Inital commit of NXPhlite-v1

Images/nxphlite-v1.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 28,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPHLITEv1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPHLITEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

cmake/configs/nuttx_nxphlite-v1_default.cmake

@@ -0,0 +1,218 @@
+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_uavcan_num_ifaces 1)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/kinetis
+	drivers/kinetis/adc
+	drivers/kinetis/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/boards/nxphlite-v1
+    drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/sf1xx
+	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/vmount
+# NOT Portable YET drivers/pwm_input
+	drivers/camera_trigger
+	drivers/bst
+	drivers/snapdragon_rc_pwm
+	drivers/lis3mdl
+	drivers/bmp280
+#No External SPI drivers/bma180
+#No External SPI 	drivers/bmi160
+	drivers/tap_esc
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+## Needs bbsrm 	systemcmds/hardfault_log
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+	systemcmds/sd_bench
+	systemcmds/motor_ramp
+
+	#
+	# Testing
+	#
+	drivers/sf0x/sf0x_tests
+### NOT Portable YET drivers/test_ppm
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/load_mon
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+##	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/ekf2
+	modules/local_position_estimator
+
+	#
+	# 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
+	modules/logger
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/rc
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# 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
+
+	# EKF
+	examples/ekf_att_pos_estimator
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_extra_libs
+#	uavcan
+#	uavcan_stm32_driver
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon"
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis"
+	STACK_MAIN "2048"
+	COMPILE_FLAGS "-Os")

nuttx-configs/nxphlite-v1/Kconfig

@@ -0,0 +1,22 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_NXPHLITE_V1
+
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
+
+endif

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

@@ -0,0 +1,344 @@
+/************************************************************************************
+ * configs/freedom-k64f/include/board.h
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *   		  Jordan MacIntyre
+ *   		  David Sidrane <david_s5@nscdg.com>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIG_NXPHLITE_V1_INCLUDE_BOARD_H
+#define __CONFIG_NXPHLITE_V1_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+#  include <stdint.h>
+#endif
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/*
+ *  The NXPHlite-v1 is populated with a MK64FX512VLQ12 has 512 KiB of FLASH and
+ *  192KiB of SRAM.
+ */
+/* Clocking *************************************************************************/
+/* The NXPHlite-v1 uses a 16MHz external Oscillator.  The Kinetis MCU startup from an
+ * internal digitally-controlled oscillator (DCO). Nuttx will enable the main external
+ * oscillator (EXTAL0/XTAL0).   The external  oscillator/resonator can range from
+ * 32.768 KHz up to 50 MHz. The default external source for the MCG oscillator inputs
+ * EXTAL.
+ *
+ * Y1 a High-frequency, low-power Xtal
+ */
+#define BOARD_EXTAL_LP		 1
+#define BOARD_EXTAL_FREQ     16000000       /* 16MHz Oscillator Y1 */
+#define BOARD_XTAL32_FREQ    32768          /* 32KHz RTC Oscillator */
+
+/* PLL Configuration.  Either the external clock or crystal frequency is used to
+ * select the PRDIV value. Only reference clock frequencies are supported that will
+ * produce a 2-4 MHz reference clock to the PLL.
+ *
+ *   PLL Input frequency:   PLLIN  = REFCLK / PRDIV = 16 MHz  / 4 = 4 MHz
+ *   PLL Output frequency:  PLLOUT = PLLIN  * VDIV  = 4 MHz  * 30 = 120 MHz
+ *   MCG Frequency:         PLLOUT = 120 MHz
+ *
+ * PRDIV register value is the divider minus one.  So 4 -> 3
+ * VDIV  register value is offset by 24.  So 30 -> 6
+ */
+
+#define BOARD_PRDIV          4              /* PLL External Reference Divider */
+#define BOARD_VDIV           30             /* PLL VCO Divider (frequency multiplier) */
+
+#define BOARD_PLLIN_FREQ     (BOARD_EXTAL_FREQ / BOARD_PRDIV)
+#define BOARD_PLLOUT_FREQ    (BOARD_PLLIN_FREQ * BOARD_VDIV)
+#define BOARD_MCG_FREQ       BOARD_PLLOUT_FREQ
+
+/* SIM CLKDIV1 dividers */
+
+#define BOARD_OUTDIV1        1              /* Core        = MCG,    120 MHz */
+#define BOARD_OUTDIV2        2              /* Bus         = MCG / 2, 60 MHz */
+#define BOARD_OUTDIV3        2              /* FlexBus     = MCG / 2, 60 MHz */
+#define BOARD_OUTDIV4        5              /* Flash clock = MCG / 5, 24 MHz */
+
+#define BOARD_CORECLK_FREQ  (BOARD_MCG_FREQ / BOARD_OUTDIV1)
+#define BOARD_BUS_FREQ      (BOARD_MCG_FREQ / BOARD_OUTDIV2)
+#define BOARD_FLEXBUS_FREQ  (BOARD_MCG_FREQ / BOARD_OUTDIV3)
+#define BOARD_FLASHCLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV4)
+
+/* SDHC clocking ********************************************************************/
+
+/* SDCLK configurations corresponding to various modes of operation.   Formula is:
+ *
+ *   SDCLK  frequency = (base clock) / (prescaler * divisor)
+ *
+ * The SDHC module is always configure configured so that the core clock is the base
+ * clock.  Possible values for presscaler and divisor are:
+ *
+ *   SDCLKFS: {2, 4, 8, 16, 32, 63, 128, 256}
+ *   DVS:     {1..16}
+ */
+
+/* Identification mode:  Optimal 400KHz, Actual 120MHz / (32 * 10) = 375 KHz */
+
+#define BOARD_SDHC_IDMODE_PRESCALER    SDHC_SYSCTL_SDCLKFS_DIV32
+#define BOARD_SDHC_IDMODE_DIVISOR      SDHC_SYSCTL_DVS_DIV(10)
+
+/* MMC normal mode: Optimal 20MHz, Actual 120MHz / (2 * 3) = 20 MHz */
+
+#define BOARD_SDHC_MMCMODE_PRESCALER   SDHC_SYSCTL_SDCLKFS_DIV2
+#define BOARD_SDHC_MMCMODE_DIVISOR     SDHC_SYSCTL_DVS_DIV(3)
+
+/* SD normal mode (1-bit): Optimal 20MHz, Actual 120MHz / (2 * 3) = 20 MHz */
+
+#define BOARD_SDHC_SD1MODE_PRESCALER   SDHC_SYSCTL_SDCLKFS_DIV2
+#define BOARD_SDHC_SD1MODE_DIVISOR     SDHC_SYSCTL_DVS_DIV(3)
+
+/* SD normal mode (4-bit): Optimal 25MHz, Actual 120MHz / (2 * 3) = 20 MHz (with DMA)
+ * SD normal mode (4-bit): Optimal 20MHz, Actual 120MHz / (2 * 3) = 20 MHz (no DMA)
+ */
+
+#ifdef CONFIG_SDIO_DMA
+#  define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
+#  define BOARD_SDHC_SD4MODE_DIVISOR   SDHC_SYSCTL_DVS_DIV(3)
+#else
+#  define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
+#  define BOARD_SDHC_SD4MODE_DIVISOR   SDHC_SYSCTL_DVS_DIV(3)
+#endif
+
+/* LED definitions ******************************************************************/
+/* The NXPHlite-v1 has a separate Red, Green and Blue LEDs driven by the K64F as
+ * follows:
+ *
+ *   LED    K64
+ *   ------ -------------------------------------------------------
+ *   RED    FB_CS3_b/ FB_BE7_0_BLS31_24_b/ FB_TA_b/ ENET0_1588_TMR3/ UART3_CTS_b/ PTC19
+ *   GREEN  LLWU_P12/ FB_CS1_b/ FB_TS_b/ FB_ALE/ FTM3_CH0/ UART2_RTS_b/ SPI0_PCS0/ PTD0
+ *   BLUE   FB_CS0_b/ FTM3_CH1/ UART2_CTS_b/ SPI0_SCK/ ADC0_SE5b/ PTD1
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way.  The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED_R       0
+#define BOARD_LED_G       1
+#define BOARD_LED_B       2
+#define BOARD_NLEDS       3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED_R_BIT   (1 << BOARD_LED_R)
+#define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
+#define BOARD_LED_B_BIT   (1 << BOARD_LED_B)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the NXPHlite-v1.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL                Meaning                      LED state
+ *                                                      RED   GREEN  BLUE
+ *   -------------------  ----------------------------  ----------------- */
+#define LED_STARTED       1 /* NuttX has been started    OFF   OFF    OFF */
+#define LED_HEAPALLOCATE  2 /* Heap has been allocated   OFF   OFF    ON  */
+#define LED_IRQSENABLED   0 /* Interrupts enabled        OFF   OFF    ON  */
+#define LED_STACKCREATED  3 /* Idle stack created        OFF   ON     OFF */
+#define LED_INIRQ         0 /* In an interrupt          (no change)       */
+#define LED_SIGNAL        0 /* In a signal handler      (no change)       */
+#define LED_ASSERTION     0 /* An assertion failed      (no change)       */
+#define LED_PANIC         4 /* The system has crashed    FLASH OFF    OFF */
+#undef  LED_IDLE            /* K64 is in sleep mode     (Not used)        */
+
+/* Alternative pin resolution *******************************************************/
+/* If there are alternative configurations for various pins in the
+ * kinetis_k64pinmux.h header file, those alternative pins will be labeled with a
+ * suffix like _1, _2, etc.  The logic in this file must select the correct pin
+ * configuration for the board by defining a pin configuration (with no suffix) that
+ * maps to the correct alternative.
+ */
+
+/* CAN
+ *
+ */
+#define PIN_CAN0_RX       PIN_CAN0_RX_2
+#define PIN_CAN0_TX       PIN_CAN0_TX_2
+
+/* 12C
+ *
+ */
+
+/* I2C0 MPL3115A2 Pressure Sensor */
+
+#define PIN_I2C0_SCL     PIN_I2C0_SCL_4   /* PTE24 P_SCL */
+#define PIN_I2C0_SDA     PIN_I2C0_SDA_4   /* PTE25 P_SDA */
+
+/* I2C1 NFC Connector */
+
+#define PIN_I2C1_SCL     PIN_I2C1_SCL_1   /* PTC10 NFC_SCL P2-2 */
+#define PIN_I2C1_SDA     PIN_I2C1_SDA_1   /* PTC11 NFC_SDA P2-3 */
+
+
+/* PWM
+ *
+ */
+
+/* PWM Channels */
+
+#define GPIO_FTM3_CH0OUT PIN_FTM3_CH0_2  /* PTE5  PWM1  P4-34 */
+#define GPIO_FTM3_CH1OUT PIN_FTM3_CH1_2  /* PTE6  PWM2  P4-31 */
+#define GPIO_FTM3_CH2OUT PIN_FTM3_CH2_2  /* PTE7  PWM3  P4-28 */
+#define GPIO_FTM3_CH3OUT PIN_FTM3_CH3_2  /* PTE8  PWM4  P4-25 */
+#define GPIO_FTM3_CH4OUT PIN_FTM3_CH4_2  /* PTE9  PWM5  P4-22 */
+#define GPIO_FTM3_CH5OUT PIN_FTM3_CH5_2  /* PTE10 PWM6  P4-29 */
+#define GPIO_FTM3_CH6OUT PIN_FTM3_CH6_2  /* PTE11 PWM7  P4-26 */
+#define GPIO_FTM3_CH7OUT PIN_FTM3_CH7_2  /* PTE12 PWM8  P4-13 */
+
+#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_3  /* PTD4  PWM0  P4-46 */
+#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_3  /* PTD5  PWM10 P4-43 */
+#define GPIO_FTM0_CH6OUT PIN_FTM0_CH6_2  /* PTD6  PWM11 P4-40 */
+#define GPIO_FTM0_CH7OUT PIN_FTM0_CH7_2  /* PTD7  PWM12 P4-37 */
+
+#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1  /* PTA6  PWM13 P4-7 */
+#define GPIO_FTM0_CH2OUT PIN_FTM0_CH2_2  /* PTC3  PWM14 P4-10 */
+
+//todo:This is a Guess on timer utilisation
+#define GPIO_FTM3_CH0IN  PIN_FTM3_CH0_2  /* PTE5  PWM1  P4-34 */
+#define GPIO_FTM3_CH1IN  PIN_FTM3_CH1_2  /* PTE6  PWM2  P4-31 */
+#define GPIO_FTM3_CH2IN  PIN_FTM3_CH2_2  /* PTE7  PWM3  P4-28 */
+#define GPIO_FTM3_CH3IN  PIN_FTM3_CH3_2  /* PTE8  PWM4  P4-25 */
+#define GPIO_FTM3_CH4IN  PIN_FTM3_CH4_2  /* PTE9  PWM5  P4-22 */
+#define GPIO_FTM3_CH5IN  PIN_FTM3_CH5_2  /* PTE10 PWM6  P4-29 */
+#define GPIO_FTM3_CH6IN  PIN_FTM3_CH6_2  /* PTE11 PWM7  P4-26 */
+#define GPIO_FTM3_CH7IN  PIN_FTM3_CH7_2  /* PTE12 PWM8  P4-13 */
+
+#define GPIO_FTM0_CH4IN  PIN_FTM0_CH4_3  /* PTD4  PWM0  P4-46 */
+#define GPIO_FTM0_CH5IN  PIN_FTM0_CH5_3  /* PTD5  PWM10 P4-43 */
+#define GPIO_FTM0_CH6IN  PIN_FTM0_CH6_2  /* PTD6  PWM11 P4-40 */
+#define GPIO_FTM0_CH7IN  PIN_FTM0_CH7_2  /* PTD7  PWM12 P4-37 */
+
+#define GPIO_FTM0_CH3IN  PIN_FTM0_CH3_1  /* PTA6  PWM13 P4-7 */
+#define GPIO_FTM0_CH2IN  PIN_FTM0_CH2_2  /* PTC3  PWM14 P4-10 */
+
+/* SPI
+ *
+ */
+
+/* SPI0 SD Card */
+
+#define PIN_SPI0_PCS0    PIN_SPI0_PCS0_2  /* PTC4 SPI_CS  SD1-2 */
+#define PIN_SPI0_SCK     PIN_SPI0_SCK_2   /* PTC5 SPI_CLK SD1-5 */
+#define PIN_SPI0_OUT     PIN_SPI0_SOUT_2  /* PTC6 SPI_OUT SD1-3 */
+#define PIN_SPI0_SIN     PIN_SPI0_SIN_2   /* PTC7 SPI_IN  SD1-5 */
+
+/* SPI1 FXOS8700CQ Accelerometer */
+
+#define PIN_SPI1_PCS0    PIN_SPI1_PCS0_1  /* PTB10 A_CS   */
+#define PIN_SPI1_SCK     PIN_SPI1_SCK_1   /* PTB11 A_SCLK */
+#define PIN_SPI1_OUT     PIN_SPI1_SOUT_1  /* PTB16 A_MOSI */
+#define PIN_SPI1_SIN     PIN_SPI1_SIN_1   /* PTB17 A_MISO */
+
+/* SPI2 FXAS21002CQ Gyroscope */
+
+#define PIN_SPI2_PCS0    PIN_SPI2_PCS0_1  /* PTB20 GM_CS   */
+#define PIN_SPI2_SCK     PIN_SPI2_SCK_1   /* PTB21 GM_SCLK */
+#define PIN_SPI2_OUT     PIN_SPI2_SOUT_1  /* PTB22 GM_MOSI */
+#define PIN_SPI2_SIN     PIN_SPI2_SIN_1   /* PTB23 GM_MISO */
+
+/* UART
+ *
+ * NuttX Will use UART4 as the Console
+ */
+
+#define PIN_UART0_RX      PIN_UART0_RX_4   /* PTD6 P4-40 PWM11 */
+#define PIN_UART0_TX      PIN_UART0_TX_4   /* PTD7 P4-37 PWM12 */
+
+#define PIN_UART1_RX      PIN_UART1_RX_2  /* PTE1 UART P14-3 */
+#define PIN_UART1_TX      PIN_UART1_TX_2  /* PTE0 UART P14-2 */
+
+/* No Alternative pins for UART2
+ * PD2 BL P1-5
+ * PD3 BL P1-4
+ */
+
+#define PIN_UART3_RX      PIN_UART3_RX_2 /* PTC16 GPS P3-3 */
+#define PIN_UART3_TX      PIN_UART3_TX_2 /* PTC17 GPS P3-2 */
+
+#define PIN_UART4_RX      PIN_UART4_RX_1  /* PTC14 UART P10-3 */
+#define PIN_UART4_TX      PIN_UART4_TX_1  /* PTC15 UART P10-2 */
+
+/* UART5 is not connected on V1
+ */
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: kinetis_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.
+ *
+ ************************************************************************************/
+
+void kinetis_boardinitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __CONFIG_NXPHLITE_V1_INCLUDE_BOARD_H */

