Checkpoint - moving things out of the NuttX configs/*/src directories

apps/ardrone_interface/ardrone_interface.c

@@ -51,7 +51,7 @@
 #include <time.h>
 #include <systemlib/err.h>
 #include <sys/prctl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>

apps/ardrone_interface/ardrone_motor_control.c

@@ -42,7 +42,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include <drivers/drv_gpio.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <systemlib/err.h>

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -59,7 +59,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/parameter_update.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <systemlib/systemlib.h>
 

apps/commander/commander.c

@@ -62,8 +62,8 @@
 #include <v1.0/common/mavlink.h>
 #include <string.h>
 #include <arch/board/drv_led.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 #include "state_machine_helper.h"
 #include "systemlib/systemlib.h"

apps/commander/state_machine_helper.c

@@ -45,7 +45,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
 #include <systemlib/systemlib.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <mavlink/mavlink_log.h>
 
 #include "state_machine_helper.h"

apps/drivers/bma180/bma180.cpp

@@ -58,7 +58,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 
 #include <drivers/device/spi.h>

apps/drivers/boards/px4fmu/Makefile

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Board-specific startup code for the PX4FMU
+#
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk

apps/drivers/boards/px4fmu/drv_hrt.c

@@ -32,7 +32,9 @@
  ****************************************************************************/
  
 /**
- * @file High-resolution timer callouts and timekeeping.
+ * @file drv_hrt.c
+ *
+ * High-resolution timer callouts and timekeeping.
  *
  * This can use any general or advanced STM32 timer.
  *
@@ -58,7 +60,7 @@
 #include <string.h>
 
 #include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "chip.h"
 #include "up_internal.h"
@@ -320,16 +322,16 @@ static void		hrt_call_invoke(void);
 
 /* decoded PPM buffer */
 #define PPM_MAX_CHANNELS	12
-uint16_t ppm_buffer[PPM_MAX_CHANNELS];
+__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
-unsigned ppm_decoded_channels;
+__EXPORT unsigned ppm_decoded_channels;
-uint64_t ppm_last_valid_decode = 0;
+__EXPORT uint64_t ppm_last_valid_decode = 0;
 
 /* PPM edge history */
-uint16_t ppm_edge_history[32];
+__EXPORT uint16_t ppm_edge_history[32];
 unsigned ppm_edge_next;
 
 /* PPM pulse history */
-uint16_t ppm_pulse_history[32];
+__EXPORT uint16_t ppm_pulse_history[32];
 unsigned ppm_pulse_next;
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];

