diff --git a/Images/px4fmu-v3.prototype b/Images/px4fmu-v3.prototype
new file mode 100644
index 0000000000000000000000000000000000000000..ada86b9a93ff1ecd81cbd69877ae8c5eb236ffe5
--- /dev/null
+++ b/Images/px4fmu-v3.prototype
@@ -0,0 +1,12 @@
+{
+ "board_id": 11,
+ "magic": "PX4FWv1",
+ "description": "Firmware for the PX4FMUv3 board",
+ "image": "",
+ "build_time": 0,
+ "summary": "PX4FMUv3",
+ "version": "0.1",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}
diff --git a/Makefile b/Makefile
index b0f49eda3eb0a27de0328e0fe29b9f8fffc8ea04..61582fc296d6a5b94dc1d8f19bface0c6254fc36 100644
--- a/Makefile
+++ b/Makefile
@@ -130,6 +130,9 @@ px4fmu-v1_default:
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
+px4fmu-v3_default:
+ $(call cmake-build,nuttx_px4fmu-v3_default)
+
px4fmu-v2_simple:
$(call cmake-build,nuttx_px4fmu-v2_simple)
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..82f4c1b9a7996e463514836a7bbf7075bb4c268a
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -0,0 +1,178 @@
+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/px4fmu-v3
+ drivers/rgbled
+ drivers/mpu9250
+ drivers/hmc5883
+ drivers/ms5611
+ drivers/mb12xx
+ drivers/srf02
+ drivers/sf0x
+ drivers/ll40ls
+ drivers/trone
+ drivers/gps
+ drivers/pwm_out_sim
+ drivers/hott
+ drivers/hott/hott_telemetry
+ drivers/hott/hott_sensors
+ drivers/blinkm
+ drivers/airspeed
+ drivers/ets_airspeed
+ drivers/meas_airspeed
+ drivers/frsky_telemetry
+ modules/sensors
+ #drivers/mkblctrl
+ drivers/px4flow
+ drivers/oreoled
+ drivers/gimbal
+ drivers/pwm_input
+ drivers/camera_trigger
+
+ #
+ # System commands
+ #
+ systemcmds/bl_update
+ systemcmds/mixer
+ systemcmds/param
+ systemcmds/perf
+ systemcmds/pwm
+ systemcmds/esc_calib
+ systemcmds/reboot
+ #systemcmds/topic_listener
+ systemcmds/top
+ systemcmds/config
+ systemcmds/nshterm
+ systemcmds/mtd
+ systemcmds/dumpfile
+ systemcmds/ver
+
+ #
+ # General system control
+ #
+ modules/commander
+ modules/navigator
+ modules/mavlink
+ modules/gpio_led
+ modules/uavcan
+ modules/land_detector
+
+ #
+ # Estimation modules (EKF/ SO3 / other filters)
+ #
+ # Too high RAM usage due to static allocations
+ # modules/attitude_estimator_ekf
+ modules/attitude_estimator_q
+ modules/ekf_att_pos_estimator
+ modules/position_estimator_inav
+
+ #
+ # Vehicle Control
+ #
+ # modules/segway # XXX Needs GCC 4.7 fix
+ modules/fw_pos_control_l1
+ modules/fw_att_control
+ modules/mc_att_control
+ modules/mc_pos_control
+ modules/vtol_att_control
+
+ #
+ # Logging
+ #
+ modules/sdlog2
+
+ #
+ # Library modules
+ #
+ modules/param
+ modules/systemlib
+ modules/systemlib/mixer
+ modules/controllib
+ modules/uORB
+ modules/dataman
+
+ #
+ # Libraries
+ #
+ #lib/mathlib/CMSIS
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/ecl
+ lib/external_lgpl
+ lib/geo
+ lib/geo_lookup
+ lib/conversion
+ lib/launchdetection
+ platforms/nuttx
+
+ # had to add for cmake, not sure why wasn't in original config
+ platforms/common
+ platforms/nuttx/px4_layer
+
+ #
+ # OBC challenge
+ #
+ modules/bottle_drop
+
+ #
+ # Rover apps
+ #
+ examples/rover_steering_control
+
+ #
+ # Demo apps
+ #
+ #examples/math_demo
+ # Tutorial code from
+ # https://px4.io/dev/px4_simple_app
+ #examples/px4_simple_app
+
+ # Tutorial code from
+ # https://px4.io/dev/daemon
+ #examples/px4_daemon_app
+
+ # Tutorial code from
+ # https://px4.io/dev/debug_values
+ #examples/px4_mavlink_debug
+
+ # Tutorial code from
+ # https://px4.io/dev/example_fixedwing_control
+ #examples/fixedwing_control
+
+ # Hardware test
+ #examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+ serdis
+ sercon
+ )
+
+set(config_extra_libs
+ ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+ uavcan
+ uavcan_stm32_driver
+ )
+
+set(config_io_extra_libs
+ #${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+ )
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+ MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+ MAIN "serdis" STACK "2048")
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index af7391f45cb8322c2b8bcb8ce0104e0f9e5b2e67..e54276b099004c052bc52f31667bf6fd9df8f237 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -458,6 +458,14 @@ function(px4_os_add_flags)
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
)
+ elseif (${BOARD} STREQUAL "px4fmu-v3")
+ set(cpu_flags
+ -mcpu=cortex-m4
+ -mthumb
+ -march=armv7e-m
+ -mfpu=fpv4-sp-d16
+ -mfloat-abi=hard
+ )
elseif (${BOARD} STREQUAL "aerocore")
set(cpu_flags
-mcpu=cortex-m4
diff --git a/nuttx-configs/px4fmu-v3/include/board.h b/nuttx-configs/px4fmu-v3/include/board.h
new file mode 100755
index 0000000000000000000000000000000000000000..54e21bbfe711d86d4a34c78e09e728c64b39de51
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/include/board.h
@@ -0,0 +1,295 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ * Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ * Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ * System Clock source : PLL (HSE)