nuttx-configs/nxphlite-v1/include/nsh_romfsimg.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;

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

@@ -0,0 +1,163 @@
+############################################################################
+# nuttx-configs/nxphlite-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include $(TOPDIR)/PX4_Warnings.mk
+include $(TOPDIR)/PX4_Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI${HOST_OS_FIRST_LETTER}
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 =-Os
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+# Enable precise stack overflow tracking
+
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+INSTRUMENTATIONDEFINES	 = -finstrument-functions -ffixed-r10
+endif
+
+# 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		 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# Tool versions
+
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# Optimization flags
+
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = $(PX4_ARCHWARNINGS)
+ARCHCWARNINGS		 = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# This seems to be the only way to add linker flags
+
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+# Produce partially-linked $1 from files in $2
+
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =

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

@@ -0,0 +1,75 @@
+#!/bin/bash
+# nuttx-configs/nxphlite-v1/nsh/setenv.sh
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the RIDE
+# toolchain under windows.  You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows.  You will also have to edit this if you install
+# the Atollic toolchain in any other location.  /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"

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

@@ -0,0 +1,159 @@
+/****************************************************************************
+ * configs/nxphlite-v1/scripts/flash.ld
+ *
+ *   Copyright (C) 2016 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 MK64FX512VLQ12 has 512 KiB of FLASH beginning at address 0x0000:0000 and
+ * 192KiB of SRAM beginning at address 0x1ffe:0000- (SRAM_L) and 0x2000:000
+ * (SRAM_U).
+ *
+ * NOTE: that the first part of the K64 FLASH region is reserved for
+ *       interrupt vectflash and, following that, is a region from 0x0000:0400
+ *       to 0x0000:040f that is reserved for the FLASH control fields (FCF).
+ *
+ * NOTE: The on-chip RAM is split evenly among SRAM_L and SRAM_U. The RAM is
+ *       also implemented such that the SRAM_L and SRAM_U ranges form a
+ *       contiguous block in the memory map.
+ */
+
+MEMORY
+{
+	vectflash  (rx)  : ORIGIN = 0x00000000, LENGTH = 1K
+	cfmprotect (rx)  : ORIGIN = 0x00000400, LENGTH = 16
+	progflash  (rx)  : ORIGIN = 0x00000410, LENGTH = 512K - (1K + 16)
+	datasram  (rwx)  : ORIGIN = 0x1fff0000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)
+EXTERN(__flashconfigbytes)
+SECTIONS
+{
+	.vectors : {
+		_svectors = ABSOLUTE(.);
+		 KEEP(*(.vectors))
+		_evectors = ABSOLUTE(.);
+	} > vectflash
+
+	.cfmprotect : {
+		KEEP(*(.cfmconfig))
+	} > cfmprotect
+
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.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;
+	} > progflash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+         KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > progflash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > progflash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > progflash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > progflash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > datasram AT > progflash
+
+	.ramfunc ALIGN(4): {
+		_sramfuncs = ABSOLUTE(.);
+		*(.ramfunc  .ramfunc.*)
+		_eramfuncs = ABSOLUTE(.);
+	} > datasram AT > progflash
+
+	_framfuncs = LOADADDR(.ramfunc);
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > datasram
+
+	/* 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) }
+}

nuttx-configs/nxphlite-v1/src/Makefile

@@ -0,0 +1,86 @@
+############################################################################
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		=
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+	CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+ifneq ($(BOARD_CONTEXT),y)
+context:
+endif
+
+-include Make.dep

nuttx-configs/nxphlite-v1/src/empty.c

@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so
+ * we have this empty source file to keep it company.
+ */

nuttx-configs/tap-v1/nsh/defconfig

@@ -63,7 +63,8 @@ CONFIG_ARCH_ARM=y
 # 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_SIM is not setMMSC
+
 # CONFIG_ARCH_X86 is not set
 # CONFIG_ARCH_Z16 is not set
 # CONFIG_ARCH_Z80 is not set

src/drivers/boards/common/kinetis/board_reset.c

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_reset.c
+ * Implementation of kinetis based Board RESET API
+ */
+
+#include <px4_config.h>
+#include <errno.h>
+#include <nuttx/board.h>
+
+
+int board_set_bootload_mode(board_reset_e mode)
+{
+	uint32_t regvalue = 0;
+
+	switch (mode) {
+	case board_reset_normal:
+	case board_reset_extended:
+		break;
+
+	case board_reset_enter_bootloader:
+		regvalue = 0xb007b007;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+// todo: Add a way to enter bootloader
+	UNUSED(regvalue);
+	return OK;
+}
+
+
+void board_system_reset(int status)
+{
+	board_reset(status);
+
+	while (1);
+}

src/drivers/boards/nxphlite-v1/CMakeLists.txt

@@ -0,0 +1,55 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__boards__nxphlite-v1
+	COMPILE_FLAGS
+	SRCS
+		../common/kinetis/board_reset.c
+		../common/board_crashdump.c
+		../common/board_dma_alloc.c
+		nxphlite_autoleds.c
+		nxphlite_automount.c
+		nxphlite_bringup.c
+		nxphlite_can.c
+		nxphlite_init.c
+		nxphlite_led.c
+		nxphlite_pwm.c
+		nxphlite_sdhc.c
+		nxphlite_sdio.c
+		nxphlite_spi.c
+		nxphlite_timer_config.c
+		nxphlite_usb.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/boards/nxphlite-v1/nxphlite_autoleds.c

