Inital Commit of px4-same70xplained-v1

2026-05-22 06:14:14 +08:00 · 2017-06-14 13:22:38 -10:00
parent 0da1c79aa3
commit f04ddf4368
46 changed files with 9957 additions and 0 deletions
@@ -0,0 +1,12 @@
+{
+    "board_id": 110,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SAME70xplained board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/SAME70xplained",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -211,6 +211,7 @@ misc_qgc_extra_firmware: \
 # Other NuttX firmware
 alt_firmware: \
 	check_nxphlite-v3_default \
+	check_px4-same70xplained-v1_default \
 	check_px4-stm32f4discovery_default \
 	check_px4cannode-v1_default \
 	check_px4esc-v1_default \
@@ -0,0 +1,200 @@
+include(nuttx/px4_impl_nuttx)
+
+px4_nuttx_configure(HWCLASS m7 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 2)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/samv7
+#WIP 	drivers/samv7/adc
+	drivers/samv7/tone_alarm
+	drivers/led
+	drivers/px4fmu
+#WIP 	drivers/px4io
+	drivers/boards/px4-same70xplained-v1
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/srf02
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+#WIP 	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	drivers/px4flow
+	drivers/oreoled
+##	drivers/gimbal
+#WIP  	drivers/pwm_input
+#WIP  	drivers/camera_trigger
+	drivers/bst
+	drivers/snapdragon_rc_pwm
+	drivers/lis3mdl
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+#WIP systemcmds/hardfault_log
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+#	systemcmds/mtd Excluded until TWIHS works
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+##WIP	modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# 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/systemlib/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/led
+	lib/DriverFramework/framework
+	lib/launchdetection
+	lib/version
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	#examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+ set(config_extra_libs
+#	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")
@@ -0,0 +1,22 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+if ARCH_BOARD_PX4_SAME70XPLAINED_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-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-4 as PROBE_1-4 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-4 to provide timing signals from selected drivers.
+
+endif
@@ -0,0 +1,443 @@
+/************************************************************************************
+ * configs/same70-xplained/include/board.h
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
+#define __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdbool.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Clocking *************************************************************************/
+/* After power-on reset, the SAME70Q device is running out of the Master Clock using
+ * the Fast RC Oscillator running at 4 MHz.
+ *
+ *   MAINOSC:  Frequency = 12MHz (crystal)
+ *
+ * 300MHz Settings:
+ *   PLLA: PLL Divider = 1, Multiplier = 20 to generate PLLACK = 240MHz
+ *   Master Clock (MCK): Source = PLLACK, Prescalar = 1 to generate MCK = 120MHz
+ *   CPU clock: 120MHz
+ *
+ * There can be two on-board crystals.  However, the the 32.768 crystal is not
+ * populated on the stock SAME70.  The fallback is to use th on-chip, slow RC
+ * oscillator which has a frequency of 22-42 KHz, nominally 32 KHz.
+ */
+
+#undef  BOARD_HAVE_SLOWXTAL                   /* Slow crystal not populated */
+#define BOARD_SLOWCLK_FREQUENCY    (32000)    /* 32 KHz RC oscillator (nominal)  */
+#define BOARD_MAINOSC_FREQUENCY    (12000000) /* 12 MHz main oscillator */
+
+/* Main oscillator register settings.
+ *
+ * The main oscillator could be either the embedded 4/8/12 MHz fast RC oscillators
+ * or an external 3-20 MHz crystal or ceramic resonator.  The external clock source
+ * is selected by default in sam_clockconfig.c.  Here we need to specify the main
+ * oscillator start-up time.
+ *
+ * REVISIT... this is old information:
+ * The start up time should be should be:
+ *
+ *   Start Up Time = 8 * MOSCXTST / SLCK = 56 Slow Clock Cycles.
+ */
+
+#define BOARD_CKGR_MOR_MOSCXTST    (62 << PMC_CKGR_MOR_MOSCXTST_SHIFT) /* Start-up Time */
+#define BOARD_CKGR_MOR_MOSCXTENBY  (PMC_CKGR_MOR_MOSCXTEN)             /* Crystal Oscillator Enable */
+
+/* PLLA configuration.
+ *
+ *   Divider = 1
+ *   Multiplier = 25
+ *
+ * Yields:
+ *
+ *   PLLACK = 25 * 12MHz / 1 = 300MHz
+ */
+
+#define BOARD_CKGR_PLLAR_STMODE    PMC_CKGR_PLLAR_STMODE_FAST
+#define BOARD_CKGR_PLLAR_COUNT     (63 << PMC_CKGR_PLLAR_COUNT_SHIFT)
+#define BOARD_CKGR_PLLAR_MUL       PMC_CKGR_PLLAR_MUL(24)
+#define BOARD_CKGR_PLLAR_DIV       PMC_CKGR_PLLAR_DIV_BYPASS
+
+/* PMC master clock register settings.
+ *
+ *  BOARD_PMC_MCKR_CSS - The source of main clock input.  This may be one of:
+ *
+ *    PMC_MCKR_CSS_SLOW   Slow Clock
+ *    PMC_MCKR_CSS_MAIN   Main Clock
+ *    PMC_MCKR_CSS_PLLA   PLLA Clock
+ *    PMC_MCKR_CSS_UPLL   Divided UPLL Clock
+ *
+ *  BOARD_PMC_MCKR_PRES - Source clock pre-scaler.  May be one of:
+ *
+ *    PMC_MCKR_PRES_DIV1  Selected clock
+ *    PMC_MCKR_PRES_DIV2  Selected clock divided by 2
+ *    PMC_MCKR_PRES_DIV4  Selected clock divided by 4
+ *    PMC_MCKR_PRES_DIV8  Selected clock divided by 8
+ *    PMC_MCKR_PRES_DIV16 Selected clock divided by 16
+ *    PMC_MCKR_PRES_DIV32 Selected clock divided by 32
+ *    PMC_MCKR_PRES_DIV64 Selected clock divided by 64
+ *    PMC_MCKR_PRES_DIV3  Selected clock divided by 3
+ *
+ *  The prescaler determines (1) the CPU clock and (2) the input into the
+ *  second divider that then generates the Master Clock (MCK).  MCK is the
+ *  source clock of the peripheral clocks.
+ *
+ *  BOARD_PMC_MCKR_MDIV - MCK divider.  May be one of:
+ *
+ *    PMC_MCKR_MDIV_DIV1  Master Clock = Prescaler Output Clock / 1
+ *    PMC_MCKR_MDIV_DIV2  Master Clock = Prescaler Output Clock / 2
+ *    PMC_MCKR_MDIV_DIV4  Master Clock = Prescaler Output Clock / 4
+ *    PMC_MCKR_MDIV_DIV3  Master Clock = Prescaler Output Clock / 3
+ */
+
+#define BOARD_PMC_MCKR_CSS         PMC_MCKR_CSS_PLLA   /* Source = PLLA */
+#define BOARD_PMC_MCKR_PRES        PMC_MCKR_PRES_DIV1  /* Prescaler = /1 */
+#define BOARD_PMC_MCKR_MDIV        PMC_MCKR_MDIV_DIV2  /* MCK divider = /2 */
+
+/* USB clocking */
+
+#define BOARD_PMC_MCKR_UPLLDIV2    0           /* UPLL clock not divided by 2 */
+
+/* Resulting frequencies */
+
+#define BOARD_PLLA_FREQUENCY       (300000000) /* PLLACK:  25 * 12Mhz / 1 */
+#define BOARD_CPU_FREQUENCY        (300000000) /* CPU:     PLLACK / 1 */
+#define BOARD_MCK_FREQUENCY        (150000000) /* MCK:     PLLACK / 1 / 2 */
+#undef  BOARD_UPLL_FREQUENCY                   /* To be provided */
+
+/* HSMCI clocking
+ *
+ * Multimedia Card Interface clock (MCCK or MCI_CK) is Master Clock (MCK)
+ * divided by (2*(CLKDIV) + CLOCKODD + 2).
+ *
+ *   MCI_SPEED = MCK / (2*CLKDIV + CLOCKODD + 2)
+ *
+ * Where CLKDIV has a range of 0-255.