+ * SYSCLK(Hz) : 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) : 24000000 (STM32_BOARD_XTAL)
+ * PLLM : 24 (STM32_PLLCFG_PLLM)
+ * PLLN : 336 (STM32_PLLCFG_PLLN)
+ * PLLP : 2 (STM32_PLLCFG_PLLP)
+ * PLLQ : 7 (STM32_PLLCFG_PPQ)
+ * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
+ * Flash Latency(WS) : 5
+ * Prefetch Buffer : OFF
+ * Instruction cache : ON
+ * Data cache : ON
+ * Require 48MHz for USB OTG FS, : Enabled
+ * SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 24MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL 24000000ul
+
+#define STM32_HSI_FREQUENCY 16000000ul
+#define STM32_LSI_FREQUENCY 32000
+#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY 32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * = (25,000,000 / 25) * 336
+ * = 336,000,000
+ * SYSCLK = PLL_VCO / PLLP
+ * = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ * = PLL_VCO / PLLQ
+ * = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
+#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
+#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)
+
+/* SDIO dividers. Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode. These values have not been
+ * tuned!!!
+ *
+ * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz
+ */
+
+#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz
+ * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
+ */
+
+#ifdef CONFIG_SDIO_DMA
+# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz
+ * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
+ */
+
+#ifdef CONFIG_SDIO_DMA
+# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA Channl/Stream Selections *****************************************************/
+/* Stream selections are arbitrary for now but might become important in the future
+ * is we set aside more DMA channels/streams.
+ *
+ * SDIO DMA
+ * Â DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
+ * Â DMAMAP_SDIO_2 = Channel 4, Stream 6
+ */
+
+#define DMAMAP_SDIO DMAMAP_SDIO_1
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+#define GPIO_USART1_RX GPIO_USART1_RX_2 /* ESP8266 */
+#define GPIO_USART1_TX GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX GPIO_USART2_RX_2
+#define GPIO_USART2_TX GPIO_USART2_TX_2
+#define GPIO_USART2_RTS GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS GPIO_USART2_CTS_2
+
+#define GPIO_USART3_RX GPIO_USART3_RX_3
+#define GPIO_USART3_TX GPIO_USART3_TX_3
+#define GPIO_USART3_RTS GPIO_USART3_RTS_2
+#define GPIO_USART3_CTS GPIO_USART3_CTS_2
+
+#define GPIO_UART4_RX GPIO_UART4_RX_1
+#define GPIO_UART4_TX GPIO_UART4_TX_1
+
+#define GPIO_UART7_RX GPIO_UART7_RX_1
+#define GPIO_UART7_TX GPIO_UART7_TX_1
+
+/* UART8 has no alternate pin config */
+
+/* UART RX DMA configurations */
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
+#define GPIO_CAN1_RX GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX GPIO_CAN1_TX_3
+
+/*
+ * I2C
+ *
+ * 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_SCL GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|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)
+#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+
+/************************************************************************************
+ * 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);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h b/nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h
new file mode 100644
index 0000000000000000000000000000000000000000..15e4e7a8d5a6cdc29fcaf1e67edd8a2087f5178a
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2013 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/px4fmu-v3/nsh/Make.defs b/nuttx-configs/px4fmu-v3/nsh/Make.defs
new file mode 100644
index 0000000000000000000000000000000000000000..6177f4c36d02955ce74d10a35746648c1610bcce
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/nsh/Make.defs
@@ -0,0 +1,177 @@
+############################################################################
+# configs/px4fmu-v2/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
+
+#
+# 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 = -Wall \
+ -Wno-sign-compare \
+ -Wextra \
+ -Wdouble-promotion \
+ -Wshadow \
+ -Wframe-larger-than=1024 \
+ -Wpointer-arith \
+ -Wlogical-op \
+ -Wpacked \
+ -Wno-unused-parameter
+# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
+# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS = $(ARCHWARNINGS) \
+ -Wbad-function-cast \
+ -Wstrict-prototypes \
+ -Wold-style-declaration \
+ -Wmissing-parameter-type \
+ -Wnested-externs
+ARCHWARNINGSXX = $(ARCHWARNINGS) \
+ -Wno-psabi
+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/px4fmu-v3/nsh/appconfig b/nuttx-configs/px4fmu-v3/nsh/appconfig
new file mode 100644
index 0000000000000000000000000000000000000000..0e18aa8ef10a26b4200a5719887fda69d3184e31
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/nsh/appconfig
@@ -0,0 +1,52 @@
+############################################################################
+# configs/px4fmu/nsh/appconfig
+#
+# 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.
+#
+############################################################################
+
+# Path to example in apps/examples containing the user_start entry point
+
+CONFIGURED_APPS += examples/nsh
+
+# The NSH application library
+CONFIGURED_APPS += nshlib
+CONFIGURED_APPS += system/readline
+
+ifeq ($(CONFIG_CAN),y)
+#CONFIGURED_APPS += examples/can
+endif
+
+#ifeq ($(CONFIG_USBDEV),y)
+#ifeq ($(CONFIG_CDCACM),y)
+CONFIGURED_APPS += examples/cdcacm
+#endif
+#endif
diff --git a/nuttx-configs/px4fmu-v3/nsh/defconfig b/nuttx-configs/px4fmu-v3/nsh/defconfig
new file mode 100644
index 0000000000000000000000000000000000000000..957578233b7c707a6f5fd83560f4bcd86c69eade
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/nsh/defconfig
@@ -0,0 +1,1068 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+CONFIG_NUTTX_NEWCONFIG=y
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+# CONFIG_HOST_LINUX is not set
+CONFIG_HOST_OSX=y
+# 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=n
+CONFIG_DEBUG_VERBOSE=n
+
+#
+# Subsystem Debug Options
+#
+# CONFIG_DEBUG_MM is not set
+# CONFIG_DEBUG_SCHED is not set
+# CONFIG_DEBUG_USB is not set
+CONFIG_DEBUG_FS=y
+# CONFIG_DEBUG_LIB is not set
+# CONFIG_DEBUG_BINFMT is not set
+# CONFIG_DEBUG_GRAPHICS is not set
+
+#
+# Driver Debug Options
+#
+# CONFIG_DEBUG_ANALOG is not set
+# CONFIG_DEBUG_I2C is not set
+# CONFIG_DEBUG_SPI is not set
+# CONFIG_DEBUG_SDIO is not set
+# CONFIG_DEBUG_GPIO is not set
+CONFIG_DEBUG_DMA=y
+# CONFIG_DEBUG_WATCHDOG is not set
+# CONFIG_DEBUG_AUDIO 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
+# CONFIG_DEBUG_HARDFAULT is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
+CONFIG_ARMV7M_STACKCHECK=n
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SDIO_DMA=y
+CONFIG_SDIO_DMAPRIO=0x00010000
+# CONFIG_SDIO_WIDTH_D1_ONLY is not set
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_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_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 is not set
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+CONFIG_ARCH_CHIP_STM32F427V=y
+# 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_STM32F427=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 is not set
+# CONFIG_STM32_I2C3 is not set
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+# CONFIG_STM32_SPI3 is not set
+# CONFIG_STM32_SPI4 is not set
+# CONFIG_STM32_SPI5 is not set
+# CONFIG_STM32_SPI6 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM4=y
+# CONFIG_STM32_TIM5 is not set
+# CONFIG_STM32_TIM6 is not set
+# CONFIG_STM32_TIM7 is not set
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_UART4=y
+# CONFIG_STM32_UART5 is not set
+# CONFIG_STM32_USART6 is not set
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=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_TIM1_PWM is not set
+# CONFIG_STM32_TIM3_PWM is not set
+# CONFIG_STM32_TIM4_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_TIM1_ADC is not set
+# CONFIG_STM32_TIM3_ADC is not set
+# CONFIG_STM32_TIM4_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# Hot fix for lost data
+CONFIG_STM32_RXDMA_BUFFER_SIZE_OVERRIDE=256
+# 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_RXDMA=y
+# CONFIG_USART6_RS485 is not set
+# CONFIG_USART6_RXDMA is not set
+# CONFIG_UART7_RS485 is not set
+CONFIG_UART7_RXDMA=y
+# CONFIG_UART8_RS485 is not set
+CONFIG_UART8_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_I2C_DUTY16_9 is not set
+
+#
+# SDIO Configuration
+#
+CONFIG_SDIO_PRI=128
+
+#
+# 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 is not set
+# 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=262144
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+# The actual usage is 420 bytes
+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_PX4FMU_V3=y
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD=""
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+CONFIG_NSH_MMCSDSLOTNO=0
+CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE=y
+#
+# 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=y
+CONFIG_RTC_DATETIME=y
+CONFIG_RTC_HSECLOCK=y
+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=y
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_HAVECARDDETECT is not set
+# CONFIG_MMCSD_SPI is not set
+CONFIG_MMCSD_SDIO=y
+# CONFIG_SDIO_MUXBUS is not set
+# CONFIG_SDIO_BLOCKSETUP is not set
+CONFIG_MTD=y
+
+#
+# MTD Configuration
+#
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_BYTE_WRITE=y
+
+#
+# MTD Device Drivers
+#
+# CONFIG_RAMMTD is not set
+# CONFIG_MTD_AT24XX is not set
+# CONFIG_MTD_AT45DB is not set
+# CONFIG_MTD_M25P is not set
+# CONFIG_MTD_SMART is not set
+CONFIG_MTD_RAMTRON=y
+# CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST39FV is not set
+# CONFIG_MTD_W25 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_UART7=y
+CONFIG_ARCH_HAVE_UART8=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_SERIAL_TIOCSERGSTRUCT is not set
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+# CONFIG_USART3_SERIAL_CONSOLE is not set
+# CONFIG_UART4_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+CONFIG_UART7_SERIAL_CONSOLE=y
+# CONFIG_UART8_SERIAL_CONSOLE is not set
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART1_BAUD=115200
+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=600
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+
+#
+# UART4 Configuration
+#
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_BITS=8
+CONFIG_UART4_PARITY=0
+CONFIG_UART4_2STOP=0
+# CONFIG_UART4_IFLOWCONTROL is not set
+# CONFIG_UART4_OFLOWCONTROL is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_TXBUFSIZE=300
+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
+
+#
+# UART7 Configuration
+#
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_TXBUFSIZE=300
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_BITS=8
+CONFIG_UART7_PARITY=0
+CONFIG_UART7_2STOP=0