@@ -0,0 +1,164 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/*
+ * This module shaol be used during board bring up of Nuttx.
+ *
+ * The NXPHlite-v1 has a separate Red, Green and Blue LEDs driven by the K64F
+ * as follows:
+ *
+ *   LED    K64
+ *   ------ -------------------------------------------------------
+ *   RED    FB_CS3_b/ FB_BE7_0_BLS31_24_b/ FB_TA_b/ ENET0_1588_TMR3/ UART3_CTS_b/ PTC19
+ *   GREEN  LLWU_P12/ FB_CS1_b/ FB_TS_b/ FB_ALE/ FTM3_CH0/ UART2_RTS_b/ SPI0_PCS0/ PTD0
+ *   BLUE   FB_CS0_b/ FTM3_CH1/ UART2_CTS_b/ SPI0_SCK/ ADC0_SE5b/ PTD1
+ *
+ * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the Freedom K64F.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL                Meaning                 LED state
+ *                                                 RED   GREEN  BLUE
+ *   -------------------  -----------------------  -----------------
+ *   LED_STARTED          NuttX has been started    OFF  OFF  OFF
+ *   LED_HEAPALLOCATE     Heap has been allocated   OFF  OFF  ON
+ *   LED_IRQSENABLED      Interrupts enabled        OFF  OFF  ON
+ *   LED_STACKCREATED     Idle stack created        OFF  ON   OFF
+ *   LED_INIRQ            In an interrupt          (no change)
+ *   LED_SIGNAL           In a signal handler      (no change)
+ *   LED_ASSERTION        An assertion failed      (no change)
+ *   LED_PANIC            The system has crashed    FLASH OFF OFF
+ *   LED_IDLE             K64 is in sleep mode     (Optional, not used)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "kinetis.h"
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Summary of all possible settings */
+
+#define LED_NOCHANGE      0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
+#define LED_OFF_OFF_OFF   1 /* LED_STARTED */
+#define LED_OFF_OFF_ON    2 /* LED_HEAPALLOCATE */
+#define LED_OFF_ON_OFF    3 /* LED_STACKCREATED */
+#define LED_ON_OFF_OFF    4 /* LED_PANIC */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ *
+ * Description:
+ *   Initialize the on-board LED
+ *
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	kinetis_pinconfig(GPIO_LED_R);
+	kinetis_pinconfig(GPIO_LED_G);
+	kinetis_pinconfig(GPIO_LED_B);
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (led != LED_NOCHANGE) {
+		bool redoff   = true;
+		bool greenoff = true;
+		bool blueoff  = true;
+
+		switch (led) {
+		default:
+		case LED_OFF_OFF_OFF:
+			break;
+
+		case LED_OFF_OFF_ON:
+			blueoff = false;
+			break;
+
+		case LED_OFF_ON_OFF:
+			greenoff = false;
+			break;
+
+		case LED_ON_OFF_OFF:
+			redoff = false;
+			break;
+		}
+
+		kinetis_gpiowrite(GPIO_LED_R, redoff);
+		kinetis_gpiowrite(GPIO_LED_G, greenoff);
+		kinetis_gpiowrite(GPIO_LED_B, blueoff);
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (led == LED_ON_OFF_OFF) {
+		kinetis_gpiowrite(GPIO_LED_R, true);
+		kinetis_gpiowrite(GPIO_LED_G, true);
+		kinetis_gpiowrite(GPIO_LED_B, true);
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

src/drivers/boards/nxphlite-v1/nxphlite_automount.c

@@ -0,0 +1,314 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
+#  define CONFIG_DEBUG_FS 1
+#endif
+
+#include <debug.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/clock.h>
+#include <nuttx/fs/automount.h>
+
+#include "board_config.h"
+
+#ifdef HAVE_AUTOMOUNTER
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+#ifndef NULL
+#  define NULL (FAR void *)0
+#endif
+
+#ifndef OK
+#  define OK 0
+#endif
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* This structure represents the changeable state of the automounter */
+
+struct nxphlite_automount_state_s {
+	volatile automount_handler_t handler;    /* Upper half handler */
+	FAR void *arg;                           /* Handler argument */
+	bool enable;                             /* Fake interrupt enable */
+	bool pending;                            /* Set if there an event while disabled */
+};
+
+/* This structure represents the static configuration of an automounter */
+
+struct nxphlite_automount_config_s {
+	/* This must be first thing in structure so that we can simply cast from struct
+	 * automount_lower_s to struct nxphlite_automount_config_s
+	 */
+
+	struct automount_lower_s lower;          /* Publicly visible part */
+	FAR struct nxphlite_automount_state_s *state; /* Changeable state */
+};
+
+/************************************************************************************
+ * Private Function Prototypes
+ ************************************************************************************/
+
+static int  nxphlite_attach(FAR const struct automount_lower_s *lower,
+			    automount_handler_t isr, FAR void *arg);
+static void nxphlite_enable(FAR const struct automount_lower_s *lower, bool enable);
+static bool nxphlite_inserted(FAR const struct automount_lower_s *lower);
+
+/************************************************************************************
+ * Private Data
+ ************************************************************************************/
+
+static struct nxphlite_automount_state_s g_sdhc_state;
+static const struct nxphlite_automount_config_s g_sdhc_config = {
+	.lower        =
+	{
+		.fstype     = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_FSTYPE,
+		.blockdev   = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_BLKDEV,
+		.mountpoint = CONFIG_NXPHLITE_SDHC_AUTOMOUNT_MOUNTPOINT,
+		.ddelay     = MSEC2TICK(CONFIG_NXPHLITE_SDHC_AUTOMOUNT_DDELAY),
+		.udelay     = MSEC2TICK(CONFIG_NXPHLITE_SDHC_AUTOMOUNT_UDELAY),
+		.attach     = nxphlite_attach,
+		.enable     = nxphlite_enable,
+		.inserted   = nxphlite_inserted
+	},
+	.state        = &g_sdhc_state
+};
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  nxphlite_attach
+ *
+ * Description:
+ *   Attach a new SDHC event handler
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *   isr   - The new event handler to be attach
+ *   arg   - Client data to be provided when the event handler is invoked.
+ *
+ *  Returned Value:
+ *    Always returns OK
+ *
+ ************************************************************************************/
+
+static int nxphlite_attach(FAR const struct automount_lower_s *lower,
+			   automount_handler_t isr, FAR void *arg)
+{
+	FAR const struct nxphlite_automount_config_s *config;
+	FAR struct nxphlite_automount_state_s *state;
+
+	/* Recover references to our structure */
+
+	config = (FAR struct nxphlite_automount_config_s *)lower;
+	DEBUGASSERT(config != NULL && config->state != NULL);
+
+	state = config->state;
+
+	/* Save the new handler info (clearing the handler first to eliminate race
+	 * conditions).
+	 */
+
+	state->handler = NULL;
+	state->pending = false;
+	state->arg     = arg;
+	state->handler = isr;
+	return OK;
+}
+
+/************************************************************************************
+ * Name:  nxphlite_enable
+ *
+ * Description:
+ *   Enable card insertion/removal event detection
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *   enable - True: enable event detection; False: disable
+ *
+ *  Returned Value:
+ *    None
+ *
+ ************************************************************************************/
+
+static void nxphlite_enable(FAR const struct automount_lower_s *lower, bool enable)
+{
+	FAR const struct nxphlite_automount_config_s *config;
+	FAR struct nxphlite_automount_state_s *state;
+	irqstate_t flags;
+
+	/* Recover references to our structure */
+
+	config = (FAR struct nxphlite_automount_config_s *)lower;
+	DEBUGASSERT(config != NULL && config->state != NULL);
+
+	state = config->state;
+
+	/* Save the fake enable setting */
+
+	flags = enter_critical_section();
+	state->enable = enable;
+
+	/* Did an interrupt occur while interrupts were disabled? */
+
+	if (enable && state->pending) {
+		/* Yes.. perform the fake interrupt if the interrutp is attached */
+
+		if (state->handler) {
+			bool inserted = nxphlite_cardinserted();
+			(void)state->handler(&config->lower, state->arg, inserted);
+		}
+
+		state->pending = false;
+	}
+
+	leave_critical_section(flags);
+}
+
+/************************************************************************************
+ * Name: nxphlite_inserted
+ *
+ * Description:
+ *   Check if a card is inserted into the slot.
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *
+ *  Returned Value:
+ *    True if the card is inserted; False otherwise
+ *
+ ************************************************************************************/
+
+static bool nxphlite_inserted(FAR const struct automount_lower_s *lower)
+{
+	return nxphlite_cardinserted();
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  nxphlite_automount_initialize
+ *
+ * Description:
+ *   Configure auto-mounters for each enable and so configured SDHC
+ *
+ * Input Parameters:
+ *   None
+ *
+ *  Returned Value:
+ *    None
+ *
+ ************************************************************************************/
+
+void nxphlite_automount_initialize(void)
+{
+	FAR void *handle;
+
+	finfo("Initializing automounter(s)\n");
+
+	/* Initialize the SDHC0 auto-mounter */
+
+	handle = automount_initialize(&g_sdhc_config.lower);
+
+	if (!handle) {
+		ferr("ERROR: Failed to initialize auto-mounter for SDHC0\n");
+	}
+}
+
+/************************************************************************************
+ * Name:  nxphlite_automount_event
+ *
+ * Description:
+ *   The SDHC card detection logic has detected an insertion or removal event.  It
+ *   has already scheduled the MMC/SD block driver operations.  Now we need to
+ *   schedule the auto-mount event which will occur with a substantial delay to make
+ *   sure that everything has settle down.
+ *
+ * Input Parameters:
+ *   slotno - Identifies the SDHC0 slot: SDHC0_SLOTNO or SDHC1_SLOTNO.  There is a
+ *      terminology problem here:  Each SDHC supports two slots, slot A and slot B.
+ *      Only slot A is used.  So this is not a really a slot, but an HSCMI peripheral
+ *      number.
+ *   inserted - True if the card is inserted in the slot.  False otherwise.
+ *
+ *  Returned Value:
+ *    None
+ *
+ *  Assumptions:
+ *    Interrupts are disabled.
+ *
+ ************************************************************************************/
+
+void nxphlite_automount_event(bool inserted)
+{
+	FAR const struct nxphlite_automount_config_s *config = &g_sdhc_config;
+	FAR struct nxphlite_automount_state_s *state = &g_sdhc_state;
+
+	/* Is the auto-mounter interrupt attached? */
+
+	if (state->handler) {
+		/* Yes.. Have we been asked to hold off interrupts? */
+
+		if (!state->enable) {
+			/* Yes.. just remember the there is a pending interrupt. We will
+			 * deliver the interrupt when interrupts are "re-enabled."
+			 */
+
+			state->pending = true;
+
+		} else {
+			/* No.. forward the event to the handler */
+
+			(void)state->handler(&config->lower, state->arg, inserted);
+		}
+	}
+}
+
+#endif /* HAVE_AUTOMOUNTER */