+ */
+
+/* MCK = 150MHz, CLKDIV = 186, MCI_SPEED = 150MHz / (2*186 + 1 + 2) = 400 KHz */
+
+#define HSMCI_INIT_CLKDIV          ((186 << HSMCI_MR_CLKDIV_SHIFT) | HSMCI_MR_CLKODD)
+
+/* MCK = 150MHz, CLKDIV = 3 w/CLOCKODD, MCI_SPEED = 150MHz /(2*3 + 0 + 2) = 18.75 MHz */
+
+#define HSMCI_MMCXFR_CLKDIV        (2 << HSMCI_MR_CLKDIV_SHIFT)
+
+/* MCK = 150MHz, CLKDIV = 2, MCI_SPEED = 150MHz /(2*2 + 0 + 2) = 25 MHz */
+
+#define HSMCI_SDXFR_CLKDIV         (2 << HSMCI_MR_CLKDIV_SHIFT)
+#define HSMCI_SDWIDEXFR_CLKDIV     HSMCI_SDXFR_CLKDIV
+
+/* FLASH wait states.
+ *
+ * Wait states Max frequency at 105 centigrade (STH conditions)
+ *
+ *           VDDIO
+ *      1.62V     2.7V
+ * --- -------  -------
+ *  0   26 MHz   30 MHz
+ *  1   52 MHz   62 MHz
+ *  2   78 MHz   93 MHz
+ *  3  104 MHz  124 MHz
+ *  4  131 MHz  150 MHz
+ *  5  150 MHz  --- MHz
+ *
+ * Given: VDDIO=3.3V, VDDCORE=1.2V, MCK=150MHz
+ */
+
+#define BOARD_FWS                  4
+
+/* LED definitions ******************************************************************/
+/* LEDs
+ *
+ * A single LED is available driven by PC8.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED0        0
+#define BOARD_NLEDS       1
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED0_BIT    (1 << BOARD_LED0)
+
+/* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
+ * defined.  In that case, the usage by the board port is defined in
+ * include/board.h and src/sam_autoleds.c. The LEDs are used to encode
+ * OS-related events as follows:
+ *
+ *   ------------------- ---------------------------- ------
+ *   SYMBOL                  Meaning                  LED
+ *   ------------------- ---------------------------- ------   */
+
+#define LED_STARTED      0 /* NuttX has been started  OFF      */
+#define LED_HEAPALLOCATE 0 /* Heap has been allocated OFF      */
+#define LED_IRQSENABLED  0 /* Interrupts enabled      OFF      */
+#define LED_STACKCREATED 1 /* Idle stack created      ON       */
+#define LED_INIRQ        2 /* In an interrupt         N/C      */
+#define LED_SIGNAL       2 /* In a signal handler     N/C      */
+#define LED_ASSERTION    2 /* An assertion failed     N/C      */
+#define LED_PANIC        3 /* The system has crashed  FLASH    */
+#undef  LED_IDLE           /* MCU is is sleep mode    Not used */
+
+/* Thus is LED is statically on, NuttX has successfully  booted and is,
+ * apparently, running normally.  If LED is flashing at approximately
+ * 2Hz, then a fatal error has been detected and the system has halted.
+ */
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN19)
+# define PROBE_2	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOC | GPIO_PIN26)
+# define PROBE_3	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN2)
+# define PROBE_4	(GPIO_OUTPUT | GPIO_CFG_DEFAULT | GPIO_OUTPUT_SET | GPIO_PORT_PIOA | GPIO_PIN24)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { sam_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { sam_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { sam_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { sam_configgpio(PROBE_4); } \
+	} while(0)
+
+# define PROBE(n,s)  do {sam_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+/* Button definitions ***************************************************************/
+/* Buttons
+ *
+ * SAM E70 Xplained contains two mechanical buttons. One button is the RESET
+ * button connected to the SAM E70 reset line and the other, PA11, is a generic
+ * user configurable button. When a button is pressed it will drive the I/O
+ * line to GND.
+ *
+ * NOTE: There are no pull-up resistors connected to the generic user buttons
+ * so it is necessary to enable the internal pull-up in the SAM E70 to use the
+ * button.
+ */
+
+#define BUTTON_SW0        0
+#define NUM_BUTTONS       1
+
+#define BUTTON_SW0_BIT    (1 << BUTTON_SW0)
+
+/* PIO Disambiguation ***************************************************************/
+/* Serial Console
+ *
+ * The SAME70-XPLD has no on-board RS-232 drivers so it will be necessary to use
+ * either the VCOM or an external RS-232 driver.  Here are some options.
+ *
+ *  - Arduino Serial Shield:  One option is to use an Arduino-compatible
+ *    serial shield.  This will use the RXD and TXD signals available at pins
+ *    0 an 1, respectively, of the Arduino "Digital Low" connector.  On the
+ *    SAME70-XPLD board, this corresponds to UART3:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70 Arduino Arduino SAME70
+ *    J503   PIO    Name    Pin     Function
+ *    ------ ------ ------- ------- --------
+ *      1    PD28   RX0     0       URXD3
+ *      2    PD30   TX0     1       UTXD3
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART3 TXD:
+ */
+
+//#define GPIO_UART3_TXD  GPIO_UART3_TXD_1
+
+
+/* - Arduino Communications.  Additional UART/USART connections are available
+ *  on the Arduino Communications connection J505:
+ *
+ *   ------ ------ ------- ------- --------
+ *   Pin on SAME70 Arduino Arduino SAME70
+ *   J503   PIO    Name    Pin     Function
+ *   ------ ------ ------- ------- --------
+ *     3    PD18   RX1     0       URXD4
+ *     4    PD19   TX1     0       UTXD4
+ *     5    PD15   RX2     0       RXD2
+ *     6    PD16   TX2     0       TXD2
+ *     7    PB0    RX3     0       RXD0
+ *     8    PB1    TX3     1       TXD0
+ *   ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART4 TXD:
+ */
+
+//#define GPIO_UART4_TXD  GPIO_UART4_TXD_1
+
+/*  - SAMV7-XULT EXTn connectors.  USART pins are also available the EXTn
+ *    connectors.  The following are labelled in the User Guide for USART
+ *    functionality:
+ *
+ *    ---- -------- ------ --------
+ *    EXT1 EXTI1    SAME70 SAME70
+ *    Pin  Name     PIO    Function
+ *    ---- -------- ------ --------
+ *    13   USART_RX PB00   RXD0
+ *    14   USART_TX PB01   TXD0
+ *
+ *    ---- -------- ------ --------
+ *    EXT2 EXTI2    SAME70 SAME70
+ *    Pin  Name     PIO    Function
+ *    ---- -------- ------ --------
+ *    13   USART_RX PA21   RXD1
+ *    14   USART_TX PB04   TXD1
+ *
+ *    There are no alternative pin selections for USART0 or USART1.
+ */
+
+/*  - VCOM.  The Virtual Com Port gateway is available on USART1:
+ *
+ *    ------ --------
+ *    SAME70 SAME70
+ *    PIO    Function
+ *    ------ --------
+ *    PB04   TXD1
+ *    PA21   RXD1
+ *    ------ --------
+ *
+ *    There are no alternative pin selections for USART1.
+ */
+
+
+/*    SAME70-XPLD board, this corresponds to UART1:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70  SAME70
+ *              PIO      Function
+ *    ------ ------ ------- ------- --------
+ *      J503-3  PA5        URXD1
+ *      J503-4  PA6        UTXD1
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are alternative pin selections only for UART1 TXD:
+ *
+ */
+
+#define GPIO_UART1_TXD  GPIO_UART1_TXD_3
+
+/*    SAME70-XPLD board, this corresponds to UART2:
+ *
+ *    ------ ------ ------- ------- --------
+ *    Pin on SAME70  SAME70
+ *              PIO      Function
+ *    ------ ------ ------- ------- --------
+ *      J500-3  PD25       URXD2
+ *      J502-1  PD26       UTXD3
+ *    ------ ------ ------- ------- --------
+ *
+ *    There are No alternative pin selections only for UART2
+ *
+ */
+
+
+/* MCAN1
+ *
+ * SAM E70 Xplained has two MCAN modules that performs communication according
+ * to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
+ * specification V1.0.  MCAN1 is connected to an on-board ATA6561 CAN physical-layer
+ * transceiver.