apps/drivers/boards/px4fmu/px4fmu_init.c

@@ -0,0 +1,290 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the 
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/i2c.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/arch.h>
+
+#include "stm32_internal.h"
+#include "px4fmu_internal.h"
+#include "stm32_uart.h"
+
+#include <arch/board/up_cpuload.h>
+#include <arch/board/up_adc.h>
+#include <arch/board/board.h>
+#include <arch/board/drv_led.h>
+#include <arch/board/drv_eeprom.h>
+
+#include <drivers/drv_hrt.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lib_lowprintf(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lib_lowprintf
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+__EXPORT int nsh_archinitialize(void);
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi3;
+static struct i2c_dev_s *i2c1;
+static struct i2c_dev_s *i2c2;
+static struct i2c_dev_s *i2c3;
+
+#include <math.h>
+
+#ifdef __cplusplus
+int matherr(struct __exception *e) {
+  return 1;
+}
+#else
+int matherr(struct exception *e) {
+  return 1;
+}
+#endif
+
+int nsh_archinitialize(void)
+{
+  int result;
+
+  /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
+
+  /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
+
+  /* configure the high-resolution time/callout interface */
+#ifdef CONFIG_HRT_TIMER
+  hrt_init();
+#endif
+
+  /* configure CPU load estimation */
+  #ifdef CONFIG_SCHED_INSTRUMENTATION
+  cpuload_initialize_once();
+  #endif
+
+  /* set up the serial DMA polling */
+#ifdef SERIAL_HAVE_DMA
+  {
+    static struct hrt_call serial_dma_call;
+    struct timespec ts;
+
+    /* 
+     * Poll at 1ms intervals for received bytes that have not triggered
+     * a DMA event.
+     */
+    ts.tv_sec = 0;
+    ts.tv_nsec = 1000000;
+
+    hrt_call_every(&serial_dma_call, 
+                   ts_to_abstime(&ts),
+                   ts_to_abstime(&ts),
+                   (hrt_callout)stm32_serial_dma_poll,
+                   NULL);
+  }
+#endif
+
+  message("\r\n");
+
+  up_ledoff(LED_BLUE);
+  up_ledoff(LED_AMBER);
+
+  up_ledon(LED_BLUE);
+
+  /* Configure user-space led driver */
+  px4fmu_led_init();
+
+  /* Configure SPI-based devices */
+
+  spi1 = up_spiinitialize(1);
+  if (!spi1)
+  {
+	  message("[boot] FAILED to initialize SPI port 1\r\n");
+	  up_ledon(LED_AMBER);
+	  return -ENODEV;
+  }
+
+  // Default SPI1 to 1MHz and de-assert the known chip selects.
+  SPI_SETFREQUENCY(spi1, 10000000);
+  SPI_SETBITS(spi1, 8);
+  SPI_SETMODE(spi1, SPIDEV_MODE3);
+  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+  up_udelay(20);
+
+  message("[boot] Successfully initialized SPI port 1\r\n");
+
+  /* initialize I2C2 bus */
+
+  i2c2 = up_i2cinitialize(2);
+  if (!i2c2) {
+	  message("[boot] FAILED to initialize I2C bus 2\n");
+	  up_ledon(LED_AMBER);
+	  return -ENODEV;
+  }
+
+  /* set I2C2 speed */
+  I2C_SETFREQUENCY(i2c2, 400000);
+
+
+  i2c3 = up_i2cinitialize(3);
+  if (!i2c3) {
+	  message("[boot] FAILED to initialize I2C bus 3\n");
+	  up_ledon(LED_AMBER);
+	  return -ENODEV;
+  }
+
+  /* set I2C3 speed */
+  I2C_SETFREQUENCY(i2c3, 400000);
+
+  /* try to attach, don't fail if device is not responding */
+  (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
+		  FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
+		  FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
+		  FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
+
+#if defined(CONFIG_STM32_SPI3)
+  /* Get the SPI port */
+
+  message("[boot] Initializing SPI port 3\n");
+  spi3 = up_spiinitialize(3);
+  if (!spi3)
+    {
+      message("[boot] FAILED to initialize SPI port 3\n");
+      up_ledon(LED_AMBER);
+      return -ENODEV;
+    }
+  message("[boot] Successfully initialized SPI port 3\n");
+
+  /* Now bind the SPI interface to the MMCSD driver */
+  result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+  if (result != OK)
+  {
+	  message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
+	  up_ledon(LED_AMBER);
+	  return -ENODEV;
+  }
+  message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
+#endif /* SPI3 */
+
+  /* initialize I2C1 bus */
+
+  i2c1 = up_i2cinitialize(1);
+  if (!i2c1) {
+    message("[boot] FAILED to initialize I2C bus 1\n");
+    up_ledon(LED_AMBER);
+    return -ENODEV;
+  }
+
+  /* set I2C1 speed */
+  I2C_SETFREQUENCY(i2c1, 400000);
+
+  /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
+
+  /* Get board information if available */
+
+  /* Initialize the user GPIOs */
+  px4fmu_gpio_init();
+
+#ifdef CONFIG_ADC
+  int adc_state = adc_devinit();
+  if (adc_state != OK)
+  {
+    /* Try again */
+    adc_state = adc_devinit();
+    if (adc_state != OK)
+    {
+      /* Give up */
+      message("[boot] FAILED adc_devinit: %d\n", adc_state);
+      return -ENODEV;
+    }
+  }
+#endif
+
+  return OK;
+}