src/drivers/boards/nxphlite-v1/nxphlite_bringup.c

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <sys/mount.h>
+#include <syslog.h>
+#include <errno.h>
+#include <debug.h>
+
+#include "board_config.h"
+
+#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxphlite_bringup
+ *
+ * Description:
+ *   Bring up board features
+ *
+ ****************************************************************************/
+
+int nxphlite_bringup(void)
+{
+	int ret;
+
+#ifdef HAVE_PROC
+	/* Mount the proc filesystem */
+
+	syslog(LOG_INFO, "Mounting procfs to /proc\n");
+
+	ret = mount(NULL, PROCFS_MOUNTPOUNT, "procfs", 0, NULL);
+
+	if (ret < 0) {
+		syslog(LOG_ERR,
+		       "ERROR: Failed to mount the PROC filesystem: %d (%d)\n",
+		       ret, errno);
+		return ret;
+	}
+
+#endif
+
+#ifdef HAVE_MMCSD
+	/* Initialize the SDHC driver */
+
+	ret = nxphlite_sdhc_initialize();
+
+	if (ret < 0) {
+		mcerr("ERROR: nxphlite_sdhc_initialize() failed: %d\n", ret);
+	}
+
+#ifdef CONFIG_NXPHLITE_SDHC_MOUNT
+
+	else {
+		/* REVISIT:  A delay seems to be required here or the mount will fail. */
+		/* Mount the volume on HSMCI0 */
+
+		ret = mount(CONFIG_NXPHLITE_SDHC_MOUNT_BLKDEV,
+			    CONFIG_NXPHLITE_SDHC_MOUNT_MOUNTPOINT,
+			    CONFIG_NXPHLITE_SDHC_MOUNT_FSTYPE,
+			    0, NULL);
+
+		if (ret < 0) {
+			mcerr("ERROR: Failed to mount %s: %d\n",
+			      CONFIG_NXPHLITE_SDHC_MOUNT_MOUNTPOINT, errno);
+		}
+	}
+
+#endif /* CONFIG_NXPHLITE_SDHC_MOUNT */
+#endif /* HAVE_MMCSD */
+
+#ifdef HAVE_AUTOMOUNTER
+	/* Initialize the auto-mounter */
+
+	nxphlite_automount_initialize();
+#endif
+
+	UNUSED(ret);
+	return OK;
+}
+
+#endif /* CONFIG_LIB_BOARDCTL CONFIG_BOARD_INITIALIZE */

src/drivers/boards/nxphlite-v1/nxphlite_can.c

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nxphlite_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/drivers/can.h>
+#include <arch/board/board.h>
+
+#include <chip.h>
+#include <kinetis.h>
+#include "up_arch.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(KINETIS_FLEXCAN0) && defined(KINETIS_FLEXCAN1)
+#  warning "Both CAN0 and CAN1 are enabled.  Assuming only CAN0."
+#  undef KINETIS_FLEXCAN0
+#endif
+
+#ifdef KINETIS_FLEXCAN0
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All 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 kinetis_caninitialize() to get an instance of the CAN interface */
+
+		can = kinetis_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("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) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif

src/drivers/boards/nxphlite-v1/nxphlite_init.c

@@ -0,0 +1,479 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nxphlite_init.c
+ *
+ * NXPHLITEV1v2-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <kinetis.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
+
+#include <systemlib/px4_macros.h>
+#include <systemlib/cpuload.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#if defined(CONFIG_KINETIS_BBSRAM) //fixme:Need BBSRAM
+#include <systemlib/hardfault_log.h>
+#endif
+
+#include <systemlib/systemlib.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) syslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message syslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	/* 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 */
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All Kinetis 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
+kinetis_boardinitialize(void)
+{
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure ADC pins */
+#if defined(GPIO_ADC1_IN2)
+	kinetis_pinconfig(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
+	kinetis_pinconfig(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
+	kinetis_pinconfig(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	kinetis_pinconfig(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	kinetis_pinconfig(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	kinetis_pinconfig(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+#endif
+#if defined(GPIO_VDD_5V_PERIPH_EN)
+	/* configure power supply control/sense pins */
+	kinetis_pinconfig(GPIO_VDD_5V_PERIPH_EN);
+	kinetis_pinconfig(GPIO_VDD_3V3_SENSORS_EN);
+	kinetis_pinconfig(GPIO_VDD_BRICK_VALID);
+	kinetis_pinconfig(GPIO_VDD_SERVO_VALID);
+	kinetis_pinconfig(GPIO_VDD_5V_HIPOWER_OC);
+	kinetis_pinconfig(GPIO_VDD_5V_PERIPH_OC);
+#endif
+	/* configure the GPIO pins to outputs and keep them low */
+	kinetis_pinconfig(GPIO_GPIO0_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO1_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO2_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO3_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO4_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO5_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO6_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO7_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO8_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO9_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO10_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO11_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO12_OUTPUT);
+	kinetis_pinconfig(GPIO_GPIO13_OUTPUT);
+
+	/* configure SPI interfaces */
+	nxphlite_spidev_initialize();
+}
+
+// FIXME:STUBS
+#include <termios.h>
+
+int cfsetspeed(FAR struct termios *termiosp, speed_t speed);
+int cfsetspeed(FAR struct termios *termiosp, speed_t speed)
+{
+	return 0;
+}
+
+int up_rtc_getdatetime(FAR struct tm *tp);
+int up_rtc_getdatetime(FAR struct tm *tp)
+{
+	tp->tm_sec = 0;
+	tp->tm_min = 0;
+	tp->tm_hour = 0;
+	tp->tm_mday = 30;
+	tp->tm_mon = 10;
+	tp->tm_year = 116;
+	tp->tm_wday = 1;    /* Day of the week (0-6) */
+	tp->tm_yday = 0;    /* Day of the year (0-365) */
+	tp->tm_isdst = 0;   /* Non-0 if daylight savings time is in effect */
+	return 0;
+}
+
+FAR struct spi_dev_s *kinetis_spibus_initialize(int bus);
+FAR struct spi_dev_s *kinetis_spibus_initialize(int bus)
+{
+	return NULL;
+}
+static void kinetis_serial_dma_poll(void)
+{
+	// todo:Stubbed
+}
+struct termios;
+int tcgetattr(int fd, FAR struct termios *termiosp);
+int tcsetattr(int fd, int options, FAR const struct termios *termiosp);
+int tcgetattr(int fd, FAR struct termios *termiosp)
+{
+	return -1;
+}
+int tcsetattr(int fd, int options, FAR const struct termios *termiosp)
+{
+	return -1;
+
+}
+
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+	/* run C++ ctors before we go any further */
+
+	up_cxxinitialize();
+
+#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
+#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
+#	endif
+
+#else
+#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
+#endif
+
+	/* configure the high-resolution time/callout interface */
+	hrt_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		message("DMA alloc FAILED");
+	}
+
+	/* 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)kinetis_serial_dma_poll,
+		       NULL);
+
+#if defined(CONFIG_KINETIS_BBSRAM)
+
+	/* NB. the use of the console requires the hrt running
+	 * to poll the DMA
+	 */
+
+	/* Using Battery Backed Up SRAM */
+
+	int filesizes[CONFIG_KINETIS_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
+
+	stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
+
+#if defined(CONFIG_KINETIS_SAVE_CRASHDUMP)
+
+	/* Panic Logging in Battery Backed Up Files */
+
+	/*
+	 * In an ideal world, if a fault happens in flight the
+	 * system save it to BBSRAM will then reboot. Upon
+	 * rebooting, the system will log the fault to disk, recover
+	 * the flight state and continue to fly.  But if there is
+	 * a fault on the bench or in the air that prohibit the recovery
+	 * or committing the log to disk, the things are too broken to
+	 * fly. So the question is:
+	 *
+	 * Did we have a hard fault and not make it far enough
+	 * through the boot sequence to commit the fault data to
+	 * the SD card?
+	 */
+
+	/* Do we have an uncommitted hard fault in BBSRAM?
+	 *  - this will be reset after a successful commit to SD
+	 */
+	int hadCrash = hardfault_check_status("boot");
+
+	if (hadCrash == OK) {
+
+		message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
+			" while booting to halt the system!\n");
+
+		/* Yes. So add one to the boot count - this will be reset after a successful
+		 * commit to SD
+		 */
+
+		int reboots = hardfault_increment_reboot("boot", false);
+
+		/* Also end the misery for a user that holds for a key down on the console */
+
+		int bytesWaiting;
+		ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
+
+		if (reboots > 2 || bytesWaiting != 0) {
+
+			/* Since we can not commit the fault dump to disk. Display it
+			 * to the console.
+			 */
+
+			hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
+
+			message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
+				reboots,
+				(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
+
+
+			/* For those of you with a debugger set a break point on up_assert and
+			 * then set dbgContinue = 1 and go.
+			 */
+
+			/* Clear any key press that got us here */
+
+			static volatile bool dbgContinue = false;
+			int c = '>';
+
+			while (!dbgContinue) {
+
+				switch (c) {
+
+				case EOF:
+
+
+				case '\n':
+				case '\r':
+				case ' ':
+					continue;
+
+				default:
+
+					putchar(c);
+					putchar('\n');
+
+					switch (c) {
+
+					case 'D':
+					case 'd':
+						hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
+						break;
+
+					case 'C':
+					case 'c':
+						hardfault_rearm("boot");
+						hardfault_increment_reboot("boot", true);
+						break;
+
+					case 'B':
+					case 'b':
+						dbgContinue = true;
+						break;
+
+					default:
+						break;
+					} // Inner Switch
+
+					message("\nEnter B - Continue booting\n" \
+						"Enter C - Clear the fault log\n" \
+						"Enter D - Dump fault log\n\n?>");
+					fflush(stdout);
+
+					if (!dbgContinue) {
+						c = getchar();
+					}
+
+					break;
+
+				} // outer switch
+			} // for
+
+		} // inner if
+	} // outer if
+
+#endif // CONFIG_KINETIS_SAVE_CRASHDUMP
+#endif // CONFIG_KINETIS_BBSRAM
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+
+	/* Configure SPI-based devices */
+
+#ifdef CONFIG_SPI
+	int ret = nxphlite_spi_bus_initialize();
+
+	if (ret != OK) {
+		board_autoled_on(LED_RED);
+		return ret;
+	}
+
+#endif
+
+#ifdef CONFIG_MMCSD
+	ret = nxphlite_sdio_initialize();
+
+	if (ret != OK) {
+		board_autoled_on(LED_RED);
+		return ret;
+	}
+
+#endif
+
+	nxphlite_usbinitialize();
+
+	return OK;
+}

