile
 #
 #   Copyright (C) 2013 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -80,5 +79,9 @@ distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
 
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
 -include Make.dep
 

src/drivers/boards/px4fmu-v1/board_config.h

@@ -46,9 +46,7 @@
 #include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
-
-#include <stm32.h>
-#include <arch/board/board.h>
+#include <nuttx/board.h>
 
 /****************************************************************************************************
  * Definitions
@@ -57,7 +55,6 @@
 
 /* PX4IO connection configuration */
 #define PX4IO_SERIAL_DEVICE	"/dev/ttyS2"
-#define UDID_START		0x1FFF7A10
 
 //#ifdef CONFIG_STM32_SPI2
 //#  error "SPI2 is not supported on this board"
@@ -252,25 +249,6 @@ extern void stm32_usbinitialize(void);
 
 #define board_peripheral_reset(ms)
 
-/****************************************************************************
- * 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
-
 #include "../common/board_common.h"
 
 #endif /* __ASSEMBLY__ */

src/drivers/boards/px4fmu-v1/px4fmu_can.c

@@ -46,7 +46,7 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/can.h>
+#include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
 
 #include "chip.h"
@@ -74,21 +74,6 @@
 #  define CAN_PORT 2
 #endif
 
-/* Debug ***************************************************************************/
-/* Non-standard debug that may be enabled just for testing CAN */
-
-#ifdef CONFIG_DEBUG_CAN
-#  define candbg    dbg
-#  define canvdbg   vdbg
-#  define canlldbg  lldbg
-#  define canllvdbg llvdbg
-#else
-#  define candbg(x...)
-#  define canvdbg(x...)
-#  define canlldbg(x...)
-#  define canllvdbg(x...)
-#endif
-
 /************************************************************************************
  * Private Functions
  ************************************************************************************/
@@ -120,7 +105,7 @@ int can_devinit(void)
 		can = stm32_caninitialize(CAN_PORT);
 
 		if (can == NULL) {
-			candbg("ERROR:  Failed to get CAN interface\n");
+			canerr("ERROR:  Failed to get CAN interface\n");
 			return -ENODEV;
 		}
 
@@ -129,7 +114,7 @@ int can_devinit(void)
 		ret = can_register("/dev/can0", can);
 
 		if (ret < 0) {
-			candbg("ERROR: can_register failed: %d\n", ret);
+			canerr("ERROR: can_register failed: %d\n", ret);
 			return ret;
 		}
 

src/drivers/boards/px4fmu-v1/px4fmu_init.c

 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,10 +35,10 @@
  * @file px4fmu_init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
+ * board_app_initialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -53,8 +53,9 @@
 #include <errno.h>
 
 #include <nuttx/arch.h>
-#include <nuttx/spi.h>
-#include <nuttx/i2c.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
@@ -79,13 +80,13 @@
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
 #  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
+#    define message(...) syslog(__VA_ARGS__)
 #  else
 #    define message(...) printf(__VA_ARGS__)
 #  endif
 #else
 #  ifdef CONFIG_DEBUG
-#    define message lowsyslog
+#    define message syslog
 #  else
 #    define message printf
 #  endif
@@ -124,18 +125,39 @@ __END_DECLS
 
 __EXPORT void stm32_boardinitialize(void)
 {
+	/* configure always-on ADC pins */
+	stm32_configgpio(GPIO_ADC1_IN10);
+	stm32_configgpio(GPIO_ADC1_IN11);
+
 	/* configure SPI interfaces */
 	stm32_spiinitialize();
 
-	/* configure LEDs (empty call to NuttX' ledinit) */
-	up_ledinit();
+	/* configure LEDs (empty call to NuttX' ) */
+	board_autoled_initialize();
 }
 
 /****************************************************************************
- * Name: nsh_archinitialize
+ * Name: board_app_initialize
  *
  * Description:
- *   Perform architecture specific initialization
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
  *
  ****************************************************************************/
 
@@ -143,17 +165,27 @@ static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
 static struct spi_dev_s *spi3;
 
-#include <math.h>
-
-__EXPORT int nsh_archinitialize(void)
+__EXPORT int board_app_initialize(uintptr_t arg)
 {
+
 	int result;
 
-	/* configure always-on ADC pins */
-	px4_arch_configgpio(GPIO_ADC1_IN10);
-	px4_arch_configgpio(GPIO_ADC1_IN11);
 	/* IN12 and IN13 further below */
 
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
@@ -187,11 +219,11 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Configure SPI-based devices */
 
-	spi1 = px4_spibus_initialize(1);
+	spi1 = stm32_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\r\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 
@@ -210,7 +242,7 @@ __EXPORT int nsh_archinitialize(void)
 	 */
 
 #ifdef CONFIG_STM32_SPI2
-	spi2 = px4_spibus_initialize(2);
+	spi2 = stm32_spibus_initialize(2);
 	/* Default SPI2 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi2, 10000000);
 	SPI_SETBITS(spi2, 8);
@@ -223,17 +255,17 @@ __EXPORT int nsh_archinitialize(void)
 	spi2 = NULL;
 	message("[boot] Enabling IN12/13 instead of SPI2\n");
 	/* no SPI2, use pins for ADC */
-	px4_arch_configgpio(GPIO_ADC1_IN12);
-	px4_arch_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
+	stm32_configgpio(GPIO_ADC1_IN12);
+	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 #endif
 
 	/* Get the SPI port for the microSD slot */
 
-	spi3 = px4_spibus_initialize(3);
+	spi3 = stm32_spibus_initialize(3);
 
 	if (!spi3) {
 		message("[boot] FAILED to initialize SPI port 3\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 
@@ -242,7 +274,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	if (result != OK) {
 		message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
-		up_ledon(LED_AMBER);
+		board_autoled_on(LED_AMBER);
 		return -ENODEV;
 	}
 

src/drivers/boards/px4fmu-v1/px4fmu_led.c

@@ -64,20 +64,20 @@ __EXPORT void led_init(void)
 {
 	/* Configure LED1-2 GPIOs for output */
 
-	px4_arch_configgpio(GPIO_LED1);
-	px4_arch_configgpio(GPIO_LED2);
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 0) {
 		/* Pull down to switch on */
-		px4_arch_gpiowrite(GPIO_LED1, false);
+		stm32_gpiowrite(GPIO_LED1, false);
 	}
 
 	if (led == 1) {
 		/* Pull down to switch on */
-		px4_arch_gpiowrite(GPIO_LED2, false);
+		stm32_gpiowrite(GPIO_LED2, false);
 	}
 }
 
@@ -85,32 +85,32 @@ __EXPORT void led_off(int led)
 {
 	if (led == 0) {
 		/* Pull up to switch off */
-		px4_arch_gpiowrite(GPIO_LED1, true);
+		stm32_gpiowrite(GPIO_LED1, true);
 	}
 
 	if (led == 1) {
 		/* Pull up to switch off */
-		px4_arch_gpiowrite(GPIO_LED2, true);
+		stm32_gpiowrite(GPIO_LED2, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 0) {
-		if (px4_arch_gpioread(GPIO_LED1)) {
-			px4_arch_gpiowrite(GPIO_LED1, false);
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED1, true);
+			stm32_gpiowrite(GPIO_LED1, true);
 		}
 	}
 
 	if (led == 1) {
-		if (px4_arch_gpioread(GPIO_LED2)) {
-			px4_arch_gpiowrite(GPIO_LED2, false);
+		if (stm32_gpioread(GPIO_LED2)) {
+			stm32_gpiowrite(GPIO_LED2, false);
 
 		} else {
-			px4_arch_gpiowrite(GPIO_LED2, true);
+			stm32_gpiowrite(GPIO_LED2, true);
 		}
 	}
 }

src/drivers/boards/px4fmu-v1/px4fmu_spi.c

@@ -47,7 +47,7 @@
 #include <stdbool.h>
 #include <debug.h>
 
-#include <nuttx/spi.h>
+#include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -69,19 +69,19 @@
 
 __EXPORT void stm32_spiinitialize(void)
 {
-	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	px4_arch_configgpio(GPIO_SPI_CS_ACCEL);
-	px4_arch_configgpio(GPIO_SPI_CS_MPU);
-	px4_arch_configgpio(GPIO_SPI_CS_SDCARD);
+	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	stm32_configgpio(GPIO_SPI_CS_ACCEL);
+	stm32_configgpio(GPIO_SPI_CS_MPU);
+	stm32_configgpio(GPIO_SPI_CS_SDCARD);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
@@ -91,23 +91,23 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		break;
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:
@@ -121,6 +121,8 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 
+
+#ifdef CONFIG_STM32_SPI2
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* SPI select is active low, so write !selected to select the device */
@@ -138,12 +140,13 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 {
 	return SPI_STATUS_PRESENT;
 }
+#endif
 
 
 __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there can only be one device on this bus, so always select it */
-	px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
+	stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
 }
 
 __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

src/drivers/boards/px4fmu-v1/px4fmu_usb.c

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+	stm32_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	px4_arch_configgpio(GPIO_OTGFS_OVER);
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
 
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-	//ulldbg("resume: %d\n", resume);
+	uinfo("resume: %d\n", resume);
 }