apps/drivers/boards/px4fmu/px4fmu_internal.h

@@ -0,0 +1,166 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_internal.h
+ *
+ * PX4FMU internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+#ifdef CONFIG_STM32_SPI2
+#  error "SPI2 is not supported on this board"
+#endif
+
+#if defined(CONFIG_STM32_CAN1)
+#  warning "CAN1 is not supported on this board"
+#endif
+
+/* PX4FMU GPIOs ***********************************************************************************/
+/* LEDs */
+
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_LED2		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+
+/* External interrupts */
+#define GPIO_EXTI_COMPASS	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
+// XXX MPU6000 DRDY?
+
+/* SPI chip selects */
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SPI_CS_ACCEL	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+
+/* User GPIOs
+ *
+ * GPIO0-1 are the buffered high-power GPIOs.
+ * GPIO2-5 are the USART2 pins.
+ * GPIO6-7 are the CAN2 pins.
+ */
+#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
+#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_GPIO6_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_GPIO7_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
+#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
+#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+#define GPIO_GPIO_DIR		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
+ */
+#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/* PWM
+ *
+ * The PX4FMU has five PWM outputs, of which only the output on
+ * pin PC8 is fixed assigned to this function. The other four possible
+ * pwm sources are the TX, RX, RTS and CTS pins of USART2
+ *
+ * Alternate function mapping:
+ * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
+ */
+
+#ifdef CONFIG_PWM
+#  if defined(CONFIG_STM32_TIM3_PWM)
+#    define BUZZER_PWMCHANNEL 3
+#	 define BUZZER_PWMTIMER 3
+#  elif defined(CONFIG_STM32_TIM8_PWM)
+#    define BUZZER_PWMCHANNEL 3
+#    define BUZZER_PWMTIMER 8
+#  endif
+#endif
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+/****************************************************************************************************
+ * Name: px4fmu_gpio_init
+ *
+ * Description:
+ *   Called to configure the PX4FMU user GPIOs
+ *
+ ****************************************************************************************************/
+
+extern void px4fmu_gpio_init(void);
+
+
+// XXX additional SPI chipselect functions required?
+
+#endif /* __ASSEMBLY__ */

apps/drivers/drv_hrt.h

@@ -31,12 +31,13 @@
  *
  ****************************************************************************/
 
-/*
+/**
- * High-resolution timer callouts and timekeeping.
+ * @file drv_hrt.h
+ *
+ * High-resolution timer with callouts and timekeeping.
  */
 
-#ifndef UP_HRT_H_
+#pragma once
-#define UP_HRT_H_
 
 #include <sys/types.h>
 #include <stdbool.h>
@@ -44,6 +45,8 @@
 #include <time.h>
 #include <queue.h>
 
+__BEGIN_DECLS
+
 /*
  * Absolute time, in microsecond units.
  *
@@ -76,17 +79,17 @@ typedef struct hrt_call {
 /*
  * Get absolute time.
  */
-extern hrt_abstime hrt_absolute_time(void);
+__EXPORT extern hrt_abstime hrt_absolute_time(void);
 
 /*
  * Convert a timespec to absolute time.
  */
-extern hrt_abstime ts_to_abstime(struct timespec *ts);
+__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts);
 
 /*
  * Convert absolute time to a timespec.
  */
-extern void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
+__EXPORT extern void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
 
 /*
  * Call callout(arg) after delay has elapsed.
@@ -94,12 +97,12 @@ extern void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
  * If callout is NULL, this can be used to implement a timeout by testing the call
  * with hrt_called().
  */
-extern void	hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
+__EXPORT extern void	hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
 