+ *
+ *   ------- -------- -------- -------------
+ *   SAM E70 FUNCTION ATA6561  SHARED
+ *   PIN              FUNCTION FUNCTIONALITY
+ *   ------- -------- -------- -------------
+ *   PC14    CANTX1   TXD      Shield
+ *   PC12    CANRX1   RXD      Shield
+ *   ------- -------- -------- -------------
+ */
+
+#define GPIO_MCAN1_TX         GPIO_MCAN1_TX_2
+#define GPIO_MCAN1_RX         GPIO_MCAN1_RX_2
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  sam_lcdclear
+ *
+ * Description:
+ *   This is a non-standard LCD interface just for the SAM4e-EK board.  Because
+ *   of the various rotations, clearing the display in the normal way by writing a
+ *   sequences of runs that covers the entire display can be very slow.  Here the
+ *   display is cleared by simply setting all GRAM memory to the specified color.
+ *
+ ************************************************************************************/
+
+void sam_lcdclear(uint16_t color);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __CONFIGS_SAME70_XPLAINED_INCLUDE_BOARD_H */
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
+ */
+
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
@@ -0,0 +1,161 @@
+############################################################################
+# configs/same70-xplained/nsh/Make.defs
+#
+#   Copyright (C) 2015 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 ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES   = -finstrument-functions \
+                           -ffixed-r10
+endif
+
+ifeq ($(CONFIG_ARMV7M_DTCM),y)
+  LDSCRIPT = flash-dtcm.ld
+else
+  LDSCRIPT = ld.script
+endif
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+  MKDEP = $(TOPDIR)/tools/mkwindeps.sh
+  ARCHINCLUDES = -I. -isystem "${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
+  # 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
+
+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
+
+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}
+
+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
+
+ifneq ($(CONFIG_DEBUG_NOOPT),y)
+  ARCHOPTIMIZATION += $(MAXOPTIMIZATION)
+endif
+
+ARCHCFLAGS = -fno-builtin
+ARCHCFLAGS += -std=gnu99
+
+ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -fno-strict-aliasing
+ARCHWARNINGS += -Wno-sign-compare \
+    -Wextra \
+    -Wdouble-promotion \
+    -Wshadow \
+    -Wfloat-equal \
+    -Wframe-larger-than=1024 \
+    -Wpointer-arith \
+    -Wlogical-op \
+    -Wmissing-declarations \
+    -Wpacked \
+    -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+ARCHCWARNINGS = $(ARCHWARNINGS) \
+    -Wbad-function-cast \
+    -Wstrict-prototypes \
+    -Wold-style-declaration \
+    -Wmissing-parameter-type \
+    -Wmissing-prototypes \
+    -Wnested-externs
+ARCHWARNINGSXX = -Wall -Wshadow -Wundef
+ARCHWARNINGSXX += $(ARCHWARNINGS) \
+    -Wno-psabi
+ARCHDEFINES =
+ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
+
+# This seems to be the only way to add linker flags
+
+EXTRA_LIBS += --warn-common \
+    --gc-sections
+
+CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+ASMEXT = .S
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+ifneq ($(CROSSDEV),arm-nuttx-elf-)
+  LDFLAGS += -nostartfiles -nodefaultlibs
+endif
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  LDFLAGS += -g
+endif
+
+
+HOSTCC = gcc
+HOSTINCLUDES = -I.
+HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -g -pipe
+HOSTLDFLAGS =
@@ -0,0 +1,80 @@
+#!/bin/bash
+# configs/samv7-xult/nsh/Make.defs
+#
+#   Copyright (C) 2015 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="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the Atmel GCC
+# toolchain under Windows.  You will also have to edit this if you install
+# this toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Atmel/Atmel Toolchain/ARM GCC/Native/4.7.3.99/arm-gnu-toolchain/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+# export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+
+# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
+# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2015q2/bin"
+
+# This is the path to the location where I installed the devkitARM toolchain
+# You can get this free toolchain from http://devkitpro.org/ or http://sourceforge.net/projects/devkitpro/
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/devkitARM/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+# export TOOLCHAIN_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+
+# The same70-xplained/tools directory
+export TOOL_DIR="${WD}/configs/same70-xplained/tools"
+
+# Add the path to the toolchain and tools directory to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:${TOOL_DIR}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
@@ -0,0 +1,122 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-dtcm.ld
+ *
+ *   Copyright (C) 2015 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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0400:0000 address range (Assuming that ITCM is not enable).
+ *
+ * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM.  If DTCM is
+ * disabled, then the accesses will actually occur on the AHB bus.
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20000000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		*(.init_array .init_array.*)
+		_einit = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,119 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-sram.ld
+ *
+ *   Copyright (C) 2015 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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0400:0000 address range (Assuming that ITCM is not enable).
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		*(.init_array .init_array.*)
+		_einit = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,129 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/gnu-elf.ld
+ *
+ *   Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+SECTIONS
+{
+  .text 0x00000000 :
+    {
+      _stext = . ;
+      *(.text)
+      *(.text.*)
+      *(.gnu.warning)
+      *(.stub)
+      *(.glue_7)
+      *(.glue_7t)
+      *(.jcr)
+
+      /* C++ support:  The .init and .fini sections contain specific logic
+       * to manage static constructors and destructors.
+       */
+
+      *(.gnu.linkonce.t.*)
+      *(.init)             /* Old ABI */
+      *(.fini)             /* Old ABI */
+      _etext = . ;
+    }
+
+  .rodata :
+    {
+      _srodata = . ;
+      *(.rodata)
+      *(.rodata1)
+      *(.rodata.*)
+      *(.gnu.linkonce.r*)
+      _erodata = . ;
+    }
+
+  .data :
+    {
+      _sdata = . ;
+      *(.data)
+      *(.data1)
+      *(.data.*)
+      *(.gnu.linkonce.d*)
+      _edata = . ;
+    }
+
+  /* C++ support. For each global and static local C++ object,
+   * GCC creates a small subroutine to construct the object. Pointers
+   * to these routines (not the routines themselves) are stored as
+   * simple, linear arrays in the .ctors section of the object file.
+   * Similarly, pointers to global/static destructor routines are
+   * stored in .dtors.
+   */
+
+  .ctors :
+    {
+      _sctors = . ;
+      *(.ctors)       /* Old ABI:  Unallocated */
+      *(.init_array)  /* New ABI:  Allocated */
+      _edtors = . ;
+    }
+
+  .dtors :
+    {
+      _sdtors = . ;
+      *(.dtors)       /* Old ABI:  Unallocated */
+      *(.fini_array)  /* New ABI:  Allocated */
+      _edtors = . ;
+    }
+
+  .bss :
+    {
+      _sbss = . ;
+      *(.bss)
+      *(.bss.*)
+      *(.sbss)
+      *(.sbss.*)
+      *(.gnu.linkonce.b*)
+      *(COMMON)
+      _ebss = . ;
+    }
+
+    /* 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) }
+}
@@ -0,0 +1,111 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/kernel-space.ld
+ *
+ *   Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > kflash
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        *(.init_array .init_array.*)
+        _einit = ABSOLUTE(.);
+    } > kflash
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > kflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > kflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > ksram AT > kflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        _ebss = ABSOLUTE(.);
+    } > ksram
+
+    /* 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) }
+}
@@ -0,0 +1,144 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/flash-sram.ld
+ *
+ *   Copyright (C) 2015 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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0400:0000 address range (Assuming that ITCM is not enable).
+ */
+
+MEMORY
+{
+	flash (rx) : ORIGIN = 0x00400000, LENGTH = 2048K
+	sram (rwx) : ORIGIN = 0x20400000, LENGTH = 384K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/*
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/memory.ld
+ *
+ *   Copyright (C) 2015 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 SAME70Q21 has 2048Kb of FLASH beginning at address 0x0040:0000 and
+ * 384Kb of SRAM beginining at 0x2040:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0400:0000 address range.