src/drivers/boards/nxphlite-v1/nxphlite_led.c

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nxphlite_led.c
+ *
+ * NXPHLITEV1 LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+
+#include "kinetis.h"
+#include "chip.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_B,       // Indexed by LED_BLUE
+	GPIO_LED_R,       // Indexed by LED_RED, LED_AMBER
+	GPIO_LED_SAFETY,  // Indexed by LED_SAFETY
+	GPIO_LED_G,       // 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++) {
+		kinetis_pinconfig(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive High to switch on */
+
+	kinetis_gpiowrite(g_ledmap[led], state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return kinetis_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));
+}

src/drivers/boards/nxphlite-v1/nxphlite_pwm.c

@@ -0,0 +1,106 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2013, 2015, 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            Jordan MacIntyre <jordanroymax@gmail.com>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/drivers/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+#include "kinetis_pwm.h"
+
+#ifdef CONFIG_PWM
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: board_pwm_setup
+ *
+ * Description:
+ *   All Kinetis K architectures must provide the following interface to work with
+ *   examples/pwm.
+ *
+ ************************************************************************************/
+
+int board_pwm_setup(void)
+{
+	FAR struct pwm_lowerhalf_s *pwm;
+	static bool initialized = false;
+	int ret;
+
+	/* Have we already initialized? */
+
+	if (!initialized) {
+		/* Call nxphlite_pwminitialize() to get an instance of the PWM interface */
+
+		pwm = kinetis_pwminitialize(0);
+
+		if (!pwm) {
+			aerr("ERROR: Failed to get the kinetis PWM lower half\n");
+			return -ENODEV;
+		}
+
+		/* Register the PWM driver at "/dev/pwm0" */
+
+		ret = pwm_register("/dev/pwm0", pwm);
+
+		if (ret < 0) {
+			aerr("ERROR: pwm_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif /* CONFIG_PWM */

src/drivers/boards/nxphlite-v1/nxphlite_sdhc.c

@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+// TODO:Not used on V1 HW
+/* A micro Secure Digital (SD) card slot is available on the FRDM-K64F connected to
+ * the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
+ * format SD memory cards. The SD card detect pin (PTE6) is an open switch that
+ * shorts with VDD when card is inserted.
+ *
+ *   ------------ ------------- --------
+ *    SD Card Slot Board Signal  K64F Pin
+ *    ------------ ------------- --------
+ *    DAT0         SDHC0_D0      PTE0
+ *    DAT1         SDHC0_D1      PTE1
+ *    DAT2         SDHC0_D2      PTE5
+ *    CD/DAT3      SDHC0_D3      PTE4
+ *    CMD          SDHC0_CMD     PTE3
+ *    CLK          SDHC0_DCLK    PTE2
+ *    SWITCH       D_CARD_DETECT PTE6
+ *    ------------ ------------- --------
+ *
+ * There is no Write Protect pin available to the K64F.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "kinetis.h"
+
+#include "board_config.h"
+
+#ifdef HAVE_MMCSD
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+/* This structure holds static information unique to one SDHC peripheral */
+
+struct nxphlite_sdhc_state_s {
+	struct sdio_dev_s *sdhc;    /* R/W device handle */
+	bool inserted;              /* TRUE: card is inserted */
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* HSCMI device state */
+
+static struct nxphlite_sdhc_state_s g_sdhc;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxphlite_mediachange
+ ****************************************************************************/
+
+static void nxphlite_mediachange(void)
+{
+	bool inserted;
+
+	/* Get the current value of the card detect pin.  This pin is pulled up on
+	 * board.  So low means that a card is present.
+	 */
+
+	inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
+	mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
+
+	/* Has the pin changed state? */
+
+	if (inserted != g_sdhc.inserted) {
+		mcinfo("Media change: %d->%d\n",  g_sdhc.inserted, inserted);
+
+		/* Yes.. perform the appropriate action (this might need some debounce). */
+
+		g_sdhc.inserted = inserted;
+		sdhc_mediachange(g_sdhc.sdhc, inserted);
+
+#ifdef CONFIG_NXPHLITE_SDHC_AUTOMOUNT
+		/* Let the automounter know about the insertion event */
+
+		nxphlite_automount_event(nxphlite_cardinserted());
+#endif
+	}
+}
+
+/****************************************************************************
+ * Name: nxphlite_cdinterrupt
+ ****************************************************************************/
+
+static int nxphlite_cdinterrupt(int irq, FAR void *context)
+{
+	/* All of the work is done by nxphlite_mediachange() */
+
+	nxphlite_mediachange();
+	return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxphlite_sdhc_initialize
+ *
+ * Description:
+ *   Inititialize the SDHC SD card slot
+ *
+ ****************************************************************************/
+
+int nxphlite_sdhc_initialize(void)
+{
+	int ret;
+
+	/* Configure GPIO pins */
+
+	kinetis_pinconfig(GPIO_SD_CARDDETECT);
+
+	/* Attached the card detect interrupt (but don't enable it yet) */
+
+	kinetis_pinirqattach(GPIO_SD_CARDDETECT, nxphlite_cdinterrupt);
+
+	/* Configure the write protect GPIO -- None */
+
+	/* Mount the SDHC-based MMC/SD block driver */
+	/* First, get an instance of the SDHC interface */
+
+	mcinfo("Initializing SDHC slot %d\n", MMCSD_SLOTNO);
+
+	g_sdhc.sdhc = sdhc_initialize(MMCSD_SLOTNO);
+
+	if (!g_sdhc.sdhc) {
+		mcerr("ERROR: Failed to initialize SDHC slot %d\n", MMCSD_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDHC interface to the MMC/SD driver */
+
+	mcinfo("Bind SDHC to the MMC/SD driver, minor=%d\n", MMSCD_MINOR);
+
+	ret = mmcsd_slotinitialize(MMSCD_MINOR, g_sdhc.sdhc);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	syslog(LOG_INFO, "Successfully bound SDHC to the MMC/SD driver\n");
+
+	/* Handle the initial card state */
+
+	nxphlite_mediachange();
+
+	/* Enable CD interrupts to handle subsequent media changes */
+
+	kinetis_pinirqenable(GPIO_SD_CARDDETECT);
+	return OK;
+}
+
+/****************************************************************************
+ * Name: nxphlite_cardinserted
+ *
+ * Description:
+ *   Check if a card is inserted into the SDHC slot
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool nxphlite_cardinserted(void)
+{
+	bool inserted;
+
+	/* Get the current value of the card detect pin.  This pin is pulled up on
+	 * board.  So low means that a card is present.
+	 */
+
+	inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
+	mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
+	return inserted;
+}
+#endif
+
+/****************************************************************************
+ * Name: nxphlite_writeprotected
+ *
+ * Description:
+ *   Check if a card is inserted into the SDHC slot
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool nxphlite_writeprotected(void)
+{
+	/* There are no write protect pins */
+
+	return false;
+}
+#endif
+
+#endif /* HAVE_MMCSD */

src/drivers/boards/nxphlite-v1/nxphlite_sdio.c

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *         Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nxphlite-v1_sdio.c
+ *
+ * Board-specific SDIO functions.
+ * V1 of the hardware is ussing SPI for SD card access
+ *
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/spi/spi.h>
+#include <nuttx/mmcsd.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "chip.h"
+#include "kinetis.h"
+#include "board_config.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) syslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message syslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/* Configuration ************************************************************/
+
+/************************************************************************************
+ * Private Data
+ ************************************************************************************/
+static struct spi_dev_s *spi;
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: board_sdio_initialize
+ *
+ * Description:
+ *   Called to configure SDIO.
+ *
+ ************************************************************************************/
+
+__EXPORT int nxphlite_sdio_initialize(void)
+{
+	/* Get the SPI port for the microSD slot */
+
+	spi = kinetis_spibus_initialize(PX4_SPI_BUS_SDCARD);
+
+	if (!spi) {
+		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SDCARD);
+		return -ENODEV;
+	}
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi);
+
+	if (result != OK) {
+		message("[boot] FAILED to bind SPI port %d to the MMCSD driver\n", PX4_SPI_BUS_SDCARD);
+		return -ENODEV;
+	}
+
+	return OK;
+}