 /*
  * Call callout(arg) at absolute time calltime.
  */
-extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
+__EXPORT extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
 
 /*
  * Call callout(arg) after delay, and then after every interval.
@@ -107,7 +110,7 @@ extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callou
  * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
  * jitter but should not drift.
  */
-extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
+__EXPORT extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
 
 /*
  * If this returns true, the entry has been invoked and removed from the callout list, 
@@ -115,16 +118,16 @@ extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstim
  *
  * Always returns false for repeating callouts.
  */
-extern bool	hrt_called(struct hrt_call *entry);
+__EXPORT extern bool	hrt_called(struct hrt_call *entry);
 
 /*
  * Remove the entry from the callout list.
  */
-extern void	hrt_cancel(struct hrt_call *entry);
+__EXPORT extern void	hrt_cancel(struct hrt_call *entry);
 
 /*
  * Initialise the HRT.
  */
-extern void	hrt_init(void);
+__EXPORT extern void	hrt_init(void);
 
-#endif /* UP_HRT_H_ */
+__END_DECLS

apps/drivers/hmc5883/hmc5883.cpp

@@ -58,7 +58,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -115,6 +115,10 @@
 #endif
 static const int ERROR = -1;
 
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
 class HMC5883 : public device::I2C
 {
 public:

apps/drivers/l3gd20/l3gd20.cpp

@@ -57,7 +57,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 
 #include <drivers/device/spi.h>

apps/drivers/mpu6000/mpu6000.cpp

@@ -61,7 +61,7 @@
 #include <nuttx/clock.h>
 
 #include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>

apps/drivers/ms5611/ms5611.cpp

@@ -57,7 +57,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -70,6 +70,10 @@
 #endif
 static const int ERROR = -1;
 
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
 /**
  * Calibration PROM as reported by the device.
  */

apps/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -71,7 +71,7 @@
 #include <unistd.h>
 
 #include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <arch/stm32/chip.h>
 #include <up_internal.h>

apps/fixedwing_control/fixedwing_control.c

@@ -48,7 +48,7 @@
 #include <math.h>
 #include <poll.h>
 #include <time.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>

apps/gps/mtk.c

@@ -43,7 +43,7 @@
 #include <pthread.h>
 #include <poll.h>
 #include <fcntl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <mavlink/mavlink_log.h>

apps/gps/nmea_helper.c

@@ -44,7 +44,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <mavlink/mavlink_log.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
 #define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2

apps/gps/ubx.c

@@ -40,7 +40,7 @@
 #include "gps.h"
 #include <sys/prctl.h>
 #include <poll.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdbool.h>

apps/mavlink/mavlink.c

@@ -50,7 +50,7 @@
 #include <string.h>
 #include "mavlink_bridge_header.h"
 #include <v1.0/common/mavlink.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>

apps/mavlink/mavlink_receiver.c

@@ -49,7 +49,7 @@
 #include <string.h>
 #include "mavlink_bridge_header.h"
 #include <v1.0/common/mavlink.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>

apps/mavlink/missionlib.c

@@ -49,7 +49,7 @@
 #include <string.h>
 #include "mavlink_bridge_header.h"
 #include <v1.0/common/mavlink.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>

apps/mavlink/orb_listener.c

@@ -46,7 +46,7 @@
 #include <string.h>
 #include "mavlink_bridge_header.h"
 #include <v1.0/common/mavlink.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -54,7 +54,7 @@
 #include <math.h>
 #include <poll.h>
 #include <sys/prctl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <drivers/drv_gyro.h>
 #include <uORB/topics/vehicle_status.h>