+ *
+ * NOTE: that the DTCM address of 0x2000:0000 is used for SRAM.  If DTCM is
+ * disabled, then the accesses will actually occur on the AHB bus.
+ *
+ * The user space partition will be spanned with a single region of size
+ * 2**n bytes.  The alignment of the user-space region must be the same.
+ * As a consequence, as the user-space increases in size, the alignment
+ * requirement also increases.  The sizes below give the largest possible
+ * user address spaces (but leave far too much for the OS).
+ *
+ * The solution to this wasted memory is to (1) use more than one region to
+ * span the user spaces, or (2) poke holes in a larger region to trim it
+ * to fit better.
+ *
+ * A detailed memory map for the 384KB SRAM region is as follows:
+ *
+ *   0x20000 0000:  Kernel .data region.  Typical size: 0.1KB
+ *   ------- ----   Kernel .bss  region.  Typical size: 1.8KB
+ *   0x20000 0800:  Kernel IDLE thread stack (approximate).  Size is
+ *                  determined by CONFIG_IDLETHREAD_STACKSIZE and
+ *                  adjustments for alignment.  Typical is 1KB.
+ *   ------- ----   Padded to 4KB
+ *   0x20002 0000:  User .data region.  Size is variable.
+ *   ------- ----   User .bss region  Size is variable.
+ *   0x20000 2000:  Beginning of kernel heap.  Size determined by
+ *                  CONFIG_MM_KERNEL_HEAPSIZE.
+ *   ------- ----   Beginning of user heap.  Can vary with other settings.
+ *   0x20004 0000:  End+1 of mappable internal SRAM
+ */
+
+MEMORY
+{
+    /* 2048KiB of internal FLASH */
+
+    kflash (rx)      : ORIGIN = 0x00400000, LENGTH = 1M
+    uflash (rx)      : ORIGIN = 0x00500000, LENGTH = 1M
+
+    /* 384Kb of internal SRAM */
+
+    ksram (rwx)      : ORIGIN = 0x20000000, LENGTH = 128K
+    usram (rwx)      : ORIGIN = 0x20020000, LENGTH = 128K
+    xsram (rwx)      : ORIGIN = 0x20040000, LENGTH = 128K
+}
@@ -0,0 +1,126 @@
+/****************************************************************************
+ * configs/same70-xplained/scripts/user-space.ld
+ *
+ *   Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+/* Make sure that the critical memory management functions are in user-space.
+ * the user heap memory manager will reside in user-space but be usable both
+ * by kernel- and user-space code
+ */
+
+EXTERN(umm_initialize)
+EXTERN(umm_addregion)
+EXTERN(umm_trysemaphore)
+EXTERN(umm_givesemaphore)
+
+EXTERN(malloc)
+EXTERN(realloc)
+EXTERN(zalloc)
+EXTERN(free)
+
+OUTPUT_ARCH(arm)
+SECTIONS
+{
+    .userspace : {
+        *(.userspace)
+    } > uflash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > uflash
+
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        *(.init_array .init_array.*)
+        _einit = ABSOLUTE(.);
+    } > uflash
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > uflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > uflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > usram AT > uflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        _ebss = ABSOLUTE(.);
+    } > usram
+
+    /* 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) }
+}
@@ -0,0 +1,83 @@
+############################################################################
+# configs/px4fmu-v2_upstream/src/Makefile
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS += -I$(TOPDIR)/sched
+
+ASRCS =
+AOBJS = $(ASRCS:.S=$(OBJEXT))
+
+CSRCS = empty.c
+COBJS = $(CSRCS:.c=$(OBJEXT))
+
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
@@ -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.
+ */
@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   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_identity.c
+ * Implementation of SamV7 based Board identity API
+ */
+
+#include <px4_config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <chip/sam_memorymap.h>
+#include <chip/sam_eefc.h>
+
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+const uint32_t DUMMY_SIM_UIDH[4] = {0x12345678, 0x12345678, 0x12345678, 0x12345678 };
+
+void board_get_uuid(uuid_byte_t uuid_bytes)
+{
+	uint32_t *chip_uuid = (uint32_t *) DUMMY_SIM_UIDH;
+	uint32_t  *uuid_words = (uint32_t *) uuid_bytes;
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		*uuid_words++ = SWAP_UINT32(chip_uuid[i]);
+	}
+}
+
+void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	board_get_uuid(*(uuid_byte_t *) uuid_words);
+}
+
+int board_get_uuid32_formated(char *format_buffer, int size,
+			      const char *format,
+			      const char *seperator)
+{
+	uuid_uint32_t uuid;
+	board_get_uuid32(uuid);
+
+	int offset = 0;
+	int sep_size = seperator ? strlen(seperator) : 0;
+
+	for (int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - ((i * 2 * sizeof(uint32_t)) + 1), format, uuid[i]);
+
+		if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
+			strcat(&format_buffer[offset], seperator);
+			offset += sep_size;
+		}
+	}
+
+	return 0;
+}
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	board_get_uuid(* (uuid_byte_t *) mfgid);
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
+
+int board_get_mfguid_formated(char *format_buffer, int size)
+{
+	mfguid_t mfguid;
+
+	board_get_mfguid(mfguid);
+	int offset  = 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
+	}
+
+	return offset;
+}
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   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_mcu_version.c
+ * Implementation of SamV7 based SoC version API
+ */
+
+#include <px4_config.h>
+#include <px4_defines.h>
+
+/* Define any issues with the Silicon as lines separated by \n
+ * omitting the last \n
+ */
+#define ERRATA "This code is not finished yet!"
+
+
+int board_mcu_version(char *rev, const char **revstr, const char **errata)
+{
+	*rev = '?';
+	*revstr = "SAM V??";
+
+	if (errata) {
+		*errata = ERRATA;
+	}
+
+	return 0;
+}
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   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 SamV7 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)
+{
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+	board_reset(status);
+
+	while (1);
+}
@@ -0,0 +1,52 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__boards__px4-same70xplained-v1
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		../common/samv7/board_reset.c
+		../common/samv7/board_identity.c
+		../common/samv7/board_mcu_version.c
+		../common/board_crashdump.c
+		../common/board_dma_alloc.c
+		px4same70xplained_can.c
+		px4same70xplained_init.c
+		px4same70xplained_timer_config.c
+		px4same70xplained_spi.c
+		px4same70xplained_usb.c
+		px4same70xplained_led.c
+		px4same70xplained_sdram.c
+	DEPENDS
+		platforms__common
+	)
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   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_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+	{
+		.base = STM32_TIM1_BASE,
+		.clock_register = STM32_RCC_APB2ENR,
+		.clock_bit = RCC_APB2ENR_TIM1EN,
+		.clock_freq = STM32_APB2_TIM1_CLKIN,
+		.first_channel_index = 0,
+		.last_channel_index = 3,
+		.handler = io_timer_handler0,
+		.vectorno =  STM32_IRQ_TIM1CC,
+
+	},
+	{
+		.base = STM32_TIM4_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM4EN,
+		.clock_freq = STM32_APB1_TIM4_CLKIN,
+		.first_channel_index = 4,
+		.last_channel_index = 5,
+		.handler = io_timer_handler1,
+		.vectorno =  STM32_IRQ_TIM4
+	}
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	{
+		.gpio_out = GPIO_TIM1_CH4OUT,
+		.gpio_in  = GPIO_TIM1_CH4IN,
+		.timer_index = 0,
+		.timer_channel = 4,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
+	},
+	{
+		.gpio_out = GPIO_TIM1_CH3OUT,
+		.gpio_in = GPIO_TIM1_CH3IN,
+		.timer_index = 0,
+		.timer_channel = 3,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+	},
+	{
+		.gpio_out = GPIO_TIM1_CH2OUT,
+		.gpio_in = GPIO_TIM1_CH2IN,
+		.timer_index = 0,
+		.timer_channel = 2,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+	},
+	{
+		.gpio_out = GPIO_TIM1_CH1OUT,
+		.gpio_in = GPIO_TIM1_CH1IN,
+		.timer_index = 0,
+		.timer_channel = 1,
+		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
+		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+	},
+	{
+		.gpio_out = GPIO_TIM4_CH2OUT,
+		.gpio_in = GPIO_TIM4_CH2IN,
+		.timer_index = 1,
+		.timer_channel = 2,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
+	},
+	{
+		.gpio_out = GPIO_TIM4_CH3OUT,
+		.gpio_in = GPIO_TIM4_CH3IN,
+		.timer_index = 1,
+		.timer_channel = 3,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+	}
+};
@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016-2017 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 px4same70xplained_can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+#include "board_config.h"
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "chip.h"
+#include "sam_mcan.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_SAMV7_MCAN0
+#endif
+
+#ifdef CONFIG_SAMV7_MCAN0
+#  define CAN_PORT 0
+#else
+#  define CAN_PORT 1
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing CAN */
+
+#ifdef CONFIG_DEBUG_CAN
+#  define candbg    dbg
+#  define canvdbg   vdbg
+#  define canlldbg  lldbg
+#  define canllvdbg llvdbg
+#else
+#  define candbg(x...)
+#  define canvdbg(x...)
+#  define canlldbg(x...)
+#  define canllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All SAM architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int board_can_initialize(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call sam_mcan_initialize() to get an instance of the CAN interface */
+
+		can = sam_mcan_initialize(CAN_PORT);
+
+		if (can == NULL) {
+			candbg("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			candbg("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,374 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 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 px4same70xplained_init.c
+ *
+ * PX4_SAME70XPLAINED_V1 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 <px4_tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include "platform/cxxinitialize.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 <sam_lowputc.h>
+#include <sam_gpio.h>
+#include <sam_spi.h>
+#include <sam_hsmci.h>
+#include <sam_pck.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+#include <systemlib/cpuload.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <systemlib/hardfault_log.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) syslog(LOG_NOTICE, __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: sam_boardinitialize
+ *
+ * Description:
+ *   All SAMV7 architectures must provide the following entry point.  This
+ *   entry point is called early in the initialization -- after clocking and
+ *   memory have been configured but before caches have been enabled and
+ *   before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+sam_boardinitialize(void)
+{
+#ifdef CONFIG_SCHED_TICKLESS
+	uint32_t frequency;
+	uint32_t actual;
+
+	/* If Tickless mode is selected then enabled PCK6 as a possible clock
+	 * source for the timer/counters.  The ideal frequency could be:
+	 *
+	 *  frequency = 1,000,000 / CONFIG_USEC_PER_TICK
+	 *
+	 * The main crystal is selected as the frequency source.  The maximum
+	 * prescaler value is 256 so the minimum frequency is 46,875 Hz which
+	 * corresponds to a period of 21.3 microseconds.  A value of
+	 * CONFIG_USEC_PER_TICK=20, or 50KHz, would give an exact solution with
+	 * a divider of 240.
+	 */
+
+	frequency = USEC_PER_SEC / CONFIG_USEC_PER_TICK;
+	DEBUGASSERT(frequency >= (BOARD_MAINOSC_FREQUENCY / 256));
+
+	actual = sam_pck_configure(PCK6, PCKSRC_MAINCK, frequency);
+
+	/* We expect to achieve this frequency exactly */
+
+	DEBUGASSERT(actual == frequency);
+	UNUSED(actual);
+
+	/* Enable PCK6 */
+
+	(void)sam_pck_enable(PCK6, true);
+#endif
+
+	/* Lets bring the clock out for a sanity check*/
+#ifdef GPIO_PCK1
+	sam_configgpio(GPIO_PCK1);
+	volatile uint32_t actual = sam_pck_configure(PCK1, PCKSRC_MCK, BOARD_MCK_FREQUENCY / 2); // Out 1/2 Clock
+	UNUSED(actual);
+
+	(void)sam_pck_enable(PCK1, true);
+#endif
+#ifdef CONFIG_SAMV7_SDRAMC
+	/* Configure SDRAM if it has been enabled in the NuttX configuration.
+	 * Here we assume, of course, that we are not running out SDRAM.
+	 */
+
+	sam_sdram_config();
+#endif
+
+#ifdef CONFIG_SAMV7_SPI
+
+	/* configure SPI interfaces */
+
+	board_spi_initialize();
+#endif
+
+#ifdef CONFIG_ARCH_LEDS
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+#endif
+}
+
+/****************************************************************************
+ * 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.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi0;
+#if defined(CONFIG_SAMV7_SPI1_MASTER)
+static struct spi_dev_s *spi1;
+#endif
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+
+	/* configure ADC pins */
+
+	/* configure power supply control/sense pins */
+
+#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();
+
+	param_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
+
+
+	/* initial LED state */
+	drv_led_start();
+	led_on(LED_AMBER);
+	led_off(LED_AMBER);
+
+	/* Configure SPI-based devices */
+
+	spi0 = sam_spibus_initialize(0);
+
+	if (!spi0) {
+		message("[boot] FAILED to initialize SPI port 0\n");
+		board_autoled_on(LED_AMBER);
+		return -ENODEV;
+	}
+
+	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi0, 10000000);
+	SPI_SETBITS(spi0, 8);
+	SPI_SETMODE(spi0, SPIDEV_MODE3);
+	SPI_SELECT(spi0, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi0, PX4_SPIDEV_ACCEL_MAG, false);
+	SPI_SELECT(spi0, PX4_SPIDEV_BARO, false);
+	SPI_SELECT(spi0, PX4_SPIDEV_MPU, false);
+	up_udelay(20);
+
+#if defined(CONFIG_SAMV7_SPI1_MASTER)
+	spi1 = sam_spibus_initialize(1);
+
+	/* Default SPI4 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_EXT0, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_EXT1, false);
+#endif
+
+#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdio) {
+		message("[boot] Failed to initialize SDIO slot %d\n",
+			CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+	if (ret != OK) {
+		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+#endif
+
+	return OK;
+}
+
+#if defined(CONFIG_BOARDCTL_RESET)
+int board_reset(int status)
+{
+	up_systemreset();
+	return 0;
+}
+#endif
+
+//FIXME: Stubs  -----v
+/* g_rtc_enabled is set true after the RTC has successfully initialized */
+
+volatile bool g_rtc_enabled = false;
+
+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;
+}
+
+int up_rtc_initialize(void)
+{
+	return 0;
+}
+
+int up_rtc_settime(FAR const struct timespec *tp)
+{
+	return 0;
+}
+//FIXME: Stubs  -----^
@@ -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 px4same70xplained_led.c
+ *
+ * PX4_SAME70XPLAINED_V1 LED backend.
+ */
+
+#include <px4_config.h>
+
+#include <stdbool.h>
+
+#include "sam_gpio.h"
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+#include "board_config.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
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	sam_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+	if (led == 1) {
+		/* Pull down to switch on */
+		sam_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void led_off(int led)
+{
+	if (led == 1) {
+		/* Pull up to switch off */
+		sam_gpiowrite(GPIO_LED1, true);
+	}
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (led == 1) {
+		if (sam_gpioread(GPIO_LED1)) {
+			sam_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			sam_gpiowrite(GPIO_LED1, true);
+		}
+	}
+}
+
+#if defined(CONFIG_ARCH_LEDS)
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (led == 1 || led == 3) {
+		sam_gpiowrite(GPIO_LED1, false); /* Low illuminates */
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (led == 3) {
+		sam_gpiowrite(GPIO_LED1, true);  /* High extinguishes */
+	}
+}
+#endif
@@ -0,0 +1,313 @@
+/****************************************************************************
+ * configs/same70-xplained/src/sam_sdram.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Most of this file derives from Atmel sample code for the SAME70-XPLD
+ * board.  That sample code has licensing that is compatible with the NuttX
+ * modified BSD license:
+ *
+ *   Copyright (c) 2012, Atmel Corporation
+ *   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 NuttX nor Atmel 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 <debug.h>
+
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+
+#include "sam_periphclks.h"
+#include "chip/sam_memorymap.h"
+#include "chip/sam_pinmap.h"
+#include "chip/sam_pmc.h"
+#include "chip/sam_matrix.h"
+#include "chip/sam_sdramc.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_SAMV7_SDRAMC
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define SDRAM_BA0 (1 << 20)
+#define SDRAM_BA1 (1 << 21)
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sam_sdram_config
+ *
+ * Description:
+ *   Configures the on-board SDRAM.  SAME70 Xplained features one external
+ *   IS42S16100E-7BLI, 512Kx16x2, 10ns, SDRAM. SDRAM0 is connected to chip
+ *   select NCS1.