src/drivers/boards/nxphlite-v1/nxphlite_spi.c

@@ -0,0 +1,286 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+//#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "chip.h"
+#include <kinetis.h>
+#include "board_config.h"
+#include <systemlib/err.h>
+#include <systemlib/px4_macros.h>
+
+#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || \
+	defined(CONFIG_KINETIS_SPI2)
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) syslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message syslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+__EXPORT void board_spi_reset(int ms)
+{
+
+}
+
+/************************************************************************************
+ * Name: nxphlite_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXPhlite-v1 board.
+ *
+ ************************************************************************************/
+
+void nxphlite_spidev_initialize(void)
+{
+	kinetis_pinconfig(GPIO_SPI_CS_SDCARD);
+	kinetis_pinconfig(GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG);
+	kinetis_pinconfig(GPIO_SPI_CS_FXAS21002CQ_GYRO);
+
+	kinetis_pinconfig(GPIO_GM_RST);
+	kinetis_pinconfig(GPIO_A_RST);
+
+	kinetis_pinconfig(GPIO_EXTI_GYRO_INT1);
+	kinetis_pinconfig(GPIO_EXTI_GYRO_INT2);
+	kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT1);
+	kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT2);
+	kinetis_pinconfig(GPIO_EXTI_BARO_INT1);
+	kinetis_pinconfig(GPIO_EXTI_BARO_INT2);
+}
+
+/************************************************************************************
+ * Name: kinetis_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXPHLITEV1 board.
+ *
+ ************************************************************************************/
+static struct spi_dev_s *spi_accel_mag;
+static struct spi_dev_s *spi_baro;
+
+__EXPORT int nxphlite_spi_bus_initialize(void)
+{
+	/* Configure SPI-based devices */
+
+	spi_accel_mag = kinetis_spibus_initialize(PX4_SPI_BUS_ACCEL_MAG);
+
+	if (!spi_accel_mag) {
+		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_ACCEL_MAG);
+		return -ENODEV;
+	}
+
+	/* Default PX4_SPI_BUS_ACCEL_MAG to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_accel_mag, 1 * 1000 * 1000);
+	SPI_SETBITS(spi_accel_mag, 8);
+	SPI_SETMODE(spi_accel_mag, SPIDEV_MODE3);
+
+	for (int cs = PX4_ACCEL_MAG_BUS_FIRST_CS; cs <= PX4_ACCEL_MAG_BUS_LAST_CS; cs++) {
+		SPI_SELECT(spi_accel_mag, cs, false);
+	}
+
+	/* Get the SPI port for the GYRO */
+
+	spi_baro = kinetis_spibus_initialize(PX4_SPI_BUS_GYRO);
+
+	if (!spi_baro) {
+		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_GYRO);
+		return -ENODEV;
+	}
+
+	/* FXAS21002CQ has max SPI clock speed of 2MHz and uses MODE 0 (CPOL = 0, and CPHA = 0)
+	 */
+
+	SPI_SETFREQUENCY(spi_baro, 2 * 1000 * 1000);
+	SPI_SETBITS(spi_baro, 8);
+	SPI_SETMODE(spi_baro, SPIDEV_MODE0);
+
+	for (int cs = PX4_GYRO_BUS_FIRST_CS; cs <= PX4_GYRO_BUS_LAST_CS; cs++) {
+		SPI_SELECT(spi_baro, cs, false);
+	}
+
+	return OK;
+
+}
+
+/************************************************************************************
+ * Name:  kinetis_spi[n]select, kinetis_spi[n]status, and kinetis_spi[n]cmddata
+ *
+ * Description:
+ *   These external functions must be provided by board-specific logic.  They are
+ *   implementations of the select, status, and cmddata methods of the SPI interface
+ *   defined by struct spi_ops_s (see include/nuttx/spi/spi.h). All other methods
+ *   including kinetis_spibus_initialize()) are provided by common Kinetis logic.
+ *   To use this common SPI logic on your board:
+ *
+ *   1. Provide logic in kinetis_boardinitialize() to configure SPI chip select
+ *      pins.
+ *   2. Provide kinetis_spi[n]select() and kinetis_spi[n]status() functions
+ *      in your board-specific logic.  These functions will perform chip selection
+ *      and status operations using GPIOs in the way your board is configured.
+ *   2. If CONFIG_SPI_CMDDATA is defined in the NuttX configuration, provide
+ *      kinetis_spi[n]cmddata() functions in your board-specific logic.  These
+ *      functions will perform cmd/data selection operations using GPIOs in the way
+ *      your board is configured.
+ *   3. Add a call to kinetis_spibus_initialize() in your low level application
+ *      initialization logic
+ *   4. The handle returned by kinetis_spibus_initialize() may then be used to bind the
+ *      SPI driver to higher level logic (e.g., calling
+ *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
+ *      the SPI MMC/SD driver).
+ *
+ ************************************************************************************/
+
+static const uint32_t spi0selects_gpio[] = PX4_SDCARD_BUS_CS_GPIO;
+
+void kinetis_spi0select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+
+	/* SPI select is active low, so write !selected to select the device */
+
+	int sel = (int) devid;
+	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SDCARD);
+
+	/* Making sure the other peripherals are not selected */
+
+	for (int cs = 0;  arraySize(spi0selects_gpio) > 1 && cs < arraySize(spi0selects_gpio); cs++) {
+		if (spi0selects_gpio[cs] != 0) {
+			kinetis_gpiowrite(spi0selects_gpio[cs], 1);
+		}
+	}
+
+	uint32_t gpio = spi0selects_gpio[PX4_SPI_DEV_ID(sel)];
+
+	if (gpio) {
+		kinetis_gpiowrite(gpio, !selected);
+	}
+}
+
+uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+static const uint32_t spi1selects_gpio[] = PX4_ACCEL_MAG_BUS_CS_GPIO;
+
+void kinetis_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+
+	/* SPI select is active low, so write !selected to select the device */
+
+	int sel = (int) devid;
+	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_ACCEL_MAG);
+
+	/* Making sure the other peripherals are not selected */
+
+	for (int cs = 0;  arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
+		if (spi1selects_gpio[cs] != 0) {
+			kinetis_gpiowrite(spi1selects_gpio[cs], 1);
+		}
+	}
+
+	uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
+
+	if (gpio) {
+		kinetis_gpiowrite(gpio, !selected);
+	}
+}
+
+uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+static const uint32_t spi2selects_gpio[] = PX4_GYRO_BUS_CS_GPIO;
+
+void kinetis_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+
+	/* SPI select is active low, so write !selected to select the device */
+
+	int sel = (int) devid;
+	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_GYRO);
+
+	/* Making sure the other peripherals are not selected */
+
+	for (int cs = 0;  arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
+		if (spi2selects_gpio[cs] != 0) {
+			kinetis_gpiowrite(spi2selects_gpio[cs], 1);
+		}
+	}
+
+	uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
+
+	if (gpio) {
+		kinetis_gpiowrite(gpio, !selected);
+	}
+}
+
+uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+
+#endif /* CONFIG_KINETIS_SPI0 || CONFIG_KINETIS_SPI1 || CONFIG_KINETIS_SPI2 */

src/drivers/boards/nxphlite-v1/nxphlite_timer_config.c

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file nxphlite_timer_config.c
+ *
+ * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+// TODO:Stubbed out for now
+#include <stdint.h>
+
+#include <kinetis.h>
+//#include <kinetis_ftm.h>
+//#include <stm32.h> // TODO:Stubbed in for now
+//#include <stm32_gpio.h>
+//#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/kinetis/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+};

src/drivers/boards/nxphlite-v1/nxphlite_usb.c

@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nxphlite_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 <kinetis.h>
+#include <kinetis_usbotg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: nxphlite_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the NXPhlite-v1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT
+void nxphlite_usbinitialize(void)
+{
+}
+
+/************************************************************************************
+ * Name:  kinetis_usbpullup
+ *
+ * Description:
+ *   If USB is supported and the board supports a pullup via GPIO (for USB software
+ *   connect and disconnect), then the board software must provide kinetis_usbpullup.
+ *   See include/nuttx/usb/usbdev.h for additional description of this method.
+ *   Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
+ *   NULL.
+ *
+ ************************************************************************************/
+
+__EXPORT
+int kinetis_usbpullup(FAR struct usbdev_s *dev, bool enable)
+{
+	usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
+	return OK;
+}
+
+/************************************************************************************
+ * Name:  kinetis_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the kinetis_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 kinetis_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

src/drivers/kinetis/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__kinetis
+	COMPILE_FLAGS
+	SRCS
+		drv_hrt.c
+		drv_io_timer.c
+		drv_pwm_servo.c
+		drv_input_capture.c
+		drv_led_pwm.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/kinetis/adc/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__kinetis__adc
+	MAIN adc
+	COMPILE_FLAGS
+	SRCS
+		adc.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/kinetis/adc/adc.cpp