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -52,7 +52,7 @@
 #include <math.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/param/param.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
 PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);

apps/multirotor_att_control/multirotor_rate_control.c

@@ -53,7 +53,7 @@
 #include <systemlib/pid/pid.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);

apps/multirotor_pos_control/multirotor_pos_control.c

@@ -48,7 +48,7 @@
 #include <termios.h>
 #include <time.h>
 #include <sys/prctl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude.h>

apps/px4/attitude_estimator_bm/attitude_estimator_bm.c

@@ -46,7 +46,7 @@
 #include <sys/time.h>
 #include <stdbool.h>
 #include <fcntl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <string.h>
 #include <poll.h>
 #include <uORB/uORB.h>

apps/px4/tests/test_hrt.c

@@ -50,7 +50,7 @@
 #include <unistd.h>
 
 #include <arch/board/board.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 
 #include <nuttx/spi.h>

apps/px4/tests/test_time.c

@@ -53,7 +53,7 @@
 
 #include <math.h>
 #include <float.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 
 /****************************************************************************

apps/px4/tests/test_uart_console.c

@@ -56,7 +56,7 @@
 
 #include <math.h>
 #include <float.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 
 /****************************************************************************

apps/px4/tests/test_uart_send.c

@@ -56,7 +56,7 @@
 
 #include <math.h>
 #include <float.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 
 /****************************************************************************

apps/px4/tests/tests_file.c

@@ -44,7 +44,7 @@
 #include <systemlib/perf_counter.h>
 #include <string.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "tests.h"
 

apps/px4io/comms.c

@@ -48,7 +48,7 @@
 
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <systemlib/hx_stream.h>
 #include <systemlib/perf_counter.h>
 

apps/px4io/mixer.c

@@ -47,7 +47,7 @@
 
 #include <arch/board/drv_ppm_input.h>
 #include <arch/board/drv_pwm_servo.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "px4io.h"
 

apps/px4io/px4io.c

@@ -50,7 +50,7 @@
 #include <arch/board/up_boardinitialize.h>
 #include <arch/board/drv_gpio.h>
 #include <arch/board/drv_ppm_input.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "px4io.h"
 

apps/px4io/safety.c

@@ -49,7 +49,7 @@
 #include <arch/board/up_boardinitialize.h>
 #include <arch/board/drv_gpio.h>
 #include <arch/board/drv_ppm_input.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "px4io.h"
 

apps/sdlog/sdlog.c

@@ -51,7 +51,7 @@
 #include <string.h>
 #include <systemlib/err.h>
 #include <unistd.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>

apps/sensors/sensors.cpp

@@ -52,7 +52,7 @@
 #include <errno.h>
 #include <math.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>

apps/systemcmds/led/led.c

@@ -50,7 +50,7 @@
 #include <termios.h>
 #include <time.h>
 #include <sys/prctl.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 #include <arch/board/drv_led.h>
 
 #include <systemlib/err.h>

apps/systemcmds/top/top.c

@@ -47,7 +47,7 @@
 #include <poll.h>
 
 #include <arch/board/up_cpuload.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 /**
  * Start the top application.

apps/systemlib/Makefile

@@ -41,8 +41,13 @@ CSRCS		 = err.c \
 		   param/param.c \
 		   bson/tinybson.c \
 		   conversions.c \
+		   cpuload.c \
 		   getopt_long.c
 
+#		   ppm_decode.c \
+
+
+
 #
 # XXX this really should be a CONFIG_* test
 #

apps/systemlib/cpuload.c

@@ -0,0 +1,180 @@
+/****************************************************************************
+ * configs/px4fmu/src/up_leds.c
+ * arch/arm/src/board/up_leds.c
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <sys/time.h>
+#include <sched.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+
+#include "cpuload.h"
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+__EXPORT void sched_note_start(FAR _TCB *tcb);
+__EXPORT void sched_note_stop(FAR _TCB *tcb);
+__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
+
+/****************************************************************************
+ * Name:
+ ****************************************************************************/
+
+__EXPORT struct system_load_s system_load;
+
+extern FAR _TCB *sched_gettcb(pid_t pid);
+
+void cpuload_initialize_once()
+{
+//	if (!system_load.initialized)
+//	{
+		system_load.start_time = hrt_absolute_time();
+		int i;
+		for (i = 0; i < CONFIG_MAX_TASKS; i++)
+		{
+			system_load.tasks[i].valid = false;
+		}
+		system_load.total_count = 0;
+
+		uint64_t now = hrt_absolute_time();
+
+		/* initialize idle thread statically */
+		system_load.tasks[0].start_time = now;
+		system_load.tasks[0].total_runtime = 0;
+		system_load.tasks[0].curr_start_time = 0;
+		system_load.tasks[0].tcb = sched_gettcb(0);
+		system_load.tasks[0].valid = true;
+		system_load.total_count++;
+
+		/* initialize init thread statically */
+		system_load.tasks[1].start_time = now;
+		system_load.tasks[1].total_runtime = 0;
+		system_load.tasks[1].curr_start_time = 0;
+		system_load.tasks[1].tcb = sched_gettcb(1);
+		system_load.tasks[1].valid = true;
+		/* count init thread */
+		system_load.total_count++;
+		//	}
+}
+
+void sched_note_start(FAR _TCB *tcb )
+{
+	/* search first free slot */
+	int i;
+	for (i = 1; i < CONFIG_MAX_TASKS; i++)
+	{
+		if (!system_load.tasks[i].valid)
+		{
+			/* slot is available */
+			system_load.tasks[i].start_time = hrt_absolute_time();
+			system_load.tasks[i].total_runtime = 0;
+			system_load.tasks[i].curr_start_time = 0;
+			system_load.tasks[i].tcb = tcb;
+			system_load.tasks[i].valid = true;
+			system_load.total_count++;
+			break;
+		}
+	}
+}
+
+void sched_note_stop(FAR _TCB *tcb )
+{
+	int i;
+	for (i = 1; i < CONFIG_MAX_TASKS; i++)
+	{
+		if (system_load.tasks[i].tcb->pid == tcb->pid)
+		{
+			/* mark slot as fee */
+			system_load.tasks[i].valid = false;
+			system_load.tasks[i].total_runtime = 0;
+			system_load.tasks[i].curr_start_time = 0;
+			system_load.tasks[i].tcb = NULL;
+			system_load.total_count--;
+			break;
+		}
+	}
+}
+
+void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
+{
+	uint64_t new_time = hrt_absolute_time();
+
+	/* Kind of inefficient: find both tasks and update times */
+	uint8_t both_found = 0;
+	for (int i = 0; i < CONFIG_MAX_TASKS; i++)
+	{
+		/* Task ending its current scheduling run */
+		if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
+		{
+			//if (system_load.tasks[i].curr_start_time != 0)
+			{
+				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
+			}
+			both_found++;
+		}
+		else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
+		{
+			system_load.tasks[i].curr_start_time = new_time;
+			both_found++;
+		}
+
+		/* Do only iterate as long as needed */
+		if (both_found == 2)
+		{
+			break;
+		}
+	}
+}
+
+#endif /* CONFIG_SCHED_INSTRUMENTATION */

apps/systemlib/cpuload.h

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+
+__BEGIN_DECLS
+
+#include <nuttx/sched.h>
+
+struct system_load_taskinfo_s {
+	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
+	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
+	uint64_t start_time;         ///< FIRST start time of task
+	FAR struct _TCB *tcb;               ///<
+	bool valid;                  ///< Task is currently active / valid
+};
+
+struct system_load_s {
+	uint64_t start_time;         ///< Global start time of measurements
+	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
+	uint8_t initialized;
+	int total_count;
+	int running_count;
+	int sleeping_count;
+};
+
+__EXPORT extern struct system_load_s system_load;
+
+__EXPORT void cpuload_initialize_once(void);
+
+#endif

apps/systemlib/param/param.c

@@ -50,7 +50,7 @@
 
 #include <sys/stat.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "systemlib/param/param.h"
 #include "systemlib/uthash/utarray.h"