+# CONFIG_UART7_IFLOWCONTROL is not set
+# CONFIG_UART7_OFLOWCONTROL is not set
+
+#
+# UART8 Configuration
+#
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_BITS=8
+CONFIG_UART8_PARITY=0
+CONFIG_UART8_2STOP=0
+# CONFIG_UART8_IFLOWCONTROL is not set
+# CONFIG_UART8_OFLOWCONTROL is not set
+CONFIG_SERIAL_IFLOWCONTROL=y
+CONFIG_SERIAL_OFLOWCONTROL=y
+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=600
+CONFIG_CDCACM_TXBUFSIZE=4000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0011
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.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=y
+CONFIG_FS_NXFFS=y
+CONFIG_NXFFS_PREALLOCATED=y
+CONFIG_NXFFS_ERASEDSTATE=0xff
+CONFIG_NXFFS_PACKTHRESHOLD=32
+CONFIG_NXFFS_MAXNAMLEN=32
+CONFIG_NXFFS_TAILTHRESHOLD=2048
+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
+# CONFIG_DEBUG_GRAN 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=32
+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 is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOSETUP is not set
+# 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 is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PING is not set
+# CONFIG_NSH_DISABLE_PUT is not set
+# 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 is not set
+# 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_USBDEV_TRACE is not set
+# 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
+#
+# CONFIG_SYSTEM_FLASH_ERASEALL is not set
+
+#
+# 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
+#
+
+CONFIG_NSOCKET_DESCRIPTORS=0
diff --git a/nuttx-configs/px4fmu-v3/nsh/setenv.sh b/nuttx-configs/px4fmu-v3/nsh/setenv.sh
new file mode 100755
index 0000000000000000000000000000000000000000..265520997da2f80bfee0a9a44881216fe012b691
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/nsh/setenv.sh
@@ -0,0 +1,67 @@
+#!/bin/bash
+# configs/stm3240g-eval/nsh/setenv.sh
+#
+# 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.
+#
+
+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="${PATH}"
+fi
+
+# This the Cygwin path to the location where I installed the RIDE
+# toolchain under windows. You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows. You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# This the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${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/px4fmu-v3/scripts/ld.script b/nuttx-configs/px4fmu-v3/scripts/ld.script
new file mode 100644
index 0000000000000000000000000000000000000000..3649227a43dc75121488e102a831aac3404257b5
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/scripts/ld.script
@@ -0,0 +1,159 @@
+/****************************************************************************
+ * configs/px4fmu/common/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 STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb 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 SRAM beginning at address 0x2002:0000
+ * 4) 64Kb of TCM 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
+{
+ /* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */
+ flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
+ sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
+ 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)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+ .text : {
+ _stext = ABSOLUTE(.);
+ *(.vectors)
+ . = ALIGN(32);
+ /*
+ This signature provides the bootloader with a way to delay booting
+ */
+ _bootdelay_signature = ABSOLUTE(.);
+ FILL(0xffecc2925d7d05c5)
+ . += 8;
+ *(.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/px4fmu-v3/src/Makefile b/nuttx-configs/px4fmu-v3/src/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a93664b08ba810c1a02166c8edcb3063210cbe84
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/src/Makefile
@@ -0,0 +1,84 @@
+############################################################################
+# configs/px4fmu/src/Makefile
+#
+# 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 $(TOPDIR)/Make.defs
+
+CFLAGS += -I$(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/px4fmu-v3/src/empty.c b/nuttx-configs/px4fmu-v3/src/empty.c
new file mode 100644
index 0000000000000000000000000000000000000000..5de10699fbb42872cc118f96f4ba065d31964233
--- /dev/null
+++ b/nuttx-configs/px4fmu-v3/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/px4fmu-v2/CMakeLists.txt b/src/drivers/boards/px4fmu-v2/CMakeLists.txt
index 27cb595c347e078af75feb95dbb54e796cf3f752..19b3f027544e033b8dc327b64e01414be50176fa 100644
--- a/src/drivers/boards/px4fmu-v2/CMakeLists.txt
+++ b/src/drivers/boards/px4fmu-v2/CMakeLists.txt
@@ -44,4 +44,4 @@ px4_add_module(
DEPENDS
platforms__common
)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/boards/px4fmu-v3/CMakeLists.txt b/src/drivers/boards/px4fmu-v3/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e83c7fd7fda7ea183c457a3a1a3f5fc9b95aad66
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/CMakeLists.txt
@@ -0,0 +1,47 @@
+############################################################################
+#
+# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+ MODULE drivers__boards__px4fmu-v3
+ COMPILE_FLAGS
+ -Os
+ SRCS
+ px4fmu_can.c
+ px4fmu3_init.c
+ px4fmu_pwm_servo.c
+ px4fmu_spi.c
+ px4fmu_usb.c
+ px4fmu3_led.c
+ DEPENDS
+ platforms__common
+ )
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/boards/px4fmu-v3/board_config.h b/src/drivers/boards/px4fmu-v3/board_config.h
new file mode 100644
index 0000000000000000000000000000000000000000..d2cea93b87e11e21eceae93c0d816eb5c384d2df
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/board_config.h
@@ -0,0 +1,279 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMUv2 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>
+
+#define UDID_START 0x1FFF7A10
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+//{GPIO_RSSI_IN, 0, 0}, - pio Analog used as PWM