@@ -0,0 +1,492 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file adc.cpp
+ *
+ * TODO:This is stubbed out leving the code intact to document the needed
+ * mechinsm for porting.
+ *
+ * Driver for the Kinetis ADC.
+ *
+ * This is a low-rate driver, designed for sampling things like voltages
+ * and so forth. It avoids the gross complexity of the NuttX ADC driver.
+ */
+
+#include <px4_config.h>
+#include <board_config.h>
+#include <drivers/device/device.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+
+#include <kinetis.h>
+#include <nuttx/analog/adc.h>
+//#include <kinetis_adc.h>
+
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+
+#include <uORB/topics/system_power.h>
+#include <uORB/topics/adc_report.h>
+
+#if defined(ADC_CHANNELS)
+/*
+ * Register accessors.
+ * For now, no reason not to just use ADC1.
+ */
+static volatile uint32_t dummy[21];
+#define REG(_reg)	(*(volatile uint32_t *)(&dummy[(_reg)]))
+
+#define ADC_CR2_ADON 0
+#define ADC_CR2_SWSTART 0
+#define  ADC_SR_EOC 0
+
+#define rSR			REG(0)
+#define rCR1		REG(1)
+#define rCR2		REG(2)
+#define rSMPR1		REG(3)
+#define rSMPR2		REG(4)
+#define rJOFR1		REG(5)
+#define rJOFR2		REG(6)
+#define rJOFR3		REG(7)
+#define rJOFR4		REG(8)
+#define rHTR		REG(9)
+#define rLTR		REG(10)
+#define rSQR1		REG(11)
+#define rSQR2		REG(12)
+#define rSQR3		REG(13)
+#define rJSQR		REG(14)
+#define rJDR1		REG(15)
+#define rJDR2		REG(16)
+#define rJDR3		REG(17)
+#define rJDR4		REG(18)
+#define rDR		    REG(19)
+# define rCCR		REG(20)
+
+class ADC : public device::CDev
+{
+public:
+	ADC(uint32_t channels);
+	~ADC();
+
+	virtual int		init();
+
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(file *filp, char *buffer, size_t len);
+
+protected:
+	virtual int		open_first(struct file *filp);
+	virtual int		close_last(struct file *filp);
+
+private:
+	static const hrt_abstime _tickrate = 10000;	/**< 100Hz base rate */
+
+	hrt_call		_call;
+	perf_counter_t		_sample_perf;
+
+	unsigned		_channel_count;
+	adc_msg_s		*_samples;		/**< sample buffer */
+
+	orb_advert_t		_to_system_power;
+	orb_advert_t		_to_adc_report;
+
+	/** work trampoline */
+	static void		_tick_trampoline(void *arg);
+
+	/** worker function */
+	void			_tick();
+
+	/**
+	 * Sample a single channel and return the measured value.
+	 *
+	 * @param channel		The channel to sample.
+	 * @return			The sampled value, or 0xffff if
+	 *				sampling failed.
+	 */
+	uint16_t		_sample(unsigned channel);
+
+	// update system_power ORB topic, only on FMUv2
+	void update_system_power(hrt_abstime now);
+
+	void update_adc_report(hrt_abstime now);
+};
+
+ADC::ADC(uint32_t channels) :
+	CDev("adc", ADC0_DEVICE_PATH),
+	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
+	_channel_count(0),
+	_samples(nullptr),
+	_to_system_power(nullptr),
+	_to_adc_report(nullptr)
+{
+	_debug_enabled = true;
+
+	/* always enable the temperature sensor */
+	channels |= 1 << 16;
+
+	/* allocate the sample array */
+	for (unsigned i = 0; i < 32; i++) {
+		if (channels & (1 << i)) {
+			_channel_count++;
+		}
+	}
+
+	_samples = new adc_msg_s[_channel_count];
+
+	/* prefill the channel numbers in the sample array */
+	if (_samples != nullptr) {
+		unsigned index = 0;
+
+		for (unsigned i = 0; i < 32; i++) {
+			if (channels & (1 << i)) {
+				_samples[index].am_channel = i;
+				_samples[index].am_data = 0;
+				index++;
+			}
+		}
+	}
+}
+
+ADC::~ADC()
+{
+	if (_samples != nullptr) {
+		delete _samples;
+	}
+}
+
+int
+ADC::init()
+{
+	/* do calibration if supported */
+#ifdef ADC_CR2_CAL
+	rCR2 |= ADC_CR2_CAL;
+	usleep(100);
+
+	if (rCR2 & ADC_CR2_CAL) {
+		return -1;
+	}
+
+#endif
+
+	/* arbitrarily configure all channels for 55 cycle sample time */
+	rSMPR1 = 0b00000011011011011011011011011011;
+	rSMPR2 = 0b00011011011011011011011011011011;
+
+	/* XXX for F2/4, might want to select 12-bit mode? */
+	rCR1 = 0;
+
+	/* enable the temperature sensor / Vrefint channel if supported*/
+	rCR2 =
+#ifdef ADC_CR2_TSVREFE
+		/* enable the temperature sensor in CR2 */
+		ADC_CR2_TSVREFE |
+#endif
+		0;
+
+#ifdef ADC_CCR_TSVREFE
+	/* enable temperature sensor in CCR */
+	rCCR = ADC_CCR_TSVREFE;
+#endif
+
+	/* configure for a single-channel sequence */
+	rSQR1 = 0;
+	rSQR2 = 0;
+	rSQR3 = 0;	/* will be updated with the channel each tick */
+
+	/* power-cycle the ADC and turn it on */
+	rCR2 &= ~ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+	rCR2 |= ADC_CR2_ADON;
+	usleep(10);
+
+	/* kick off a sample and wait for it to complete */
+	hrt_abstime now = hrt_absolute_time();
+	rCR2 |= ADC_CR2_SWSTART;
+
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 500) {
+			DEVICE_LOG("sample timeout");
+			return -1;
+		}
+	}
+
+
+	/* create the device node */
+	return CDev::init();
+}
+
+int
+ADC::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t
+ADC::read(file *filp, char *buffer, size_t len)
+{
+	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
+
+	if (len > maxsize) {
+		len = maxsize;
+	}
+
+	/* block interrupts while copying samples to avoid racing with an update */
+	irqstate_t flags = px4_enter_critical_section();
+	memcpy(buffer, _samples, len);
+	px4_leave_critical_section(flags);
+
+	return len;
+}
+
+int
+ADC::open_first(struct file *filp)
+{
+	/* get fresh data */
+	_tick();
+
+	/* and schedule regular updates */
+	hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
+
+	return 0;
+}
+
+int
+ADC::close_last(struct file *filp)
+{
+	hrt_cancel(&_call);
+	return 0;
+}
+
+void
+ADC::_tick_trampoline(void *arg)
+{
+	(reinterpret_cast<ADC *>(arg))->_tick();
+}
+
+void
+ADC::_tick()
+{
+	hrt_abstime now = hrt_absolute_time();
+
+	/* scan the channel set and sample each */
+	for (unsigned i = 0; i < _channel_count; i++) {
+		_samples[i].am_data = _sample(_samples[i].am_channel);
+	}
+
+	update_adc_report(now);
+	update_system_power(now);
+}
+
+void
+ADC::update_adc_report(hrt_abstime now)
+{
+	adc_report_s adc = {};
+	adc.timestamp = now;
+
+	unsigned max_num = _channel_count;
+
+	if (max_num > (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]))) {
+		max_num = (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]));
+	}
+
+	for (unsigned i = 0; i < max_num; i++) {
+		adc.channel_id[i] = _samples[i].am_channel;
+		adc.channel_value[i] = _samples[i].am_data * 3.3f / 4096.0f;
+	}
+
+	int instance;
+	orb_publish_auto(ORB_ID(adc_report), &_to_adc_report, &adc, &instance, ORB_PRIO_HIGH);
+}
+
+void
+ADC::update_system_power(hrt_abstime now)
+{
+#if defined (BOARD_ADC_USB_CONNECTED)
+	system_power_s system_power = {};
+	system_power.timestamp = now;
+
+	system_power.voltage5V_v = 0;
+
+#if defined(ADC_5V_RAIL_SENSE)
+
+	for (unsigned i = 0; i < _channel_count; i++) {
+		if (_samples[i].am_channel == ADC_5V_RAIL_SENSE) {
+			// it is 2:1 scaled
+			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
+		}
+	}
+
+#endif
+
+	/* Note once the board_config.h provides BOARD_ADC_USB_CONNECTED,
+	 * It must provide the true logic GPIO BOARD_ADC_xxxx macros.
+	 */
+	// these are not ADC related, but it is convenient to
+	// publish these to the same topic
+
+	system_power.usb_connected = BOARD_ADC_USB_CONNECTED;
+
+	system_power.brick_valid   = BOARD_ADC_BRICK_VALID;
+	system_power.servo_valid   = BOARD_ADC_SERVO_VALID;
+
+	// OC pins are active low
+	system_power.periph_5V_OC  = BOARD_ADC_PERIPH_5V_OC;
+	system_power.hipower_5V_OC = BOARD_ADC_HIPOWER_5V_OC;
+
+	/* 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 // BOARD_ADC_USB_CONNECTED
+}
+
+uint16_t
+ADC::_sample(unsigned channel)
+{
+	perf_begin(_sample_perf);
+
+	/* clear any previous EOC */
+	if (rSR & ADC_SR_EOC) {
+		rSR &= ~ADC_SR_EOC;
+	}
+
+	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
+	rSQR3 = channel;
+	rCR2 |= ADC_CR2_SWSTART;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+
+	while (!(rSR & ADC_SR_EOC)) {
+
+		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 50) {
+			DEVICE_LOG("sample timeout");
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint16_t result = rDR;
+
+	perf_end(_sample_perf);
+	return result;
+}
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int adc_main(int argc, char *argv[]);
+
+namespace
+{
+ADC	*g_adc;
+
+void
+test(void)
+{
+
+	int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "can't open ADC device");
+	}
+
+	for (unsigned i = 0; i < 50; i++) {
+		adc_msg_s data[12];
+		ssize_t count = read(fd, data, sizeof(data));
+
+		if (count < 0) {
+			errx(1, "read error");
+		}
+
+		unsigned channels = count / sizeof(data[0]);
+
+		for (unsigned j = 0; j < channels; j++) {
+			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
+		}
+
+		printf("\n");
+		usleep(500000);
+	}
+
+	exit(0);
+}
+}
+
+int
+adc_main(int argc, char *argv[])
+{
+	if (g_adc == nullptr) {
+		/* XXX this hardcodes the default channel set for the board in board_config.h - should be configurable */
+		g_adc = new ADC(ADC_CHANNELS);
+
+		if (g_adc == nullptr) {
+			errx(1, "couldn't allocate the ADC driver");
+		}
+
+		if (g_adc->init() != OK) {
+			delete g_adc;
+			errx(1, "ADC init failed");
+		}
+	}
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "test")) {
+			test();
+		}
+	}
+
+	exit(0);
+}
+#endif

src/drivers/kinetis/drv_input_capture.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_input_capture.h
+ *
+ * stm32-specific input capture data.
+ */
+
+#pragma once
+
+#include <drivers/drv_input_capture.h>

src/drivers/kinetis/drv_io_timer.h

@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   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 drv_io_timer.h
+ *
+ * stm32-specific PWM output data.
+ */
+#include <px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <drivers/drv_hrt.h>
+
+#pragma once
+__BEGIN_DECLS
+/* configuration limits */
+#define MAX_IO_TIMERS			4
+#define MAX_TIMER_IO_CHANNELS	8
+
+#define MAX_LED_TIMERS			1
+#define MAX_TIMER_LED_CHANNELS	3
+
+#define IO_TIMER_ALL_MODES_CHANNELS 0
+
+typedef enum io_timer_channel_mode_t {
+	IOTimerChanMode_NotUsed = 0,
+	IOTimerChanMode_PWMOut  = 1,
+	IOTimerChanMode_PWMIn   = 2,
+	IOTimerChanMode_Capture = 3,
+	IOTimerChanModeSize
+} io_timer_channel_mode_t;
+
+typedef uint8_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
+
+/* array of timers dedicated to PWM in and out and capture use */
+typedef struct io_timers_t {
+	uint32_t	base;
+	uint32_t	clock_register;
+	uint32_t	clock_bit;
+	uint32_t	clock_freq;
+	uint32_t	vectorno;
+	uint32_t    first_channel_index;
+	uint32_t    last_channel_index;
+	xcpt_t      handler;
+} io_timers_t;
+
+/* array of channels in logical order */
+typedef struct timer_io_channels_t {
+	uint32_t	gpio_out;
+	uint32_t	gpio_in;
+	uint8_t		timer_index;
+	uint8_t		timer_channel;
+	uint16_t	masks;
+	uint8_t		ccr_offset;
+} timer_io_channels_t;
+
+
+typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
+				  const timer_io_channels_t *chan,
+				  hrt_abstime isrs_time, uint16_t isrs_rcnt);
+
+
+/* supplied by board-specific code */
+__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
+__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
+
+__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
+__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
+
+__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
+__EXPORT int io_timer_handler0(int irq, void *context);
+__EXPORT int io_timer_handler1(int irq, void *context);
+__EXPORT int io_timer_handler2(int irq, void *context);
+__EXPORT int io_timer_handler3(int irq, void *context);
+
+__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
+				   channel_handler_t channel_handler, void *context);
+__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
+__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
+				 io_timer_channel_allocation_t masks);
+__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
+__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
+__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
+__EXPORT uint32_t io_timer_get_group(unsigned timer);
+__EXPORT int io_timer_validate_channel_index(unsigned channel);
+__EXPORT int io_timer_is_channel_free(unsigned channel);
+__EXPORT int io_timer_free_channel(unsigned channel);
+__EXPORT int io_timer_get_channel_mode(unsigned channel);
+__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
+__END_DECLS