apps/systemlib/perf_counter.c

@@ -40,7 +40,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <sys/queue.h>
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include "perf_counter.h"
 

apps/systemlib/ppm_decode.c

@@ -0,0 +1,242 @@
+/****************************************************************************
+ *
+ *   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 ppm_decode.c
+ *
+ * PPM input decoder.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <string.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "ppm_decode.h"
+
+/*
+ * PPM decoder tuning parameters.
+ *
+ * The PPM decoder works as follows.
+ *
+ * Initially, the decoder waits in the UNSYNCH state for two edges 
+ * separated by PPM_MIN_START.  Once the second edge is detected,
+ * the decoder moves to the ARM state.
+ *
+ * The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
+ * timing mark for the first channel.  If this is detected, it moves to
+ * the INACTIVE state.
+ *
+ * The INACTIVE phase waits for and discards the next edge, as it is not
+ * significant.  Once the edge is detected, it moves to the ACTIVE stae.
+ *
+ * The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
+ * received calculates the time from the previous mark and records
+ * this time as the value for the next channel. 
+ *
+ * If at any time waiting for an edge, the delay from the previous edge 
+ * exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
+ * values are advertised to clients.
+ */
+#define PPM_MAX_PULSE_WIDTH	500		/* maximum width of a pulse */
+#define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
+#define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
+#define PPM_MIN_START		2500		/* shortest valid start gap */
+
+/* Input timeout - after this interval we assume signal is lost */
+#define PPM_INPUT_TIMEOUT	100 * 1000	/* 100ms */
+
+/* Number of same-sized frames required to 'lock' */
+#define PPM_CHANNEL_LOCK	3		/* should be less than the input timeout */
+
+/* decoded PPM buffer */
+#define PPM_MIN_CHANNELS	4
+#define PPM_MAX_CHANNELS	12
+
+/*
+ * Public decoder state
+ */
+uint16_t	ppm_buffer[PPM_MAX_CHANNELS];
+unsigned	ppm_decoded_channels;
+hrt_abstime	ppm_last_valid_decode;
+
+static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
+
+/* PPM decoder state machine */
+static struct {
+	uint16_t	last_edge;	/* last capture time */
+	uint16_t	last_mark;	/* last significant edge */
+	unsigned	next_channel;
+	unsigned	count_max;
+	enum {
+		UNSYNCH = 0,
+		ARM,
+		ACTIVE,
+		INACTIVE
+	} phase;
+} ppm;
+
+
+void
+ppm_input_init(unsigned count_max)
+{
+	ppm_decoded_channels = 0;
+	ppm_last_valid_decode = 0;
+
+	memset(&ppm, 0, sizeof(ppm));
+	ppm.count_max = count_max;
+}
+
+void
+ppm_input_decode(bool reset, unsigned count)
+{
+	uint16_t width;
+	uint16_t interval;
+	unsigned i;
+
+	/* if we missed an edge, we have to give up */
+	if (reset)
+		goto error;
+
+	/* how long since the last edge? */
+	width = count - ppm.last_edge;
+	if (count < ppm.last_edge)
+		width += ppm.count_max;	/* handle wrapped count */
+	ppm.last_edge = count;
+
+	/* 
+	 * If this looks like a start pulse, then push the last set of values
+	 * and reset the state machine.
+	 *
+	 * Note that this is not a "high performance" design; it implies a whole
+	 * frame of latency between the pulses being received and their being 
+	 * considered valid.
+	 */
+	if (width >= PPM_MIN_START) {
+
+		/* 
+		 * If the number of channels changes unexpectedly, we don't want
+		 * to just immediately jump on the new count as it may be a result
+		 * of noise or dropped edges.  Instead, take a few frames to settle.
+		 */
+		if (ppm.next_channel != ppm_decoded_channels) {
+			static unsigned new_channel_count;
+			static unsigned new_channel_holdoff;
+
+			if (new_channel_count != ppm.next_channel) {
+				/* start the lock counter for the new channel count */
+				new_channel_count = ppm.next_channel;
+				new_channel_holdoff = PPM_CHANNEL_LOCK;
+
+			} else if (new_channel_holdoff > 0) {
+				/* this frame matched the last one, decrement the lock counter */
+				new_channel_holdoff--;
+
+			} else {
+				/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
+				ppm_decoded_channels = new_channel_count;
+				new_channel_count = 0;
+			}
+		} else {
+			/* frame channel count matches expected, let's use it */
+			if (ppm.next_channel > PPM_MIN_CHANNELS) {
+				for (i = 0; i < ppm.next_channel; i++)
+					ppm_buffer[i] = ppm_temp_buffer[i];
+				ppm_last_valid_decode = hrt_absolute_time();
+			}
+		}
+
+		/* reset for the next frame */
+		ppm.next_channel = 0;
+
+		/* next edge is the reference for the first channel */
+		ppm.phase = ARM;
+
+		return;
+	}
+
+	switch (ppm.phase) {
+	case UNSYNCH:
+		/* we are waiting for a start pulse - nothing useful to do here */
+		return;
+
+	case ARM:
+		/* we expect a pulse giving us the first mark */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+	
+		/* record the mark timing, expect an inactive edge */
+		ppm.last_mark = count;
+		ppm.phase = INACTIVE;
+		return;
+
+	case INACTIVE:
+		/* this edge is not interesting, but now we are ready for the next mark */
+		ppm.phase = ACTIVE;
+
+		/* note that we don't bother looking at the timing of this edge */
+
+		return;
+
+	case ACTIVE:
+		/* we expect a well-formed pulse */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+
+		/* determine the interval from the last mark */
+		interval = count - ppm.last_mark;
+		ppm.last_mark = count;
+
+		/* if the mark-mark timing is out of bounds, abandon the frame */
+		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
+			goto error;
+
+		/* if we have room to store the value, do so */
+		if (ppm.next_channel < PPM_MAX_CHANNELS)
+			ppm_temp_buffer[ppm.next_channel++] = interval;
+
+		ppm.phase = INACTIVE;
+		return;		
+
+	}
+
+	/* the state machine is corrupted; reset it */
+
+error:
+	/* we don't like the state of the decoder, reset it and try again */
+	ppm.phase = UNSYNCH;
+	ppm_decoded_channels = 0;
+}
+

apps/systemlib/ppm_decode.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   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 ppm_decode.h
+ *
+ * PPM input decoder.
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+
+/**
+ * Maximum number of channels that we will decode.
+ */
+#define PPM_MAX_CHANNELS	12
+
+__BEGIN_DECLS
+
+/*
+ * PPM decoder state
+ */
+__EXPORT extern uint16_t	ppm_buffer[];		/**< decoded PPM channel values */
+__EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
+__EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */
+
+/**
+ * Initialise the PPM input decoder.
+ *
+ * @param count_max		The maximum value of the counter passed to
+ *				ppm_input_decode, used to determine how to
+ *				handle counter wrap.
+ */
+__EXPORT void		ppm_input_init(unsigned count_max);
+
+/**
+ * Inform the decoder of an edge on the PPM input.
+ *
+ * This function can be registered with the HRT as the PPM edge handler.
+ *
+ * @param reset			If set, the edge detector has missed one or
+ *				more edges and the decoder needs to be reset.
+ * @param count			A microsecond timestamp corresponding to the
+ *				edge, in the range 0-count_max.  This value
+ *				is expected to wrap.
+ */
+__EXPORT void		ppm_input_decode(bool reset, unsigned count);
+
+__END_DECLS

apps/uORB/uORB.cpp

@@ -56,7 +56,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <arch/board/up_hrt.h>
+#include <drivers/drv_hrt.h>
 
 #include <drivers/drv_orb_dev.h>