+ *
+ *  Input Parameters:
+ *     None
+ *
+ *  Assumptions:
+ *    This test runs early in initialization before I- and D-caches are
+ *    enabled.
+ *
+ *    NOTE: Since the delay loop is calibrate with caches in enabled, the
+ *    calls to up_udelay() are wrong ty orders of magnitude.
+ *
+ ****************************************************************************/
+
+void sam_sdram_config(void)
+{
+	volatile uint8_t *psdram = (uint8_t *)SAM_SDRAMCS_BASE;
+	uint32_t regval;
+	int i;
+
+	/* Configure SDRAM pins */
+
+	sam_configgpio(GPIO_SMC_D0);
+	sam_configgpio(GPIO_SMC_D1);
+	sam_configgpio(GPIO_SMC_D2);
+	sam_configgpio(GPIO_SMC_D3);
+	sam_configgpio(GPIO_SMC_D4);
+	sam_configgpio(GPIO_SMC_D5);
+	sam_configgpio(GPIO_SMC_D6);
+	sam_configgpio(GPIO_SMC_D7);
+	sam_configgpio(GPIO_SMC_D8);
+	sam_configgpio(GPIO_SMC_D9);
+	sam_configgpio(GPIO_SMC_D10);
+	sam_configgpio(GPIO_SMC_D11);
+	sam_configgpio(GPIO_SMC_D12);
+	sam_configgpio(GPIO_SMC_D13);
+	sam_configgpio(GPIO_SMC_D14);
+	sam_configgpio(GPIO_SMC_D15);
+
+	/*   SAME70          SDRAM
+	 *   --------------- -----------
+	 *   PC20 A2         A0
+	 *   PC21 A3         A1
+	 *   PC22 A4         A2
+	 *   PC23 A5         A3
+	 *   PC24 A6         A4
+	 *   PC25 A7         A5
+	 *   PC26 A8         A6
+	 *   PC27 A9         A7
+	 *   PC28 A10        A8
+	 *   PC29 A11        A9
+	 *   PD13 SDA10      A10
+	 *   PA20 BA0        A11
+	 *   PD17 CAS        nCAS
+	 *   PD14 SDCKE      CKE
+	 *   PD23 SDCK       CLK
+	 *   PC15 SDCS       nCS
+	 *   PC18 A0/NBS0    LDQM
+	 *   PD16 RAS        nRAS
+	 *   PD15 NWR1/NBS1  UDQM
+	 *   PD29 SDWE       nWE
+	 */
+
+	sam_configgpio(GPIO_SMC_A2);        /* PC20 A2        -> A0 */
+	sam_configgpio(GPIO_SMC_A3);        /* PC21 A3        -> A1 */
+	sam_configgpio(GPIO_SMC_A4);        /* PC22 A4        -> A2 */
+	sam_configgpio(GPIO_SMC_A5);        /* PC23 A5        -> A3 */
+	sam_configgpio(GPIO_SMC_A6);        /* PC24 A6        -> A4 */
+	sam_configgpio(GPIO_SMC_A7);        /* PC25 A7        -> A5 */
+	sam_configgpio(GPIO_SMC_A8);        /* PC26 A8        -> A6 */
+	sam_configgpio(GPIO_SMC_A9);        /* PC27 A9        -> A7 */
+	sam_configgpio(GPIO_SMC_A10);       /* PC28 A10       -> A8 */
+	sam_configgpio(GPIO_SMC_A11);       /* PC29 A11       -> A9 */
+	sam_configgpio(GPIO_SDRAMC_A10_2);  /* PD13 SDA10     -> A10 */
+	sam_configgpio(GPIO_SDRAMC_BA0);    /* PA20 BA0       -> A11 */
+
+	sam_configgpio(GPIO_SDRAMC_CKE);    /* PD14 SDCKE     -> CKE */
+	sam_configgpio(GPIO_SDRAMC_CK);     /* PD23 SDCK      -> CLK */
+	sam_configgpio(GPIO_SDRAMC_CS_1);   /* PC15 SDCS      -> nCS */
+	sam_configgpio(GPIO_SDRAMC_RAS);    /* PD16 RAS       -> nRAS */
+	sam_configgpio(GPIO_SDRAMC_CAS);    /* PD17 CAS       -> nCAS */
+	sam_configgpio(GPIO_SDRAMC_WE);     /* PD29 SDWE      -> nWE */
+	sam_configgpio(GPIO_SMC_NBS0);      /* PC18 A0/NBS0   -> LDQM */
+	sam_configgpio(GPIO_SMC_NBS1);      /* PD15 NWR1/NBS1 -> UDQM */
+
+	/* Enable the SDRAMC peripheral */
+
+	sam_sdramc_enableclk();
+
+	regval  = getreg32(SAM_MATRIX_CCFG_SMCNFCS);
+	regval |= MATRIX_CCFG_SMCNFCS_SDRAMEN;
+	putreg32(regval, SAM_MATRIX_CCFG_SMCNFCS);
+
+	/* 1. SDRAM features must be set in the configuration register:
+	 *    asynchronous timings (TRC, TRAS, etc.), number of columns, rows, CAS
+	 *    latency, and the data bus width.
+	 *
+	 *    SDRAMC_CR_NC_COL8          8 column bits
+	 *    SDRAMC_CR_NR_ROW11         1 row bits
+	 *    SDRAMC_CR_NB_BANK2         2 banks
+	 *    SDRAMC_CR_CAS_LATENCY3     3 cycle CAS latency
+	 *    SDRAMC_CR_DBW             16 bit
+	 *    SDRAMC_CR_TWR(4)           4 cycle write recovery delay
+	 *    SDRAMC_CR_TRCTRFC(11)     63 ns min
+	 *    SDRAMC_CR_TRP(5)          21 ns min Command period (PRE to ACT)
+	 *    SDRAMC_CR_TRCD(5)         21 ns min Active Command to read/Write Command delay time
+	 *    SDRAMC_CR_TRAS(8)         42 ns min Command period (ACT to PRE)
+	 *    SDRAMC_CR_TXSR(13)        70 ns min Exit self-refresh to active time
+	 */
+
+	regval = SDRAMC_CR_NC_COL8       |  /* 8 column bits */
+		 SDRAMC_CR_NR_ROW11      |  /* 11 row bits */
+		 SDRAMC_CR_NB_BANK2      |  /* 2 banks */
+		 SDRAMC_CR_CAS_LATENCY3  |  /* 3 cycle CAS latency */
+		 SDRAMC_CR_DBW           |  /* 16 bit */
+		 SDRAMC_CR_TWR(4)        |  /* 4 cycle write recovery delay */
+		 SDRAMC_CR_TRCTRFC(11)   |  /* 63 ns min */
+		 SDRAMC_CR_TRP(5)        |  /* 21 ns min Command period (PRE to ACT) */
+		 SDRAMC_CR_TRCD(5)       |  /* 21 ns min Active Command to read/Write Command delay time */
+		 SDRAMC_CR_TRAS(8)       |  /* 42 ns min Command period (ACT to PRE) */
+		 SDRAMC_CR_TXSR(13);        /* 70 ns min Exit self-refresh to active time */
+
+	putreg32(regval, SAM_SDRAMC_CR);
+
+	/* 2. For mobile SDRAM, temperature-compensated self refresh (TCSR), drive
+	 *    strength (DS) and partial array self refresh (PASR) must be set in
+	 *    the Low Power Register.