+//{0, GPIO_LED_SAFETY, 0}, pio replacement
+//{GPIO_SAFETY_SWITCH_IN, 0, 0}, pio replacement
+//{0, GPIO_PERIPH_3V3_EN, 0}, Owned by the 8266 driver
+//{0, GPIO_SBUS_INV, 0}, https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
+//{GPIO_8266_GPIO0, 0, 0}, Owned by the 8266 driver
+//{0, GPIO_SPEKTRUM_POWER, 0}, Owned Spektum driver input to auto pilot
+//{0, GPIO_8266_PD, 0}, Owned by the 8266 driver
+//{0, GPIO_8266_RST, 0}, Owned by the 8266 driver
+
+/* PX4FMU GPIOs ***********************************************************************************/
+/* LEDs */
+
+#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_LED3 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
+
+#define GPIO_LED_RED GPIO_LED1
+#define GPIO_LED_GREEN GPIO_LED2
+#define GPIO_LED_BLUE GPIO_LED3
+
+/* Define the Chip Selects */
+
+#define GPIO_SPI_CS_MPU9250 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_HMC5983 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_SPI_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+
+#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+
+/* Define the Ready interrupts */
+
+#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_DRDY_HMC5983 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
+#define GPIO_DRDY_ICM_20608_G (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
+
+
+/*
+ * Define the ability to shut off off the sensor signals
+ * by changing the signals to inputs
+ */
+
+#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
+
+#define GPIO_SPI_CS_OFF_MPU9250 _PIN_OFF(GPIO_SPI_CS_MPU9250)
+#define GPIO_SPI_CS_OFF_HMC5983 _PIN_OFF(GPIO_SPI_CS_HMC5983)
+#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
+#define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
+
+#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
+#define GPIO_DRDY_OFF_HMC5983 _PIN_OFF(GPIO_DRDY_HMC5983)
+#define GPIO_DRDY_OFF_ICM_20608_G _PIN_OFF(GPIO_DRDY_ICM_20608_G)
+
+
+/* SPI1 off */
+#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
+#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
+#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
+
+#define PX4_SPI_BUS_SENSORS 1
+#define PX4_SPI_BUS_RAMTRON 2
+
+/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
+#define PX4_SPIDEV_GYRO 1
+#define PX4_SPIDEV_ACCEL_MAG 2
+#define PX4_SPIDEV_BARO 3
+#define PX4_SPIDEV_MPU 4
+#define PX4_SPIDEV_HMC 5
+
+/* I2C busses */
+#define PX4_I2C_BUS_EXPANSION 1
+#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
+
+/* Devices on the external bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_LED 0x55
+#define PX4_I2C_OBDEV_HMC5883 0x1e
+
+/*
+ * 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 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_BATTERY_VOLTAGE_CHANNEL 2
+#define ADC_BATTERY_CURRENT_CHANNEL 3
+#define ADC_5V_RAIL_SENSE 4
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
+
+/* User GPIOs
+ *
+ * GPIO0-5 are the PWM servo outputs.
+ */
+#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+
+#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN14)
+
+/* Power supply control and monitoring GPIOs */
+#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER 2 /* timer 2 */
+#define TONE_ALARM_CHANNEL 1 /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
+
+/* PWM
+ *
+ * Six PWM outputs are configured.
+ *
+ * Pins:
+ *
+ * CH1 : PE14 : TIM1_CH4
+ * CH2 : PE13 : TIM1_CH3
+ * CH3 : PE11 : TIM1_CH2
+ * CH4 : PE9 : TIM1_CH1
+ * CH5 : PD13 : TIM4_CH2
+ * CH6 : PD14 : TIM4_CH3
+ */
+#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
+#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
+#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
+#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
+#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
+#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
+
+/* USB OTG FS
+ *
+ * PA9 OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER 8 /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */
+
+#define HRT_PPM_CHANNEL 2 /* use capture/compare channel 2 */
+#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF3|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER 4
+#define PWMIN_TIMER_CHANNEL 2
+#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
+
+#define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
+#define GPIO_SAFETY_SWITCH_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
+#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+
+#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_SPEKTRUM_POWER (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_8266_PD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
+#define GPIO_8266_RST (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
+
+/****************************************************************************************************
+ * 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);
+
+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/px4fmu-v3/px4fmu3_init.c b/src/drivers/boards/px4fmu-v3/px4fmu3_init.c
new file mode 100644
index 0000000000000000000000000000000000000000..a1e53d41c55d777635b058214c497e4f1b19d0ae
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu3_init.c
@@ -0,0 +1,344 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_init.c
+ *
+ * PX4FMU-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/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/gran.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>
+#include <systemlib/perf_counter.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
+ ****************************************************************************/
+
+#if defined(CONFIG_FAT_DMAMEMORY)
+# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
+# error microSD DMA support requires CONFIG_GRAN
+# endif
+
+static GRAN_HANDLE dma_allocator;
+
+/*
+ * The DMA heap size constrains the total number of things that can be
+ * ready to do DMA at a time.
+ *
+ * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
+ * one sector-sized buffer per file.
+ *
+ * We use a fundamental alignment / granule size of 64B; this is sufficient
+ * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
+ */
+static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
+static perf_counter_t g_dma_perf;
+
+static void
+dma_alloc_init(void)
+{
+ dma_allocator = gran_initialize(g_dma_heap,
+ sizeof(g_dma_heap),
+ 7, /* 128B granule - must be > alignment (XXX bug?) */
+ 6); /* 64B alignment */
+
+ if (dma_allocator == NULL) {
+ message("[boot] DMA allocator setup FAILED");
+
+ } else {
+ g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
+ }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/*
+ * DMA-aware allocator stubs for the FAT filesystem.
+ */
+
+__EXPORT void *fat_dma_alloc(size_t size);
+__EXPORT void fat_dma_free(FAR void *memory, size_t size);
+
+void *
+fat_dma_alloc(size_t size)
+{
+ perf_count(g_dma_perf);
+ return gran_alloc(dma_allocator, size);
+}
+
+void
+fat_dma_free(FAR void *memory, size_t size)
+{
+ gran_free(dma_allocator, memory, size);
+}
+
+#else
+
+# define dma_alloc_init()
+
+#endif
+
+/************************************************************************************
+ * 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 SPI interfaces */
+ stm32_spiinitialize();
+
+ /* configure LEDs */
+ up_ledinit();
+}
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ * Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct sdio_dev_s *sdio;
+
+#include <math.h>
+
+/* TODO XXX commented this out to get cmake build working */
+/*#ifdef __cplusplus*/
+/*__EXPORT int matherr(struct __exception *e)*/
+/*{*/
+/*return 1;*/
+/*}*/
+/*#else*/
+/*__EXPORT int matherr(struct exception *e)*/
+/*{*/
+/*return 1;*/
+/*}*/
+/*#endif*/
+
+__EXPORT int nsh_archinitialize(void)
+{
+
+ /* configure ADC pins */
+ stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
+ stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
+ stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
+ // stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
+ // stm32_configgpio(GPIO_ADC1_IN11); /* unused */
+ // stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */
+ stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
+ stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
+ stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
+
+ /* configure power supply control/sense pins */
+ stm32_configgpio(GPIO_PERIPH_3V3_EN);
+ stm32_configgpio(GPIO_VDD_BRICK_VALID);
+ stm32_configgpio(GPIO_GPIO5_OUTPUT);
+
+ /* configure the high-resolution time/callout interface */
+ hrt_init();
+
+ /* configure the DMA allocator */
+ dma_alloc_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_RED);
+ led_off(LED_GREEN);
+ led_off(LED_BLUE);
+
+ /* Configure SPI-based devices */
+
+ spi1 = up_spiinitialize(1);
+
+ if (!spi1) {
+ message("[boot] FAILED to initialize SPI port 1\n");
+ up_ledon(LED_RED);
+ return -ENODEV;
+ }
+
+ /* Default SPI1 to 1MHz and de-assert the known chip selects. */
+ SPI_SETFREQUENCY(spi1, 10000000);
+ SPI_SETBITS(spi1, 8);
+ SPI_SETMODE(spi1, SPIDEV_MODE3);
+ SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+ SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
+ SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+ SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+ up_udelay(20);
+
+ /* Get the SPI port for the FRAM */
+
+ spi2 = up_spiinitialize(2);
+
+ if (!spi2) {
+ message("[boot] FAILED to initialize SPI port 2\n");
+ up_ledon(LED_RED);
+ return -ENODEV;
+ }
+
+ /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+ * and de-assert the known chip selects. */
+
+ // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+ SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
+ SPI_SETBITS(spi2, 8);
+ SPI_SETMODE(spi2, SPIDEV_MODE3);
+ SPI_SELECT(spi2, SPIDEV_FLASH, false);
+
+#ifdef CONFIG_MMCSD
+ /* First, get an instance of the SDIO interface */
+
+ sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+ if (!sdio) {
+ message("[boot] Failed to initialize SDIO slot %d\n",
+ CONFIG_NSH_MMCSDSLOTNO);
+ return -ENODEV;
+ }
+
+ /* Now bind the SDIO interface to the MMC/SD driver */
+ int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+ if (ret != OK) {
+ message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+ return ret;
+ }
+
+ /* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+ sdio_mediachange(sdio, true);
+
+#endif
+
+ return OK;
+}
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu3_led.c b/src/drivers/boards/px4fmu-v3/px4fmu3_led.c
new file mode 100644
index 0000000000000000000000000000000000000000..59ed10483e8f2ef4bc9cafd2479b663d32283b47
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu3_led.c
@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu2_led.c
+ *
+ * PX4FMU 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
+
+
+
+static uint32_t g_ledmap[] = {
+ GPIO_LED_BLUE, // Indexed by LED_BLUE
+ GPIO_LED_RED, // Indexed by LED_RED, LED_AMBER
+ GPIO_LED_SAFETY, // Indexed by LED_SAFETY
+ GPIO_LED_GREEN, // Indexed by LED_GREEN
+};
+
+__EXPORT void led_init(void)
+{
+ /* Configure LED GPIOs for output */
+ for (size_t l = 0; l < (sizeof(g_ledmap)/sizeof(g_ledmap[0])); l++) {
+ stm32_configgpio(g_ledmap[l]);
+ }
+}
+
+static void phy_set_led(int led, bool state)
+{
+ /* Pull Down to switch on */
+ stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+ return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+ phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+ phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+ phy_set_led(led, !phy_get_led(led));
+}
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_can.c b/src/drivers/boards/px4fmu-v3/px4fmu_can.c
new file mode 100644
index 0000000000000000000000000000000000000000..62f170957dba0c50242387377c0ac2ea6703da39
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu_can.c
@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
+# undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+# define CAN_PORT 1
+#else
+# 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
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ * All STM32 architectures must provide the following interface to work with
+ * examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+ static bool initialized = false;
+ struct can_dev_s *can;
+ int ret;
+
+ /* Check if we have already initialized */
+
+ if (!initialized) {
+ /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+ can = stm32_caninitialize(CAN_PORT);
+
+ if (can == NULL) {
+ candbg("ERROR: Failed to get CAN interface\n");
+ return -ENODEV;
+ }
+
+ /* Register the CAN driver at "/dev/can0" */
+
+ ret = can_register("/dev/can0", can);
+
+ if (ret < 0) {
+ candbg("ERROR: can_register failed: %d\n", ret);
+ return ret;
+ }
+
+ /* Now we are initialized */
+
+ initialized = true;
+ }
+
+ return OK;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v3/px4fmu_pwm_servo.c
new file mode 100644
index 0000000000000000000000000000000000000000..600dfef412244148afaa3dfa0d8d76ab6412449f
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu_pwm_servo.c
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file px4fmu_pwm_servo.c
+ *
+ * Configuration data for the stm32 pwm_servo 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/stm32/drv_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "board_config.h"
+
+__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+ {
+ .base = STM32_TIM1_BASE,
+ .clock_register = STM32_RCC_APB2ENR,
+ .clock_bit = RCC_APB2ENR_TIM1EN,
+ .clock_freq = STM32_APB2_TIM1_CLKIN
+ },
+ {
+ .base = STM32_TIM4_BASE,
+ .clock_register = STM32_RCC_APB1ENR,
+ .clock_bit = RCC_APB1ENR_TIM4EN,
+ .clock_freq = STM32_APB1_TIM4_CLKIN
+ }
+};
+
+__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+ {
+ .gpio = GPIO_TIM1_CH4OUT,
+ .timer_index = 0,
+ .timer_channel = 4,
+ .default_value = 1000,
+ },
+ {
+ .gpio = GPIO_TIM1_CH3OUT,
+ .timer_index = 0,
+ .timer_channel = 3,
+ .default_value = 1000,
+ },
+ {
+ .gpio = GPIO_TIM1_CH2OUT,
+ .timer_index = 0,
+ .timer_channel = 2,
+ .default_value = 1000,
+ },
+ {
+ .gpio = GPIO_TIM1_CH1OUT,
+ .timer_index = 0,
+ .timer_channel = 1,
+ .default_value = 1000,
+ },
+ {
+ .gpio = GPIO_TIM4_CH2OUT,
+ .timer_index = 1,
+ .timer_channel = 2,
+ .default_value = 1000,
+ },
+ {
+ .gpio = GPIO_TIM4_CH3OUT,
+ .timer_index = 1,
+ .timer_channel = 3,
+ .default_value = 1000,
+ }
+};
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_spi.c b/src/drivers/boards/px4fmu-v3/px4fmu_spi.c
new file mode 100644
index 0000000000000000000000000000000000000000..e0c92c1448ac12387957395c37ce0043c3c6ede9
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu_spi.c
@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_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 PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_spiinitialize(void)
+{
+#ifdef CONFIG_STM32_SPI1
+ stm32_configgpio(GPIO_SPI_CS_MPU9250);
+ stm32_configgpio(GPIO_SPI_CS_HMC5983);
+ stm32_configgpio(GPIO_SPI_CS_MS5611);
+ stm32_configgpio(GPIO_SPI_CS_ICM_20608_G);
+
+ /* De-activate all peripherals,
+ * required for some peripheral
+ * state machines
+ */
+ stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+
+ stm32_configgpio(GPIO_DRDY_MPU9250);
+ stm32_configgpio(GPIO_DRDY_HMC5983);
+ stm32_configgpio(GPIO_DRDY_ICM_20608_G);
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+ stm32_configgpio(GPIO_SPI_CS_FRAM);
+ stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+#endif
+
+}
+
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+ /* SPI select is active low, so write !selected to select the device */
+
+ switch (devid) {
+ case PX4_SPIDEV_GYRO:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
+ break;
+
+ case PX4_SPIDEV_ACCEL_MAG:
+ /* Making sure the other peripherals are not selected */
+ break;
+
+ case PX4_SPIDEV_BARO:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
+ stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+ break;
+
+ case PX4_SPIDEV_HMC:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
+ stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+ break;
+
+ case PX4_SPIDEV_MPU:
+ /* Making sure the other peripherals are not selected */
+ stm32_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
+ stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+ break;
+
+ default:
+ break;
+ }
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+ 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)
+{
+ /* there can only be one device on this bus, so always select it */
+ stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+ /* FRAM is always present */
+ return SPI_STATUS_PRESENT;
+}
+#endif
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_usb.c b/src/drivers/boards/px4fmu-v3/px4fmu_usb.c
new file mode 100644
index 0000000000000000000000000000000000000000..e4cfc27e1562491dc99a91acefdf52bc9fdf4087
--- /dev/null
+++ b/src/drivers/boards/px4fmu-v3/px4fmu_usb.c
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ * Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+ /* The OTG FS has an internal soft pull-up */
+
+ /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+ stm32_configgpio(GPIO_OTGFS_VBUS);
+ /* XXX We only support device mode
+ stm32_configgpio(GPIO_OTGFS_PWRON);
+ stm32_configgpio(GPIO_OTGFS_OVER);
+ */
+#endif
+}
+
+/************************************************************************************
+ * Name: stm32_usbsuspend
+ *
+ * Description:
+ * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ * used. This function is called whenever the USB enters or leaves suspend mode.
+ * This is an opportunity for the board logic to shutdown clocks, power, etc.
+ * while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+ ulldbg("resume: %d\n", resume);
+}
+
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index acddadfdbef372bc43fb0ce0184b0a44ac7fca68..c5894be9e7eb48f8bff187430e412a0285cef1bd 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -94,6 +94,29 @@
#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
+/*
+ * 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 */
+# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
+# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
+
+# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
+# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
+
+/**
+ * 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.
@@ -121,7 +144,7 @@
#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_SITL)
+ !defined(CONFIG_ARCH_BOARD_PX4FMU_V3) && !defined(CONFIG_ARCH_BOARD_SITL)
# error No CONFIG_ARCH_BOARD_xxxx set
#endif
/*
diff --git a/src/drivers/drv_led.h b/src/drivers/drv_led.h
index dbcfde91fa40929ce38f4e0b51d9742b437c45c6..3daafc963fb21e3a3a29a77e340cd999e0f86092 100644
--- a/src/drivers/drv_led.h
+++ b/src/drivers/drv_led.h
@@ -52,6 +52,8 @@
#define LED_RED 1 /* some boards have red rather than amber */
#define LED_BLUE 0
#define LED_SAFETY 2
+#define LED_GREEN 3
+
#define LED_ON _PX4_IOC(_LED_BASE, 0)
#define LED_OFF _PX4_IOC(_LED_BASE, 1)
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index ae77a07fd0e67140ec79081af17075f79bd16bbd..a07cc5fd5eca6c49aae92cecd579f06e79689d61 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -335,7 +335,7 @@ MEASAirspeed::cycle()
void
MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
{
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
if (_t_system_power == -1) {
_t_system_power = orb_subscribe(ORB_ID(system_power));
@@ -389,7 +389,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
}
temperature -= voltage_diff * temp_slope;
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
+#endif // defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
}
/**
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 64d9dced4a0e13f6261783e414247fa9fb7af184..5b5dbf3a6f1d88358e8c9542f8ef195b3a020171 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -121,7 +121,7 @@ private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
static const unsigned _max_actuators = 4;
#endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
static const unsigned _max_actuators = 6;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
@@ -232,6 +232,17 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_VDD_5V_HIPOWER_OC, 0, 0},
{GPIO_VDD_5V_PERIPH_OC, 0, 0},
#endif
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+ {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},
+
+ {0, GPIO_VDD_3V3_SENSORS_EN, 0},
+ {GPIO_VDD_BRICK_VALID, 0, 0},
+#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
/* AeroCore breaks out User GPIOs on J11 */
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index ab458895a69ccac14cddd0af5b4976b5491316cc..43189d29f323c24ac7e38f9cb64d453cea2379ea 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -348,6 +348,40 @@ ADC::update_system_power(void)
}
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
+ system_power_s system_power;
+ system_power.timestamp = hrt_absolute_time();
+
+ system_power.voltage5V_v = 0;
+
+ for (unsigned i = 0; i < _channel_count; i++) {
+ if (_samples[i].am_channel == 4) {
+ // it is 2:1 scaled
+ system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
+ }
+ }
+
+ // these are not ADC related, but it is convenient to
+ // publish these to the same topic
+ system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
+
+ // note that the valid pins are active High
+ system_power.brick_valid = stm32_gpioread(GPIO_VDD_BRICK_VALID);
+ system_power.servo_valid = 1;
+
+ // OC pins are not supported
+ system_power.periph_5V_OC = 0;
+ system_power.hipower_5V_OC = 0;
+
+ /* lazily publish */
+ if (_to_system_power != nullptr) {
+ orb_publish(ORB_ID(system_power), _to_system_power, &system_power);
+
+ } else {
+ _to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
+ }
+
+#endif // CONFIG_ARCH_BOARD_PX4FMU_V3
}
uint16_t
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index b71ba1d0d90437b4e5c2e75c572e243a1afee0f4..0f3af2ab8e5f18a38e190c8177f2b328960c092b 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -51,6 +51,10 @@
#define HW_ARCH "PX4FMU_V2"
#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
+#define HW_ARCH "PX4FMU_V3"
+#endif
+
#ifdef CONFIG_ARCH_BOARD_AEROCORE
#define HW_ARCH "AEROCORE"
#endif