src/drivers/kinetis/drv_led_pwm.cpp

@@ -0,0 +1,318 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015, 2016 Airmind 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 Airmind 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 drv_led_pwm.cpp
+*
+*
+*/
+
+#include <nuttx/config.h>
+
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/px4_macros.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+
+#include <board_config.h>
+
+#if defined(BOARD_HAS_LED_PWM)
+#define REG(_tmr, _reg) (*(volatile uint32_t *)(led_pwm_timers[_tmr].base + _reg))
+
+#define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
+#define rCR2(_tmr)      REG(_tmr, STM32_GTIM_CR2_OFFSET)
+#define rSMCR(_tmr)     REG(_tmr, STM32_GTIM_SMCR_OFFSET)
+#define rDIER(_tmr)     REG(_tmr, STM32_GTIM_DIER_OFFSET)
+#define rSR(_tmr)       REG(_tmr, STM32_GTIM_SR_OFFSET)
+#define rEGR(_tmr)      REG(_tmr, STM32_GTIM_EGR_OFFSET)
+#define rCCMR1(_tmr)    REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
+#define rCCMR2(_tmr)    REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
+#define rCCER(_tmr)     REG(_tmr, STM32_GTIM_CCER_OFFSET)
+#define rCNT(_tmr)      REG(_tmr, STM32_GTIM_CNT_OFFSET)
+#define rPSC(_tmr)      REG(_tmr, STM32_GTIM_PSC_OFFSET)
+#define rARR(_tmr)      REG(_tmr, STM32_GTIM_ARR_OFFSET)
+#define rCCR1(_tmr)     REG(_tmr, STM32_GTIM_CCR1_OFFSET)
+#define rCCR2(_tmr)     REG(_tmr, STM32_GTIM_CCR2_OFFSET)
+#define rCCR3(_tmr)     REG(_tmr, STM32_GTIM_CCR3_OFFSET)
+#define rCCR4(_tmr)     REG(_tmr, STM32_GTIM_CCR4_OFFSET)
+#define rDCR(_tmr)      REG(_tmr, STM32_GTIM_DCR_OFFSET)
+#define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
+#define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)
+
+static void             led_pwm_timer_init(unsigned timer);
+static void             led_pwm_timer_set_rate(unsigned timer, unsigned rate);
+static void             led_pwm_channel_init(unsigned channel);
+
+int led_pwm_servo_set(unsigned channel, uint8_t  value);
+unsigned led_pwm_servo_get(unsigned channel);
+int led_pwm_servo_init(void);
+void led_pwm_servo_deinit(void);
+void led_pwm_servo_arm(bool armed);
+unsigned led_pwm_timer_get_period(unsigned timer);
+
+
+static void
+led_pwm_timer_init(unsigned timer)
+{
+	/* valid Timer */
+
+	if (led_pwm_timers[timer].base != 0) {
+
+		/* enable the timer clock before we try to talk to it */
+
+		modifyreg32(led_pwm_timers[timer].clock_register, 0, led_pwm_timers[timer].clock_bit);
+
+		/* disable and configure the timer */
+		rCR1(timer) = 0;
+		rCR2(timer) = 0;
+		rSMCR(timer) = 0;
+		rDIER(timer) = 0;
+		rCCER(timer) = 0;
+		rCCMR1(timer) = 0;
+		rCCMR2(timer) = 0;
+		rCCER(timer) = 0;
+		rDCR(timer) = 0;
+
+		if ((led_pwm_timers[timer].base == STM32_TIM1_BASE) || (led_pwm_timers[timer].base == STM32_TIM8_BASE)) {
+			/* master output enable = on */
+			rBDTR(timer) = ATIM_BDTR_MOE;
+		}
+
+		/* configure the timer to free-run at 1MHz */
+		rPSC(timer) = (led_pwm_timers[timer].clock_freq / 1000000) - 1;
+
+		/* default to updating at 50Hz */
+		led_pwm_timer_set_rate(timer, 50);
+
+		/* note that the timer is left disabled - arming is performed separately */
+	}
+}
+unsigned
+led_pwm_timer_get_period(unsigned timer)
+{
+	return (rARR(timer));
+}
+static void
+led_pwm_timer_set_rate(unsigned timer, unsigned rate)
+{
+	/* configure the timer to update at the desired rate */
+	rARR(timer) = 1000000 / rate;
+
+	/* generate an update event; reloads the counter and all registers */
+	rEGR(timer) = GTIM_EGR_UG;
+}
+
+
+static void
+led_pwm_channel_init(unsigned channel)
+{
+	unsigned timer = led_pwm_channels[channel].timer_index;
+
+	/* configure the GPIO first */
+
+	px4_arch_configgpio(led_pwm_channels[channel].gpio_out);
+
+	/* configure the channel */
+	switch (led_pwm_channels[channel].timer_channel) {
+	case 1:
+		rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
+		rCCER(timer) |= GTIM_CCER_CC1E;
+		break;
+
+	case 2:
+		rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
+		rCCER(timer) |= GTIM_CCER_CC2E;
+		break;
+
+	case 3:
+		rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
+		rCCER(timer) |= GTIM_CCER_CC3E;
+		break;
+
+	case 4:
+		rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
+		rCCER(timer) |= GTIM_CCER_CC4E;
+		break;
+	}
+}
+
+int
+led_pwm_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	if (channel >= arraySize(led_pwm_channels)) {
+		return -1;
+	}
+
+	unsigned timer = led_pwm_channels[channel].timer_index;
+
+	/* test timer for validity */
+	if ((led_pwm_timers[timer].base == 0) ||
+	    (led_pwm_channels[channel].gpio_out == 0)) {
+		return -1;
+	}
+
+	unsigned period = led_pwm_timer_get_period(timer);
+
+#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
+	unsigned value = period - (unsigned)cvalue * period / 255;
+#else
+	unsigned value = (unsigned)cvalue * period / 255;
+#endif
+
+	/* configure the channel */
+	if (value > 0) {
+		value--;
+	}
+
+
+	switch (led_pwm_channels[channel].timer_channel) {
+	case 1:
+		rCCR1(timer) = value;
+		break;
+
+	case 2:
+		rCCR2(timer) = value;
+		break;
+
+	case 3:
+		rCCR3(timer) = value;
+		break;
+
+	case 4:
+		rCCR4(timer) = value;
+		break;
+
+	default:
+		return -1;
+	}
+
+	return 0;
+}
+unsigned
+led_pwm_servo_get(unsigned channel)
+{
+	if (channel >= 3) {
+		return 0;
+	}
+
+	unsigned timer = led_pwm_channels[channel].timer_index;
+	servo_position_t value = 0;
+
+	/* test timer for validity */
+	if ((led_pwm_timers[timer].base == 0) ||
+	    (led_pwm_channels[channel].timer_channel == 0)) {
+		return 0;
+	}
+
+	/* configure the channel */
+	switch (led_pwm_channels[channel].timer_channel) {
+	case 1:
+		value = rCCR1(timer);
+		break;
+
+	case 2:
+		value = rCCR2(timer);
+		break;
+
+	case 3:
+		value = rCCR3(timer);
+		break;
+
+	case 4:
+		value = rCCR4(timer);
+		break;
+	}
+
+	unsigned period = led_pwm_timer_get_period(timer);
+	return ((value + 1) * 255 / period);
+}
+int
+led_pwm_servo_init(void)
+{
+	/* do basic timer initialisation first */
+	for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
+		led_pwm_timer_init(i);
+	}
+
+	/* now init channels */
+	for (unsigned i = 0; i < arraySize(led_pwm_channels); i++) {
+		led_pwm_channel_init(i);
+	}
+
+	led_pwm_servo_arm(true);
+	return OK;
+}
+
+void
+led_pwm_servo_deinit(void)
+{
+	/* disable the timers */
+	led_pwm_servo_arm(false);
+}
+void
+led_pwm_servo_arm(bool armed)
+{
+	/* iterate timers and arm/disarm appropriately */
+	for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
+		if (led_pwm_timers[i].base != 0) {
+			if (armed) {
+				/* force an update to preload all registers */
+				rEGR(i) = GTIM_EGR_UG;
+
+				/* arm requires the timer be enabled */
+				rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
+
+			} else {
+				rCR1(i) = 0;
+			}
+		}
+	}
+}
+
+#endif // BOARD_HAS_LED_PWM

src/drivers/kinetis/drv_pwm_servo.c

@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   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 drv_pwm_servo.c
+ *
+ * Servo driver supporting PWM servos connected to STM32 timer blocks.
+ *
+ * Works with any of the 'generic' or 'advanced' STM32 timers that
+ * have output pins, does not require an interrupt.
+ */
+
+#include <px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "drv_io_timer.h"
+#include "drv_pwm_servo.h"
+
+#include <kinetis.h>
+
+int up_pwm_servo_set(unsigned channel, servo_position_t value)
+{
+	return io_timer_set_ccr(channel, value);
+}
+
+servo_position_t up_pwm_servo_get(unsigned channel)
+{
+	return io_channel_get_ccr(channel);
+}
+
+int up_pwm_servo_init(uint32_t channel_mask)
+{
+	/* Init channels */
+	uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut);
+
+	// First free the current set of PWMs
+
+	for (unsigned channel = 0; current != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (current & (1 << channel)) {
+			io_timer_free_channel(channel);
+			current &= ~(1 << channel);
+		}
+	}
+
+	// Now allocate the new set
+
+	for (unsigned channel = 0; channel_mask != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (channel_mask & (1 << channel)) {
+
+			// First free any that were not PWM mode before
+
+			if (-EBUSY == io_timer_is_channel_free(channel)) {
+				io_timer_free_channel(channel);
+			}
+
+			io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
+			channel_mask &= ~(1 << channel);
+		}
+	}
+
+	return OK;
+}
+
+void up_pwm_servo_deinit(void)
+{
+	/* disable the timers */
+	up_pwm_servo_arm(false);
+}
+
+int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
+{
+	/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
+	if (rate < 1) {
+		return -ERANGE;
+	}
+
+	if (rate > 10000) {
+		return -ERANGE;
+	}
+
+	if ((group >= MAX_IO_TIMERS) || (io_timers[group].base == 0)) {
+		return ERROR;
+	}
+
+	io_timer_set_rate(group, rate);
+
+	return OK;
+}
+
+int up_pwm_servo_set_rate(unsigned rate)
+{
+	for (unsigned i = 0; i < MAX_IO_TIMERS; i++) {
+		up_pwm_servo_set_rate_group_update(i, rate);
+	}
+
+	return 0;
+}
+
+uint32_t up_pwm_servo_get_rate_group(unsigned group)
+{
+	return io_timer_get_group(group);
+}
+
+void
+up_pwm_servo_arm(bool armed)
+{
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+}

src/drivers/kinetis/drv_pwm_servo.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   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 drv_pwm_servo.h
+ *
+ * stm32-specific PWM output data.
+ */
+
+#pragma once
+
+#include <drivers/drv_pwm_output.h>

src/drivers/kinetis/tone_alarm/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__kinetis__tone_alarm
+	MAIN tone_alarm
+	COMPILE_FLAGS
+	SRCS
+		tone_alarm.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :