Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

src/drivers/airspeed/airspeed.cpp

@@ -255,14 +255,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/bma180/bma180.cpp

@@ -465,14 +465,14 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/bmi160/bmi160.cpp

@@ -741,14 +741,14 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_accel_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}
@@ -837,14 +837,14 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_gyro_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/bmp280/bmp280.cpp

@@ -394,14 +394,14 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 			return OK;
 		}
 

src/drivers/boards/aerocore/aerocore_init.c

@@ -225,10 +225,10 @@ __EXPORT int nsh_archinitialize(void)
 {
 
 	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	px4_arch_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
+	px4_arch_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
-	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
+	px4_arch_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
+	px4_arch_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -263,7 +263,7 @@ __EXPORT int nsh_archinitialize(void)
 	led_off(LED_AMBER);
 
 	/* Configure Sensors on SPI bus #3 */
-	spi3 = up_spiinitialize(3);
+	spi3 = px4_spibus_initialize(3);
 
 	if (!spi3) {
 		message("[boot] FAILED to initialize SPI port 3\n");
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
 	message("[boot] Initialized SPI port 3 (SENSORS)\n");
 
 	/* Configure FRAM on SPI bus #4 */
-	spi4 = up_spiinitialize(4);
+	spi4 = px4_spibus_initialize(4);
 
 	if (!spi4) {
 		message("[boot] FAILED to initialize SPI port 4\n");

src/drivers/boards/aerocore/aerocore_led.c

@@ -63,19 +63,19 @@ __END_DECLS
 
 __EXPORT void led_init()
 {
-	stm32_configgpio(GPIO_LED0);
+	px4_arch_configgpio(GPIO_LED0);
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	switch (led) {
 	case 0:
-		stm32_gpiowrite(GPIO_LED0, true);
+		px4_arch_gpiowrite(GPIO_LED0, true);
 		break;
 
 	case 1:
-		stm32_gpiowrite(GPIO_LED1, true);
+		px4_arch_gpiowrite(GPIO_LED1, true);
 		break;
 
 	default:
@@ -87,11 +87,11 @@ __EXPORT void led_off(int led)
 {
 	switch (led) {
 	case 0:
-		stm32_gpiowrite(GPIO_LED0, false);
+		px4_arch_gpiowrite(GPIO_LED0, false);
 		break;
 
 	case 1:
-		stm32_gpiowrite(GPIO_LED1, false);
+		px4_arch_gpiowrite(GPIO_LED1, false);
 		break;
 
 	default:
@@ -103,21 +103,21 @@ __EXPORT void led_toggle(int led)
 {
 	switch (led) {
 	case 0:
-		if (stm32_gpioread(GPIO_LED0)) {
+		if (px4_arch_gpioread(GPIO_LED0)) {
-			stm32_gpiowrite(GPIO_LED0, false);
+			px4_arch_gpiowrite(GPIO_LED0, false);
 
 		} else {
-			stm32_gpiowrite(GPIO_LED0, true);
+			px4_arch_gpiowrite(GPIO_LED0, true);
 		}
 
 		break;
 
 	case 1:
-		if (stm32_gpioread(GPIO_LED1)) {
+		if (px4_arch_gpioread(GPIO_LED1)) {
-			stm32_gpiowrite(GPIO_LED1, false);
+			px4_arch_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			stm32_gpiowrite(GPIO_LED1, true);
+			px4_arch_gpiowrite(GPIO_LED1, true);
 		}
 
 		break;

src/drivers/boards/aerocore/aerocore_spi.c

@@ -70,36 +70,36 @@
 __EXPORT void stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-	stm32_configgpio(GPIO_SPI1_NSS);
+	px4_arch_configgpio(GPIO_SPI1_NSS);
-	stm32_gpiowrite(GPIO_SPI1_NSS, 1);
+	px4_arch_gpiowrite(GPIO_SPI1_NSS, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	stm32_configgpio(GPIO_SPI2_NSS);
+	px4_arch_configgpio(GPIO_SPI2_NSS);
-	stm32_gpiowrite(GPIO_SPI2_NSS, 1);
+	px4_arch_gpiowrite(GPIO_SPI2_NSS, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI3
-	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-	stm32_configgpio(GPIO_SPI_CS_BARO);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 
-	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
-	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
-	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI4
-	stm32_configgpio(GPIO_SPI4_NSS);
+	px4_arch_configgpio(GPIO_SPI4_NSS);
-	stm32_gpiowrite(GPIO_SPI4_NSS, 1);
+	px4_arch_gpiowrite(GPIO_SPI4_NSS, 1);
 #endif
 }
 
@@ -107,7 +107,7 @@ __EXPORT void stm32_spiinitialize(void)
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there is only one device broken-out so select it */
-	stm32_gpiowrite(GPIO_SPI1_NSS, !selected);
+	px4_arch_gpiowrite(GPIO_SPI1_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -120,7 +120,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there is only one device broken-out so select it */
-	stm32_gpiowrite(GPIO_SPI2_NSS, !selected);
+	px4_arch_gpiowrite(GPIO_SPI2_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -137,23 +137,23 @@ __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
 		break;
 
 	default:
@@ -172,7 +172,7 @@ __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi4select(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_SPI4_NSS, !selected);
+	px4_arch_gpiowrite(GPIO_SPI4_NSS, !selected);
 }
 
 __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

src/drivers/boards/aerocore/board_config.h

@@ -174,6 +174,21 @@ __BEGIN_DECLS
 
 #define BOARD_NAME "AEROCORE"
 
+#define BOARD_HAS_PWM	8
+/* AeroCore breaks out User GPIOs on J11 */
+#define BOARD_FMU_GPIO_TAB  { \
+		{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0}, \
+		{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0}, \
+		{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,       0}, \
+		{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,       0}, \
+		{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,       0}, \
+		{GPIO_GPIO6_INPUT,       GPIO_GPIO6_OUTPUT,       0}, \
+		{GPIO_GPIO7_INPUT,       GPIO_GPIO7_OUTPUT,       0}, \
+		{GPIO_GPIO8_INPUT,       GPIO_GPIO8_OUTPUT,       0}, \
+		{GPIO_GPIO9_INPUT,       GPIO_GPIO9_OUTPUT,       0}, \
+		{GPIO_GPIO10_INPUT,      GPIO_GPIO10_OUTPUT,      0}, \
+		{GPIO_GPIO11_INPUT,      GPIO_GPIO11_OUTPUT,      0}, }
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
@@ -197,6 +212,9 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
+#define board_spi_reset(ms)
+
+#define board_peripheral_reset(ms)
 
 /****************************************************************************
  * Name: nsh_archinitialize

src/drivers/boards/mindpx-v2/board_config.h

@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
@@ -292,6 +292,34 @@ __BEGIN_DECLS
 
 #define BOARD_NAME "MINDPX_V2"
 
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and therefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB  { \
+		{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0}, \
+		{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0}, \
+		{GPIO_GPIO2_INPUT,       GPIO_GPIO2_OUTPUT,       0}, \
+		{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,       0}, \
+		{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,       0}, \
+		{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,       0}, \
+		{GPIO_GPIO6_INPUT,       GPIO_GPIO6_OUTPUT,       0}, \
+		{GPIO_GPIO7_INPUT,       GPIO_GPIO7_OUTPUT,       0}, \
+		{GPIO_GPIO8_INPUT,       GPIO_GPIO8_OUTPUT,       0}, \
+		{GPIO_GPIO9_INPUT,       GPIO_GPIO9_OUTPUT,       0}, \
+		{GPIO_GPIO10_INPUT,      GPIO_GPIO10_OUTPUT,      0}, \
+		{GPIO_GPIO11_INPUT,      GPIO_GPIO11_OUTPUT,      0}, \
+		{GPIO_GPIO12_INPUT,      GPIO_GPIO12_OUTPUT,      0}, }
+
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
@@ -315,9 +343,13 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
+void board_spi_reset(int ms);
 
 extern void stm32_usbinitialize(void);
 
+
+#define board_peripheral_reset(ms)
+
 /****************************************************************************
  * Name: nsh_archinitialize
  *

src/drivers/boards/mindpx-v2/mindpx2_init.c

@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -230,23 +230,23 @@ __EXPORT int nsh_archinitialize(void)
 {
 
 	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_VOLTAGE_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN3);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_CURRENT_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN2);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	px4_arch_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
-	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
+	// px4_arch_configgpio(GPIO_ADC1_IN11);	/* unused */
-	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
+	// px4_arch_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	px4_arch_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	px4_arch_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
 
 	/* configure power supply control/sense pins */
-//	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+//	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
-//	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+//	px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-//	stm32_configgpio(GPIO_VDD_BRICK_VALID);
+//	px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
-//	stm32_configgpio(GPIO_VDD_SERVO_VALID);
+//	px4_arch_configgpio(GPIO_VDD_SERVO_VALID);
-//	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+//	px4_arch_configgpio(GPIO_VDD_5V_HIPOWER_OC);
-//	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+//	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Configure SPI-based devices */
 	message("[boot] Initialized SPI port 4 (SENSORS)\n");
-	spi4 = up_spiinitialize(4);
+	spi4 = px4_spibus_initialize(4);
 
 	if (!spi4) {
 		message("[boot] FAILED to initialize SPI port 4\n");
@@ -303,7 +303,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* Get the SPI port for the FRAM */
 	message("[boot] Initialized SPI port 1 (RAMTRON FRAM)\n");
 
-	spi1 = up_spiinitialize(1);
+	spi1 = px4_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\n");
@@ -324,7 +324,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Initialized SPI port 2 (nRF24 and ext)\n");
 
-	spi2 = up_spiinitialize(2);
+	spi2 = px4_spibus_initialize(2);
 
 	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi2, 10000000);
@@ -360,12 +360,12 @@ __EXPORT int nsh_archinitialize(void)
 #endif
 
 
-	stm32_configgpio(GPIO_I2C2_SCL);
+	px4_arch_configgpio(GPIO_I2C2_SCL);
-	stm32_configgpio(GPIO_I2C2_SDA);
+	px4_arch_configgpio(GPIO_I2C2_SDA);
 	message("[boot] Initialized ext I2C Port\n");
 
-	stm32_configgpio(GPIO_I2C1_SCL);
+	px4_arch_configgpio(GPIO_I2C1_SCL);
-	stm32_configgpio(GPIO_I2C1_SDA);
+	px4_arch_configgpio(GPIO_I2C1_SDA);
 	message("[boot] Initialized onboard I2C Port\n");
 
 

src/drivers/boards/mindpx-v2/mindpx2_led.c

@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
@@ -64,14 +64,14 @@ __EXPORT void led_init()
 {
 	/* Configure LED1 GPIO for output */
 
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 1) {
 		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
+		px4_arch_gpiowrite(GPIO_LED1, false);
 	}
 }
 
@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
 {
 	if (led == 1) {
 		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
+		px4_arch_gpiowrite(GPIO_LED1, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 1) {
-		if (stm32_gpioread(GPIO_LED1)) {
+		if (px4_arch_gpioread(GPIO_LED1)) {
-			stm32_gpiowrite(GPIO_LED1, false);
+			px4_arch_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			stm32_gpiowrite(GPIO_LED1, true);
+			px4_arch_gpiowrite(GPIO_LED1, true);
 		}
 	}
 }

src/drivers/boards/mindpx-v2/mindpx_can.c

@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <errno.h>
 #include <debug.h>

src/drivers/boards/mindpx-v2/mindpx_spi.c

@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -54,6 +54,7 @@
 #include <chip.h>
 #include <stm32.h>
 #include "board_config.h"
+#include <systemlib/err.h>
 
 /************************************************************************************
  * Public Functions
@@ -70,42 +71,42 @@
 __EXPORT void weak_function stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI4
-	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-	stm32_configgpio(GPIO_SPI_CS_BARO);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
-//	stm32_configgpio(GPIO_SPI_CS_FRAM);
+//	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
-	stm32_configgpio(GPIO_SPI_CS_MPU);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-//	stm32_gpiowrite(GPIO_SPI_CS_FRAM,1);
+//	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,1);
-	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
-	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
-	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
-	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
-	stm32_configgpio(GPIO_EXTI_MPU_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI1
-	stm32_configgpio(GPIO_SPI_CS_FRAM);
+	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	stm32_configgpio(GPIO_SPI_CS_EXT0);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT0);
-	stm32_configgpio(GPIO_SPI_CS_EXT1);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT1);
-	stm32_configgpio(GPIO_SPI_CS_EXT2);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT2);
-	stm32_configgpio(GPIO_SPI_CS_EXT3);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT3);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 #endif
 }
 
@@ -116,40 +117,40 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
-//		stm32_gpiowrite(GPIO_SPI_CS_FRAM,1);
+//		px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 //	case PX4_SPIDEV_FLASH:
-//		stm32_gpiowrite(GPIO_SPI_CS_BARO,1);
+//		px4_arch_gpiowrite(GPIO_SPI_CS_BARO,1);
-//		stm32_gpiowrite(GPIO_SPI_CS_FRAM,!selected);
+//		px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,!selected);
 //		break;
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:
@@ -167,7 +168,7 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi1select(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);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 }
 
 __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -184,34 +185,34 @@ __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_EXT0:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT1:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT2:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT3:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
 		break;
 
 	default:
@@ -224,3 +225,83 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 {
 	return SPI_STATUS_PRESENT;
 }
+
+__EXPORT void board_spi_reset(int ms)
+{
+	/* disable SPI bus */
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
+	//      px4_arch_configgpio(GPIO_SPI_CS_FRAM_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
+	//       px4_arch_gpiowrite(GPIO_SPI_CS_FRAM_OFF,0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
+
+	px4_arch_configgpio(GPIO_SPI4_SCK_OFF);
+	px4_arch_configgpio(GPIO_SPI4_MISO_OFF);
+	px4_arch_configgpio(GPIO_SPI4_MOSI_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
+
+	px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
+	px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
+	px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
+	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
+
+	px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
+
+	//        /* set the sensor rail off */
+	//        px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+	//        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+	//
+	/* wait for the sensor rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+	//
+	//        /* re-enable power */
+	//
+	//        /* switch the sensor rail back on */
+	//        px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+	//
+	/* wait a bit before starting SPI, different times didn't influence results */
+	usleep(100);
+
+	/* reconfigure the SPI pins */
+#ifdef CONFIG_STM32_SPI4
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
+	//        px4_arch_configgpio(GPIO_SPI_CS_FRAM);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU);
+
+	/* De-activate all peripherals,
+	* required for some peripheral
+	* state machines
+	*/
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	px4_arch_configgpio(GPIO_SPI4_SCK);
+	px4_arch_configgpio(GPIO_SPI4_MISO);
+	px4_arch_configgpio(GPIO_SPI4_MOSI);
+
+	// // XXX bring up the EXTI pins again
+	// px4_arch_configgpio(GPIO_GYRO_DRDY);
+	// px4_arch_configgpio(GPIO_MAG_DRDY);
+	// px4_arch_configgpio(GPIO_ACCEL_DRDY);
+
+#endif
+
+}

src/drivers/boards/mindpx-v2/mindpx_usb.c

@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }

src/drivers/boards/px4-stm32f4discovery/board_config.h

@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 

src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c

@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>

src/drivers/boards/px4-stm32f4discovery/px4discovery_led.c

@@ -37,7 +37,7 @@
  * PX4-stm32f4discovery LED backend.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
@@ -64,14 +64,14 @@ __EXPORT void led_init()
 {
 	/* Configure LED1 GPIO for output */
 
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 1) {
 		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
+		px4_arch_gpiowrite(GPIO_LED1, false);
 	}
 }
 
@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
 {
 	if (led == 1) {
 		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
+		px4_arch_gpiowrite(GPIO_LED1, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 1) {
-		if (stm32_gpioread(GPIO_LED1)) {
+		if (px4_arch_gpioread(GPIO_LED1)) {
-			stm32_gpiowrite(GPIO_LED1, false);
+			px4_arch_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			stm32_gpiowrite(GPIO_LED1, true);
+			px4_arch_gpiowrite(GPIO_LED1, true);
 		}
 	}
 }

src/drivers/boards/px4-stm32f4discovery/px4discovery_usb.c

@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }

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

@@ -155,7 +155,7 @@ __BEGIN_DECLS
 #define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
 #define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
 #define GPIO_GPIO_DIR		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
+#define BOARD_GPIO_SHARED_BUFFERED_BITS 3
 /*
  * Tone alarm output
  */
@@ -206,6 +206,24 @@ __BEGIN_DECLS
 
 #define	BOARD_NAME "PX4FMU_V1"
 
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB  { \
+		{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
+		{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
+		{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, \
+		{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, \
+		{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, \
+		{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, \
+		{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, \
+		{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, }
+
+/* BOARD_HAS_MULTI_PURPOSE_GPIO defined because the board
+ * has alternate uses for GPIO as noted in that the third
+ * column above has entries.
+ */
+#define BOARD_HAS_MULTI_PURPOSE_GPIO 1
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
@@ -229,9 +247,12 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
+#define board_spi_reset(ms)
 
 extern void stm32_usbinitialize(void);
 
+#define board_peripheral_reset(ms)
+
 /****************************************************************************
  * Name: nsh_archinitialize
  *

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

@@ -150,8 +150,8 @@ __EXPORT int nsh_archinitialize(void)
 	int result;
 
 	/* configure always-on ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN10);
+	px4_arch_configgpio(GPIO_ADC1_IN10);
-	stm32_configgpio(GPIO_ADC1_IN11);
+	px4_arch_configgpio(GPIO_ADC1_IN11);
 	/* IN12 and IN13 further below */
 
 	/* configure the high-resolution time/callout interface */
@@ -187,7 +187,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Configure SPI-based devices */
 
-	spi1 = up_spiinitialize(1);
+	spi1 = px4_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\r\n");
@@ -210,7 +210,7 @@ __EXPORT int nsh_archinitialize(void)
 	 */
 
 #ifdef CONFIG_STM32_SPI2
-	spi2 = up_spiinitialize(2);
+	spi2 = px4_spibus_initialize(2);
 	/* Default SPI2 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi2, 10000000);
 	SPI_SETBITS(spi2, 8);
@@ -223,13 +223,13 @@ __EXPORT int nsh_archinitialize(void)
 	spi2 = NULL;
 	message("[boot] Enabling IN12/13 instead of SPI2\n");
 	/* no SPI2, use pins for ADC */
-	stm32_configgpio(GPIO_ADC1_IN12);
+	px4_arch_configgpio(GPIO_ADC1_IN12);
-	stm32_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
+	px4_arch_configgpio(GPIO_ADC1_IN13);	// jumperable to MPU6000 DRDY on some boards
 #endif
 
 	/* Get the SPI port for the microSD slot */
 
-	spi3 = up_spiinitialize(3);
+	spi3 = px4_spibus_initialize(3);
 
 	if (!spi3) {
 		message("[boot] FAILED to initialize SPI port 3\n");

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

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

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

@@ -69,19 +69,19 @@
 
 __EXPORT void stm32_spiinitialize(void)
 {
-	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	stm32_configgpio(GPIO_SPI_CS_ACCEL);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL);
-	stm32_configgpio(GPIO_SPI_CS_MPU);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU);
-	stm32_configgpio(GPIO_SPI_CS_SDCARD);
+	px4_arch_configgpio(GPIO_SPI_CS_SDCARD);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
@@ -91,23 +91,23 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		break;
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:
@@ -143,7 +143,7 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
 	/* there can only be one device on this bus, so always select it */
-	stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
+	px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
 }
 
 __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

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

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }

src/drivers/boards/px4fmu-v2/board_config.h

@@ -244,6 +244,32 @@ __BEGIN_DECLS
 
 #define BOARD_NAME "PX4FMU_V2"
 
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and therefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
+#define BOARD_ADC_SERVO_VALID   (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB { \
+		{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0}, \
+		{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0}, \
+		{GPIO_GPIO2_INPUT,       GPIO_GPIO2_OUTPUT,       0}, \
+		{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,       0}, \
+		{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,       0}, \
+		{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,       0}, \
+		{0,                      GPIO_VDD_5V_PERIPH_EN,   0}, \
+		{0,                      GPIO_VDD_3V3_SENSORS_EN, 0}, \
+		{GPIO_VDD_BRICK_VALID,   0,                       0}, \
+		{GPIO_VDD_SERVO_VALID,   0,                       0}, \
+		{GPIO_VDD_5V_HIPOWER_OC, 0,                       0}, \
+		{GPIO_VDD_5V_PERIPH_OC,  0,                       0}, }
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
@@ -267,9 +293,12 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
+extern void board_spi_reset(int ms);
 
 extern void stm32_usbinitialize(void);
 
+extern void board_peripheral_reset(int ms);
+
 /****************************************************************************
  * Name: nsh_archinitialize
  *

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -71,6 +71,7 @@
 
 #include <systemlib/cpuload.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -177,6 +178,28 @@ fat_dma_free(FAR void *memory, size_t size)
 
 #endif
 
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
+	px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
+}
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -216,31 +239,31 @@ __EXPORT int nsh_archinitialize(void)
 {
 
 	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	// stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	// px4_arch_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
-	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
+	// px4_arch_configgpio(GPIO_ADC1_IN11);	/* unused */
-	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
+	// px4_arch_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	px4_arch_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	px4_arch_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
 
 	/* configure power supply control/sense pins */
-	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
-	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+	px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-	stm32_configgpio(GPIO_VDD_BRICK_VALID);
+	px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
-	stm32_configgpio(GPIO_VDD_SERVO_VALID);
+	px4_arch_configgpio(GPIO_VDD_SERVO_VALID);
-	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+	px4_arch_configgpio(GPIO_VDD_5V_HIPOWER_OC);
-	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
 
 	/* configure the GPIO pins to outputs and keep them low */
-	stm32_configgpio(GPIO_GPIO0_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
-	stm32_configgpio(GPIO_GPIO1_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
-	stm32_configgpio(GPIO_GPIO2_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
-	stm32_configgpio(GPIO_GPIO3_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
-	stm32_configgpio(GPIO_GPIO4_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
-	stm32_configgpio(GPIO_GPIO5_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -276,7 +299,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Configure SPI-based devices */
 
-	spi1 = up_spiinitialize(1);
+	spi1 = px4_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\n");
@@ -296,7 +319,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Get the SPI port for the FRAM */
 
-	spi2 = up_spiinitialize(2);
+	spi2 = px4_spibus_initialize(2);
 
 	if (!spi2) {
 		message("[boot] FAILED to initialize SPI port 2\n");
@@ -313,7 +336,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	spi4 = up_spiinitialize(4);
+	spi4 = px4_spibus_initialize(4);
 
 	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
 	SPI_SETFREQUENCY(spi4, 10000000);

src/drivers/boards/px4fmu-v2/px4fmu2_led.c

@@ -64,14 +64,14 @@ __EXPORT void led_init()
 {
 	/* Configure LED1 GPIO for output */
 
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
 }
 
 __EXPORT void led_on(int led)
 {
 	if (led == 1) {
 		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
+		px4_arch_gpiowrite(GPIO_LED1, false);
 	}
 }
 
@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
 {
 	if (led == 1) {
 		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
+		px4_arch_gpiowrite(GPIO_LED1, true);
 	}
 }
 
 __EXPORT void led_toggle(int led)
 {
 	if (led == 1) {
-		if (stm32_gpioread(GPIO_LED1)) {
+		if (px4_arch_gpioread(GPIO_LED1)) {
-			stm32_gpiowrite(GPIO_LED1, false);
+			px4_arch_gpiowrite(GPIO_LED1, false);
 
 		} else {
-			stm32_gpiowrite(GPIO_LED1, true);
+			px4_arch_gpiowrite(GPIO_LED1, true);
 		}
 	}
 }

src/drivers/boards/px4fmu-v2/px4fmu_spi.c

@@ -46,7 +46,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <debug.h>
-
+#include <unistd.h>
 #include <nuttx/spi.h>
 #include <arch/board/board.h>
 
@@ -54,6 +54,7 @@
 #include <chip.h>
 #include <stm32.h>
 #include "board_config.h"
+#include <systemlib/err.h>
 
 /************************************************************************************
  * Public Functions
@@ -70,42 +71,42 @@
 __EXPORT void stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
-	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-	stm32_configgpio(GPIO_SPI_CS_BARO);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
-	stm32_configgpio(GPIO_SPI_CS_HMC);
+	px4_arch_configgpio(GPIO_SPI_CS_HMC);
-	stm32_configgpio(GPIO_SPI_CS_MPU);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_HMC, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
-	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
-	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
-	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
-	stm32_configgpio(GPIO_EXTI_MPU_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	stm32_configgpio(GPIO_SPI_CS_FRAM);
+	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
 
 #ifdef CONFIG_STM32_SPI4
-	stm32_configgpio(GPIO_SPI_CS_EXT0);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT0);
-	stm32_configgpio(GPIO_SPI_CS_EXT1);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT1);
-	stm32_configgpio(GPIO_SPI_CS_EXT2);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT2);
-	stm32_configgpio(GPIO_SPI_CS_EXT3);
+	px4_arch_configgpio(GPIO_SPI_CS_EXT3);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 #endif
 }
 
@@ -116,56 +117,56 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_GYRO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_HMC:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_LIS:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_LIS, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_LIS, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:
@@ -183,7 +184,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __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);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 }
 
 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
@@ -200,34 +201,34 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_EXT0:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT1:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT2:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
 		break;
 
 	case PX4_SPIDEV_EXT3:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
 		break;
 
 	default:
@@ -240,3 +241,79 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 {
 	return SPI_STATUS_PRESENT;
 }
+
+__EXPORT void board_spi_reset(int ms)
+{
+	/* disable SPI bus */
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
+
+	px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
+	px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
+	px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
+
+	px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
+	px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
+	px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
+	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
+
+	px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
+
+	/* set the sensor rail off */
+	px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+
+	/* wait for the sensor rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+
+	/* switch the sensor rail back on */
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+
+	/* wait a bit before starting SPI, different times didn't influence results */
+	usleep(100);
+
+	/* reconfigure the SPI pins */
+#ifdef CONFIG_STM32_SPI1
+	px4_arch_configgpio(GPIO_SPI_CS_GYRO);
+	px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	px4_arch_configgpio(GPIO_SPI_CS_BARO);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	px4_arch_configgpio(GPIO_SPI1_SCK);
+	px4_arch_configgpio(GPIO_SPI1_MISO);
+	px4_arch_configgpio(GPIO_SPI1_MOSI);
+
+	// // XXX bring up the EXTI pins again
+	// px4_arch_configgpio(GPIO_GYRO_DRDY);
+	// px4_arch_configgpio(GPIO_MAG_DRDY);
+	// px4_arch_configgpio(GPIO_ACCEL_DRDY);
+	// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
+
+#endif
+}

src/drivers/boards/px4fmu-v2/px4fmu_usb.c

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }

src/drivers/boards/px4fmu-v4/board_config.h

@@ -251,10 +251,10 @@ __BEGIN_DECLS
 #define GPIO_PERIPH_3V3_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 /* for R07, this signal is active low */
 //#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-//#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
+//#define INVERT_RC_INPUT(_s)		px4_arch_gpiowrite(GPIO_SBUS_INV, 1-_s);
 /* for R12, this signal is active high */
 #define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, _s);
+#define INVERT_RC_INPUT(_s)		px4_arch_gpiowrite(GPIO_SBUS_INV, _s);
 
 #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
 #define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -263,18 +263,41 @@ __BEGIN_DECLS
 
 /* Power switch controls ******************************************************/
 
-#define POWER_SPEKTRUM(_s)			stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
+#define POWER_SPEKTRUM(_s)			px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
 //#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_UART()		px4_arch_configgpio(GPIO_USART1_RX)
 
 // FMUv4 has a separate GPIO for serial RC output
 #define GPIO_RC_OUT			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_RC_OUT)
+#define SPEKTRUM_RX_AS_GPIO()		px4_arch_configgpio(GPIO_RC_OUT)
-#define SPEKTRUM_RX_HIGH(_s)		stm32_gpiowrite(GPIO_RC_OUT, (_s))
+#define SPEKTRUM_RX_HIGH(_s)		px4_arch_gpiowrite(GPIO_RC_OUT, (_s))
 
 
 #define	BOARD_NAME "PX4FMU_V4"
 
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and herefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_FMU_GPIO_TAB { \
+		{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0}, \
+		{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0}, \
+		{GPIO_GPIO2_INPUT,       GPIO_GPIO2_OUTPUT,       0}, \
+		{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,       0}, \
+		{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,       0}, \
+		{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,       0}, \
+		{0,                      GPIO_VDD_3V3_SENSORS_EN, 0}, \
+		{GPIO_VDD_BRICK_VALID,   0,                       0}, }
+
+
 /****************************************************************************************************
  * Public Types
  ****************************************************************************************************/
@@ -298,9 +321,13 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
+void board_spi_reset(int ms);
 
 extern void stm32_usbinitialize(void);
 
+extern void board_peripheral_reset(int ms);
+
+
 /****************************************************************************
  * Name: nsh_archinitialize
  *

src/drivers/boards/px4fmu-v4/px4fmu_init.c

@@ -71,6 +71,7 @@
 
 #include <systemlib/cpuload.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -177,6 +178,35 @@ fat_dma_free(FAR void *memory, size_t size)
 
 #endif
 
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+	px4_arch_configgpio(GPIO_PERIPH_3V3_EN);
+
+	px4_arch_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
+
+	bool last = px4_arch_gpioread(GPIO_SPEKTRUM_PWR_EN);
+	/* Keep Spektum on to discharge rail*/
+	px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
+	px4_arch_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
+
+}
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -215,34 +245,34 @@ __EXPORT int nsh_archinitialize(void)
 {
 
 	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	px4_arch_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	px4_arch_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
 
 	/* configure power supply control/sense pins */
-	stm32_configgpio(GPIO_PERIPH_3V3_EN);
+	px4_arch_configgpio(GPIO_PERIPH_3V3_EN);
-	stm32_configgpio(GPIO_VDD_BRICK_VALID);
+	px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
 
-	stm32_configgpio(GPIO_SBUS_INV);
+	px4_arch_configgpio(GPIO_SBUS_INV);
-	stm32_configgpio(GPIO_8266_GPIO0);
+	px4_arch_configgpio(GPIO_8266_GPIO0);
-	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+	px4_arch_configgpio(GPIO_SPEKTRUM_PWR_EN);
-	stm32_configgpio(GPIO_8266_PD);
+	px4_arch_configgpio(GPIO_8266_PD);
-	stm32_configgpio(GPIO_8266_RST);
+	px4_arch_configgpio(GPIO_8266_RST);
-	stm32_configgpio(GPIO_BTN_SAFETY);
+	px4_arch_configgpio(GPIO_BTN_SAFETY);
 
 #ifdef GPIO_RC_OUT
-	stm32_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
+	px4_arch_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
-	stm32_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
+	px4_arch_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
 #endif
 
 	/* configure the GPIO pins to outputs and keep them low */
-	stm32_configgpio(GPIO_GPIO0_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
-	stm32_configgpio(GPIO_GPIO1_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
-	stm32_configgpio(GPIO_GPIO2_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
-	stm32_configgpio(GPIO_GPIO3_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
-	stm32_configgpio(GPIO_GPIO4_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
-	stm32_configgpio(GPIO_GPIO5_OUTPUT);
+	px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -280,7 +310,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Configure SPI-based devices */
 
-	spi1 = up_spiinitialize(1);
+	spi1 = px4_spibus_initialize(1);
 
 	if (!spi1) {
 		message("[boot] FAILED to initialize SPI port 1\n");
@@ -299,7 +329,7 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Get the SPI port for the FRAM */
 
-	spi2 = up_spiinitialize(2);
+	spi2 = px4_spibus_initialize(2);
 
 	if (!spi2) {
 		message("[boot] FAILED to initialize SPI port 2\n");

src/drivers/boards/px4fmu-v4/px4fmu_led.c

@@ -73,20 +73,20 @@ __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]);
+		px4_arch_configgpio(g_ledmap[l]);
 	}
 }
 
 static void phy_set_led(int led, bool state)
 {
 	/* Pull Down to switch on */
-	stm32_gpiowrite(g_ledmap[led], !state);
+	px4_arch_gpiowrite(g_ledmap[led], !state);
 }
 
 static bool phy_get_led(int led)
 {
 
-	return !stm32_gpioread(g_ledmap[led]);
+	return !px4_arch_gpioread(g_ledmap[led]);
 }
 
 __EXPORT void led_on(int led)

src/drivers/boards/px4fmu-v4/px4fmu_spi.c

@@ -46,6 +46,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <debug.h>
+#include <unistd.h>
 
 #include <nuttx/spi.h>
 #include <arch/board/board.h>
@@ -54,6 +55,7 @@
 #include <chip.h>
 #include <stm32.h>
 #include "board_config.h"
+#include <systemlib/err.h>
 
 /************************************************************************************
  * Public Functions
@@ -70,28 +72,28 @@
 __EXPORT void stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-	stm32_configgpio(GPIO_SPI_CS_MPU9250);
+	px4_arch_configgpio(GPIO_SPI_CS_MPU9250);
-	stm32_configgpio(GPIO_SPI_CS_HMC5983);
+	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
-	stm32_configgpio(GPIO_SPI_CS_MS5611);
+	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
-	stm32_configgpio(GPIO_SPI_CS_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
 	 * state machines
 	 */
-	stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
 
-	stm32_configgpio(GPIO_DRDY_MPU9250);
+	px4_arch_configgpio(GPIO_DRDY_MPU9250);
-	stm32_configgpio(GPIO_DRDY_HMC5983);
+	px4_arch_configgpio(GPIO_DRDY_HMC5983);
-	stm32_configgpio(GPIO_DRDY_ICM_20608_G);
+	px4_arch_configgpio(GPIO_DRDY_ICM_20608_G);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	stm32_configgpio(GPIO_SPI_CS_FRAM);
+	px4_arch_configgpio(GPIO_SPI_CS_FRAM);
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
 
 }
@@ -103,10 +105,10 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_ICM:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
@@ -115,26 +117,26 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_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);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_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);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
 		break;
 
 	default:
@@ -156,14 +158,14 @@ __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case SPIDEV_FLASH:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
 		break;
 
 	default:
@@ -177,3 +179,78 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 #endif
+
+__EXPORT void board_spi_reset(int ms)
+{
+	/* disable SPI bus */
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_MPU9250);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
+
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
+
+	px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
+	px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
+	px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
+
+	px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
+
+	px4_arch_configgpio(GPIO_DRDY_OFF_MPU9250);
+	px4_arch_configgpio(GPIO_DRDY_OFF_HMC5983);
+	px4_arch_configgpio(GPIO_DRDY_OFF_ICM_20608_G);
+
+	px4_arch_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
+	px4_arch_gpiowrite(GPIO_DRDY_OFF_HMC5983, 0);
+	px4_arch_gpiowrite(GPIO_DRDY_OFF_ICM_20608_G, 0);
+
+	/* set the sensor rail off */
+	px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+
+	/* wait for the sensor rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+
+	/* switch the sensor rail back on */
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+
+	/* wait a bit before starting SPI, different times didn't influence results */
+	usleep(100);
+
+	/* reconfigure the SPI pins */
+#ifdef CONFIG_STM32_SPI1
+	px4_arch_configgpio(GPIO_SPI_CS_MPU9250);
+	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
+	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
+	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+
+	px4_arch_configgpio(GPIO_SPI1_SCK);
+	px4_arch_configgpio(GPIO_SPI1_MISO);
+	px4_arch_configgpio(GPIO_SPI1_MOSI);
+
+	// // XXX bring up the EXTI pins again
+	// px4_arch_configgpio(GPIO_GYRO_DRDY);
+	// px4_arch_configgpio(GPIO_MAG_DRDY);
+	// px4_arch_configgpio(GPIO_ACCEL_DRDY);
+	// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
+
+#endif
+
+}

src/drivers/boards/px4fmu-v4/px4fmu_usb.c

@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
 	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
 	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
+	px4_arch_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
+	px4_arch_configgpio(GPIO_OTGFS_OVER);
 	*/
 #endif
 }

src/drivers/boards/px4io-v1/board_config.h

@@ -84,11 +84,11 @@
 #define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
 
 #define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
-#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#define POWER_SPEKTRUM(_s)		px4_arch_gpiowrite(GPIO_RELAY1_EN, (_s))
 
-#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
+#define SPEKTRUM_RX_HIGH(_s)	px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_UART()		px4_arch_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
+#define SPEKTRUM_RX_AS_GPIO()		px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
 
 /* Analog inputs ********************************************************************/
 

src/drivers/boards/px4io-v1/px4io_init.c

@@ -81,26 +81,26 @@
 __EXPORT void stm32_boardinitialize(void)
 {
 	/* configure GPIOs */
-	stm32_configgpio(GPIO_ACC1_PWR_EN);
+	px4_arch_configgpio(GPIO_ACC1_PWR_EN);
-	stm32_configgpio(GPIO_ACC2_PWR_EN);
+	px4_arch_configgpio(GPIO_ACC2_PWR_EN);
-	stm32_configgpio(GPIO_SERVO_PWR_EN);
+	px4_arch_configgpio(GPIO_SERVO_PWR_EN);
-	stm32_configgpio(GPIO_RELAY1_EN);
+	px4_arch_configgpio(GPIO_RELAY1_EN);
-	stm32_configgpio(GPIO_RELAY2_EN);
+	px4_arch_configgpio(GPIO_RELAY2_EN);
 
 	/* turn off - all leds are active low */
-	stm32_gpiowrite(GPIO_LED1, true);
+	px4_arch_gpiowrite(GPIO_LED1, true);
-	stm32_gpiowrite(GPIO_LED2, true);
+	px4_arch_gpiowrite(GPIO_LED2, true);
-	stm32_gpiowrite(GPIO_LED3, true);
+	px4_arch_gpiowrite(GPIO_LED3, true);
 
 	/* LED config */
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
+	px4_arch_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
+	px4_arch_configgpio(GPIO_LED3);
 
-	stm32_configgpio(GPIO_ACC_OC_DETECT);
+	px4_arch_configgpio(GPIO_ACC_OC_DETECT);
-	stm32_configgpio(GPIO_SERVO_OC_DETECT);
+	px4_arch_configgpio(GPIO_SERVO_OC_DETECT);
-	stm32_configgpio(GPIO_BTN_SAFETY);
+	px4_arch_configgpio(GPIO_BTN_SAFETY);
 
-	stm32_configgpio(GPIO_ADC_VBATT);
+	px4_arch_configgpio(GPIO_ADC_VBATT);
-	stm32_configgpio(GPIO_ADC_IN5);
+	px4_arch_configgpio(GPIO_ADC_IN5);
 }

src/drivers/boards/px4io-v2/board_config.h

@@ -88,11 +88,11 @@
 /* Power switch controls ******************************************************/
 
 #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
+#define POWER_SPEKTRUM(_s)		px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
 
-#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
+#define SPEKTRUM_RX_HIGH(_s)	px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
-#define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_RX_AS_UART()		px4_arch_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
+#define SPEKTRUM_RX_AS_GPIO()		px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
 
 #define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
 

src/drivers/boards/px4io-v2/px4io_init.c

@@ -105,55 +105,55 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure GPIOs */
 
 	/* LEDS - default to off */
-	stm32_configgpio(GPIO_LED1);
+	px4_arch_configgpio(GPIO_LED1);
-	stm32_configgpio(GPIO_LED2);
+	px4_arch_configgpio(GPIO_LED2);
-	stm32_configgpio(GPIO_LED3);
+	px4_arch_configgpio(GPIO_LED3);
-	stm32_configgpio(GPIO_LED4);
+	px4_arch_configgpio(GPIO_LED4);
 
-	stm32_configgpio(GPIO_BTN_SAFETY);
+	px4_arch_configgpio(GPIO_BTN_SAFETY);
 
 	/* spektrum power enable is active high - enable it by default */
-	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+	px4_arch_configgpio(GPIO_SPEKTRUM_PWR_EN);
 
-	stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
+	px4_arch_configgpio(GPIO_SERVO_FAULT_DETECT);
 
 	/* RSSI inputs */
-	stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
+	px4_arch_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
-	stm32_configgpio(GPIO_ADC_RSSI);
+	px4_arch_configgpio(GPIO_ADC_RSSI);
 
 	/* servo rail voltage */
-	stm32_configgpio(GPIO_ADC_VSERVO);
+	px4_arch_configgpio(GPIO_ADC_VSERVO);
 
-	stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
+	px4_arch_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
-	stm32_configgpio(GPIO_SBUS_OUTPUT);
+	px4_arch_configgpio(GPIO_SBUS_OUTPUT);
 
 	/* sbus output enable is active low - disable it by default */
-	stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
+	px4_arch_gpiowrite(GPIO_SBUS_OENABLE, true);
-	stm32_configgpio(GPIO_SBUS_OENABLE);
+	px4_arch_configgpio(GPIO_SBUS_OENABLE);
 
-	stm32_configgpio(GPIO_PPM); /* xxx alternate function */
+	px4_arch_configgpio(GPIO_PPM); /* xxx alternate function */
 
-	stm32_gpiowrite(GPIO_PWM1, true);
+	px4_arch_gpiowrite(GPIO_PWM1, true);
-	stm32_configgpio(GPIO_PWM1);
+	px4_arch_configgpio(GPIO_PWM1);
 
-	stm32_gpiowrite(GPIO_PWM2, true);
+	px4_arch_gpiowrite(GPIO_PWM2, true);
-	stm32_configgpio(GPIO_PWM2);
+	px4_arch_configgpio(GPIO_PWM2);
 
-	stm32_gpiowrite(GPIO_PWM3, true);
+	px4_arch_gpiowrite(GPIO_PWM3, true);
-	stm32_configgpio(GPIO_PWM3);
+	px4_arch_configgpio(GPIO_PWM3);
 
-	stm32_gpiowrite(GPIO_PWM4, true);
+	px4_arch_gpiowrite(GPIO_PWM4, true);
-	stm32_configgpio(GPIO_PWM4);
+	px4_arch_configgpio(GPIO_PWM4);
 
-	stm32_gpiowrite(GPIO_PWM5, true);
+	px4_arch_gpiowrite(GPIO_PWM5, true);
-	stm32_configgpio(GPIO_PWM5);
+	px4_arch_configgpio(GPIO_PWM5);
 
-	stm32_gpiowrite(GPIO_PWM6, true);
+	px4_arch_gpiowrite(GPIO_PWM6, true);
-	stm32_configgpio(GPIO_PWM6);
+	px4_arch_configgpio(GPIO_PWM6);
 
-	stm32_gpiowrite(GPIO_PWM7, true);
+	px4_arch_gpiowrite(GPIO_PWM7, true);
-	stm32_configgpio(GPIO_PWM7);
+	px4_arch_configgpio(GPIO_PWM7);
 
-	stm32_gpiowrite(GPIO_PWM8, true);
+	px4_arch_gpiowrite(GPIO_PWM8, true);
-	stm32_configgpio(GPIO_PWM8);
+	px4_arch_configgpio(GPIO_PWM8);
 }

src/drivers/camera_trigger/camera_trigger.cpp

@@ -283,8 +283,8 @@ CameraTrigger::start()
 {
 
 	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
-		stm32_configgpio(_gpios[_pins[i]]);
+		px4_arch_configgpio(_gpios[_pins[i]]);
-		stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
+		px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
 	}
 
 	// enable immediate if configured that way
@@ -448,7 +448,7 @@ CameraTrigger::trigger(CameraTrigger *trig, bool trigger)
 	for (unsigned i = 0; i < sizeof(trig->_pins) / sizeof(trig->_pins[0]); i++) {
 		if (trig->_pins[i] >= 0) {
 			// ACTIVE_LOW == 1
-			stm32_gpiowrite(trig->_gpios[trig->_pins[i]], trigger);
+			px4_arch_gpiowrite(trig->_gpios[trig->_pins[i]], trigger);
 		}
 	}
 }

src/drivers/device/cdev.cpp

@@ -339,14 +339,14 @@ void
 CDev::poll_notify(pollevent_t events)
 {
 	/* lock against poll() as well as other wakeups */
-	irqstate_t state = irqsave();
+	irqstate_t state = px4_enter_critical_section();
 
 	for (unsigned i = 0; i < _max_pollwaiters; i++)
 		if (nullptr != _pollset[i]) {
 			poll_notify_one(_pollset[i], events);
 		}
 
-	irqrestore(state);
+	px4_leave_critical_section(state);
 }
 
 void

src/drivers/device/i2c_nuttx.cpp

@@ -75,7 +75,7 @@ I2C::I2C(const char *name,
 I2C::~I2C()
 {
 	if (_dev) {
-		up_i2cuninitialize(_dev);
+		px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 	}
 }
@@ -105,7 +105,7 @@ I2C::init()
 	unsigned bus_index;
 
 	// attach to the i2c bus
-	_dev = up_i2cinitialize(_bus);
+	_dev = px4_i2cbus_initialize(_bus);
 
 	if (_dev == nullptr) {
 		DEVICE_DEBUG("failed to init I2C");
@@ -120,7 +120,7 @@ I2C::init()
 	// abort if the max frequency we allow (the frequency we ask)
 	// is smaller than the bus frequency
 	if (_bus_clocks[bus_index] > _frequency) {
-		(void)up_i2cuninitialize(_dev);
+		(void)px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 		DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
 			   _bus, _bus_clocks[bus_index] / 1000, _frequency / 1000);
@@ -168,7 +168,7 @@ I2C::init()
 out:
 
 	if ((ret != OK) && (_dev != nullptr)) {
-		up_i2cuninitialize(_dev);
+		px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 	}
 

src/drivers/device/spi.cpp

@@ -95,7 +95,7 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = up_spiinitialize(_bus);
+		_dev = px4_spibus_initialize(_bus);
 	}
 
 	if (_dev == nullptr) {
@@ -152,9 +152,9 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	switch (mode) {
 	default:
 	case LOCK_PREEMPTION: {
-			irqstate_t state = irqsave();
+			irqstate_t state = px4_enter_critical_section();
 			result = _transfer(send, recv, len);
-			irqrestore(state);
+			px4_leave_critical_section(state);
 		}
 		break;
 

src/drivers/gps/gps.cpp

@@ -910,10 +910,10 @@ GPS::cmd_reset()
 {
 #ifdef GPIO_GPS_NRESET
 	PX4_WARN("Toggling GPS reset pin");
-	stm32_configgpio(GPIO_GPS_NRESET);
+	px4_arch_configgpio(GPIO_GPS_NRESET);
-	stm32_gpiowrite(GPIO_GPS_NRESET, 0);
+	px4_arch_gpiowrite(GPIO_GPS_NRESET, 0);
 	usleep(100);
-	stm32_gpiowrite(GPIO_GPS_NRESET, 1);
+	px4_arch_gpiowrite(GPIO_GPS_NRESET, 1);
 	PX4_WARN("Toggled GPS reset pin");
 #endif
 }

src/drivers/hc_sr04/hc_sr04.cpp

@@ -297,9 +297,9 @@ HC_SR04::init()
 
 	/* init echo port : */
 	for (unsigned i = 0; i <= _sonars; i++) {
-		stm32_configgpio(_gpio_tab[i].trig_port);
+		px4_arch_configgpio(_gpio_tab[i].trig_port);
-		stm32_gpiowrite(_gpio_tab[i].trig_port, false);
+		px4_arch_gpiowrite(_gpio_tab[i].trig_port, false);
-		stm32_configgpio(_gpio_tab[i].echo_port);
+		px4_arch_configgpio(_gpio_tab[i].echo_port);
 		_latest_sonar_measurements.push_back(0);
 	}
 
@@ -441,14 +441,14 @@ HC_SR04::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}
@@ -546,9 +546,9 @@ HC_SR04::measure()
 	/*
 	 * Send a plus begin a measurement.
 	 */
-	stm32_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true);
+	px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, true);
 	usleep(10);  // 10us
-	stm32_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false);
+	px4_arch_gpiowrite(_gpio_tab[_cycle_counter].trig_port, false);
 
 	stm32_gpiosetevent(_gpio_tab[_cycle_counter].echo_port, true, true, false, sonar_isr);
 	_status = 0;

src/drivers/hmc5883/hmc5883.cpp

@@ -698,14 +698,14 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/l3gd20/l3gd20.cpp

@@ -666,14 +666,14 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/lis3mdl/lis3mdl.cpp

@@ -706,14 +706,14 @@ LIS3MDL::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -216,14 +216,14 @@ int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/lsm303d/lsm303d.cpp

@@ -928,14 +928,14 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_accel_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}
@@ -1063,14 +1063,14 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_mag_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/mb12xx/mb12xx.cpp

@@ -431,14 +431,14 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}

src/drivers/mpu6000/mpu6000.cpp

@@ -737,7 +737,7 @@ int MPU6000::reset()
 
 	while (--tries != 0) {
 		irqstate_t state;
-		state = irqsave();
+		state = px4_enter_critical_section();
 
 		write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
 		up_udelay(10000);
@@ -750,7 +750,7 @@ int MPU6000::reset()
 
 		// Disable I2C bus (recommended on datasheet)
 		write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
-		irqrestore(state);
+		px4_leave_critical_section(state);
 
 		if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) {
 			break;
@@ -1364,14 +1364,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_accel_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}
@@ -1449,14 +1449,14 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 				return -EINVAL;
 			}
 
-			irqstate_t flags = irqsave();
+			irqstate_t flags = px4_enter_critical_section();
 
 			if (!_gyro_reports->resize(arg)) {
-				irqrestore(flags);
+				px4_leave_critical_section(flags);
 				return -ENOMEM;
 			}
 
-			irqrestore(flags);
+			px4_leave_critical_section(flags);
 
 			return OK;
 		}