+	 */
+
+	putreg32(0, SAM_SDRAMC_LPR);
+
+	/* 3. The SDRAM memory type must be set in the Memory Device Register.*/
+
+	putreg32(SDRAMC_MDR_SDRAM, SAM_SDRAMC_MDR);
+
+	/* 4. A minimum pause of 200 usec is provided to precede any signal toggle.*/
+
+	up_udelay(200);
+
+	/* 5. A NOP command is issued to the SDRAM devices. The application must
+	 *    set Mode to 1 in the Mode Register and perform a write access to any
+	 *    SDRAM address.
+	 */
+
+	putreg32(SDRAMC_MR_MODE_NOP, SAM_SDRAMC_MR);
+	*psdram = 0;
+	up_udelay(200);
+
+	/* 6. An All Banks Precharge command is issued to the SDRAM devices. The
+	 *    application must set Mode to 2 in the Mode Register and perform a
+	 *    write access to any SDRAM address.
+	 */
+
+	putreg32(SDRAMC_MR_MODE_PRECHARGE, SAM_SDRAMC_MR);
+	*psdram = 0;
+	up_udelay(200);
+
+	/* 7. Eight auto-refresh (CBR) cycles are provided. The application must
+	 *    set the Mode to 4 in the Mode Register and perform a write access to
+	 *    any SDRAM location eight times.
+	 */
+
+	for (i = 0 ; i < 8; i++) {
+		putreg32(SDRAMC_MR_MODE_AUTOREFRESH, SAM_SDRAMC_MR);
+		*psdram = 0;
+	}
+
+	up_udelay(200);
+
+	/* 8. A Mode Register set (MRS) cycle is issued to program the parameters
+	 *    of the SDRAM devices, in particular CAS latency and burst length.
+	 *    The application must set Mode to 3 in the Mode Register and perform
+	 *    a write access to the SDRAM. The write address must be chosen so
+	 *    that BA[1:0] are set to 0. For example, with a 16-bit 128 MB SDRAM
+	 *    (12 rows, 9 columns, 4 banks) bank address, the SDRAM write access
+	 *    should be done at the address 0x70000000.
+	  */
+
+	putreg32(SDRAMC_MR_MODE_LOADMODE, SAM_SDRAMC_MR);
+	*psdram = 0;
+	up_udelay(200);
+
+	/* 9. For mobile SDRAM initialization, an Extended Mode Register set
+	 *    (EMRS) cycle is issued to program the SDRAM parameters (TCSR, PASR,
+	 *     DS). The application must set Mode to 5 in the Mode Register and
+	 *     perform a write access to the SDRAM. The write address must be
+	 *     chosen so that BA[1] or BA[0] are set to 1.
+	 *
+	 *     For example, with a 16-bit 128 MB SDRAM, (12 rows, 9 columns, 4
+	 *     banks) bank address the SDRAM write access should be done at the
+	 *     address 0x70800000 or 0x70400000.
+	 */
+
+	//putreg32(SDRAMC_MR_MODE_EXTLOADMODE, SDRAMC_MR_MODE_EXT_LOAD_MODEREG);
+	// *((uint8_t *)(psdram + SDRAM_BA0)) = 0;
+
+	/* 10. The application must go into Normal Mode, setting Mode to 0 in the
+	 *     Mode Register and performing a write access at any location in the
+	 *     SDRAM.
+	 */
+
+	putreg32(SDRAMC_MR_MODE_NORMAL, SAM_SDRAMC_MR);
+	*psdram = 0;
+	up_udelay(200);
+
+	/* 11. Write the refresh rate into the count field in the SDRAMC Refresh
+	 *     Timer register. (Refresh rate = delay between refresh cycles). The
+	 *     SDRAM device requires a refresh every 15.625 usec or 7.81 usec. With
+	 *     a 100 MHz frequency, the Refresh Timer Counter Register must be set
+	 *     with the value 1562(15.625 usec x 100 MHz) or 781(7.81 usec x 100
+	 *     MHz).
+	 *
+	 * For IS42S16100E, 2048 refresh cycle every 32ms, every 15.625 usec
+	 */
+
+	regval = (32 * (BOARD_MCK_FREQUENCY / 1000)) / 2048 ;
+	putreg32(regval, SAM_SDRAMC_TR);
+
+	regval  = getreg32(SAM_SDRAMC_CFR1);
+	regval |= SDRAMC_CFR1_UNAL;
+	putreg32(regval, SAM_SDRAMC_CFR1);
+
+	/* After initialization, the SDRAM devices are fully functional. */
+}
+
+#endif /* CONFIG_SAMV7_SDRAMC */
@@ -0,0 +1,241 @@
+/****************************************************************************
+ *
+ *   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 px4same70xplained_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include <up_arch.h>
+#include <chip.h>
+#include <sam_spi.h>
+#include <sam_gpio.h>
+#include "board_config.h"
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: boad_spi_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4_SAME70XPLAINED_V1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void board_spi_initialize(void)
+{
+#ifdef CONFIG_SAMV7_SPI0_MASTER
+	sam_configgpio(GPIO_SPI_CS_GYRO);
+	sam_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	sam_configgpio(GPIO_SPI_CS_BARO);
+	sam_configgpio(GPIO_SPI_CS_MPU);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	sam_configgpio(GPIO_EXTI_GYRO_DRDY);
+	sam_configgpio(GPIO_EXTI_MAG_DRDY);
+	sam_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	sam_configgpio(GPIO_EXTI_MPU_DRDY);
+#endif
+
+#ifdef CONFIG_SAMV7_SPI1_MASTER
+	sam_configgpio(GPIO_SPI_CS_EXT0);
+	sam_configgpio(GPIO_SPI_CS_EXT1);
+	sam_configgpio(GPIO_SPI_CS_EXT2);
+	sam_configgpio(GPIO_SPI_CS_EXT3);
+	sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+	sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+	sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+#endif
+}
+
+/****************************************************************************
+ * Name: sam_spi[0|1]select
+ *
+ * Description:
+ *   PIO chip select pins may be programmed by the board specific logic in
+ *   one of two different ways.  First, the pins may be programmed as SPI
+ *   peripherals.  In that case, the pins are completely controlled by the
+ *   SPI driver.  This method still needs to be provided, but it may be only
+ *   a stub.
+ *
+ *   An alternative way to program the PIO chip select pins is as a normal
+ *   PIO output.  In that case, the automatic control of the CS pins is
+ *   bypassed and this function must provide control of the chip select.
+ *   NOTE:  In this case, the PIO output pin does *not* have to be the
+ *   same as the NPCS pin normal associated with the chip select number.
+ *
+ * Input Parameters:
+ *   devid - Identifies the (logical) device
+ *   selected - TRUE:Select the device, FALSE:De-select the device
+ *
+ * Returned Values:
+ *   None
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SAMV7_SPI0_MASTER
+void sam_spi0select(uint32_t devid, bool selected)
+{
+	switch (devid) {
+	case PX4_SPIDEV_GYRO:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_ACCEL_MAG:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		sam_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_MPU:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		sam_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+		break;
+
+	default:
+		break;
+	}
+}
+#endif
+
+#ifdef CONFIG_SAMV7_SPI1_MASTER
+void sam_spi1select(uint32_t devid, bool selected)
+{
+	switch (devid) {
+	case PX4_SPIDEV_EXT0:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT1:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT2:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
+		sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT3:
+		/* Making sure the other peripherals are not selected */
+		sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		sam_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
+		break;
+
+	default:
+		break;
+
+	}
+}
+#endif
+
+/****************************************************************************
+ * Name: sam_spi[0|1]status
+ *
+ * Description:
+ *   Return status information associated with the SPI device.
+ *
+ * Input Parameters:
+ *   devid - Identifies the (logical) device
+ *
+ * Returned Values:
+ *   Bit-encoded SPI status (see include/nuttx/spi/spi.h.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SAMV7_SPI0_MASTER
+uint8_t sam_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+#ifdef CONFIG_SAMV7_SPI1_MASTER
+uint8_t sam_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   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 px4same70xplained_timer_config.c
+ *
+ * Configuration data for the sam7 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <chip.h>
+#include <sam_gpio.h>
+#include <sam_tc.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
+	{
+		.base = 0,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.clock_freq = 0,
+		.first_channel_index = 0,
+		.last_channel_index = 3,
+		.handler = io_timer_handler0,
+		.vectorno =  0,
+
+	},
+};
+
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	{
+		.gpio_out = 0,//GPIO_TIM1_CH4OUT,
+		.gpio_in  = 0,//GPIO_TIM1_CH4IN,
+		.timer_index = 0,
+		.timer_channel = 4,
+		.ccr_offset = 0,
+		.masks  = 0
+	},
+};
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   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 px4same70xplained_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 "sam_gpio.h"
+#include "sam_usbdev.h"
+#include "board_config.h"
+
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: board_usb_initialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4_SAME70XPLAINED_V1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void board_usb_initialize(void)
+{
+	/* Initialize the VBUS enable signal to HI output in any event so that, by
+	 * default, VBUS power is not provided at the USB connector.
+	 */
+
+	sam_configgpio(GPIO_VBUSON);
+}
+
+/***********************************************************************************
+ * Name:  sam_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the sam_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.
+ *
+ ************************************************************************************/
+
+void sam_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -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__samv7
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		drv_hrt.c
+		drv_io_timer.c
+		drv_pwm_servo.c
+		drv_input_capture.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__samv7__adc
+	MAIN adc
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		adc.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
@@ -0,0 +1,453 @@
+/****************************************************************************
+ *
+ *   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 adc.cpp
+ *
+ * Driver for the STM32 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 <arch/stm32/chip.h>
+#include <stm32.h>
+#include <stm32_gpio.h>
+
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+
+#include <uORB/topics/system_power.h>
+
+#if defined(ADC_CHANNELS)
+/*
+ * Register accessors.
+ * For now, no reason not to just use ADC1.
+ */
+#define REG(_reg)	(*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
+
+#define rSR		REG(STM32_ADC_SR_OFFSET)
+#define rCR1		REG(STM32_ADC_CR1_OFFSET)
+#define rCR2		REG(STM32_ADC_CR2_OFFSET)
+#define rSMPR1		REG(STM32_ADC_SMPR1_OFFSET)
+#define rSMPR2		REG(STM32_ADC_SMPR2_OFFSET)
+#define rJOFR1		REG(STM32_ADC_JOFR1_OFFSET)
+#define rJOFR2		REG(STM32_ADC_JOFR2_OFFSET)
+#define rJOFR3		REG(STM32_ADC_JOFR3_OFFSET)
+#define rJOFR4		REG(STM32_ADC_JOFR4_OFFSET)
+#define rHTR		REG(STM32_ADC_HTR_OFFSET)
+#define rLTR		REG(STM32_ADC_LTR_OFFSET)
+#define rSQR1		REG(STM32_ADC_SQR1_OFFSET)
+#define rSQR2		REG(STM32_ADC_SQR2_OFFSET)
+#define rSQR3		REG(STM32_ADC_SQR3_OFFSET)
+#define rJSQR		REG(STM32_ADC_JSQR_OFFSET)
+#define rJDR1		REG(STM32_ADC_JDR1_OFFSET)
+#define rJDR2		REG(STM32_ADC_JDR2_OFFSET)
+#define rJDR3		REG(STM32_ADC_JDR3_OFFSET)
+#define rJDR4		REG(STM32_ADC_JDR4_OFFSET)
+#define rDR		REG(STM32_ADC_DR_OFFSET)
+
+#ifdef STM32_ADC_CCR
+# define rCCR		REG(STM32_ADC_CCR_OFFSET)
+#endif
+
+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;
+
+	/** 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(void);
+};
+
+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)
+{
+	_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;
+		}
+	}
+
+
+	DEVICE_DEBUG("init done");
+
+	/* 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 = enter_critical_section();
+	memcpy(buffer, _samples, len);
+	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()
+{
+	/* 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_system_power();
+}
+
+void
+ADC::update_system_power(void)
+{
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+	system_power_s system_power;
+	system_power.timestamp = hrt_absolute_time();
+
+	system_power.voltage5V_v = 0;
+
+	for (unsigned i = 0; i < _channel_count; i++) {
+		if (_samples[i].am_channel == 4) {
+			// it is 2:1 scaled
+			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
+		}
+	}
+
+	// these are not ADC related, but it is convenient to
+	// publish these to the same topic
+	system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
+
+	// note that the valid pins are active low
+	system_power.brick_valid   = !stm32_gpioread(GPIO_VDD_BRICK_VALID);
+	system_power.servo_valid   = !stm32_gpioread(GPIO_VDD_SERVO_VALID);
+
+	// OC pins are active low
+	system_power.periph_5V_OC  = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC);
+	system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_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 // CONFIG_ARCH_BOARD_PX4FMU_V2
+}
+
+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
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# STM32 ADC driver
+#
+
+MODULE_COMMAND	= adc
+
+SRCS		= adc.cpp
+
+INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os
@@ -0,0 +1,396 @@
+/****************************************************************************
+ *
+ *   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.c
+ *
+ * Servo driver supporting input capture connected to STM32 timer blocks.
+ *
+ * Works with any of the 'generic' or 'advanced' STM32 timers that
+ * have input pins.
+ *
+ * Require an interrupt.
+ *
+ * The use of thie interface is mutually exclusive with the pwm
+ * because the same timers are used and there is a resource contention
+ * with the ARR as it sets the pwm rate and in this driver needs to match
+ * that of the hrt to back calculate the actual point in time the edge
+ * was detected.
+ *
+ * This  is accomplished by taking the difference between the current
+ * count rCNT snapped at the time interrupt and the rCCRx captured on the
+ * edge transition. This delta is applied to hrt time and the resulting
+ * value is the absolute system time the edge occured.
+ *
+ *
+ */
+
+#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_input_capture.h>
+#include "drv_io_timer.h"
+
+#include "drv_input_capture.h"
+
+#include <chip.h>
+#include <up_internal.h>
+#include <up_arch.h>
+
+static input_capture_stats_t channel_stats[MAX_TIMER_IO_CHANNELS];
+
+static struct channel_handler_entry {
+	capture_callback_t callback;
+	void			  *context;
+} channel_handlers[MAX_TIMER_IO_CHANNELS];
+
+
+
+static void input_capture_chan_handler(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)
+{
+}
+static void input_capture_bind(unsigned channel, capture_callback_t callback, void *context)
+{
+	irqstate_t flags = enter_critical_section();
+	channel_handlers[channel].callback = callback;
+	channel_handlers[channel].context = context;
+	leave_critical_section(flags);
+}
+
+static void input_capture_unbind(unsigned channel)
+{
+	input_capture_bind(channel, NULL, NULL);
+}
+
+int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
+			 capture_callback_t callback, void *context)
+{
+	if (filter > 200) {//GTIM_CCMR1_IC1F_MASK) {
+		return -EINVAL;
+	}
+
+	if (edge > Both) {
+		return -EINVAL;
+	}
+
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+		if (edge == Disabled) {
+
+			io_timer_set_enable(false, IOTimerChanMode_Capture, 1 << channel);
+			input_capture_unbind(channel);
+
+		} else {
+
+			if (-EBUSY == io_timer_is_channel_free(channel)) {
+				io_timer_free_channel(channel);
+			}
+
+			input_capture_bind(channel, callback, context);
+
+			rv = io_timer_channel_init(channel, IOTimerChanMode_Capture, input_capture_chan_handler, context);
+
+			if (rv != 0) {
+				return rv;
+			}
+
+			rv = up_input_capture_set_filter(channel, filter);
+
+			if (rv == 0) {
+				rv = up_input_capture_set_trigger(channel, edge);
+
+				if (rv == 0) {
+					rv = io_timer_set_enable(true, IOTimerChanMode_Capture, 1 << channel);
+				}
+			}
+		}
+	}
+
+	return rv;
+}
+
+
+
+int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			uint32_t timer = timer_io_channels[channel].timer_index;
+			rv = OK;
+
+			switch (timer_io_channels[channel].timer_channel) {
+
+			case 1:
+			case 2:
+			case 3:
+			case 4:
+			default:
+				UNUSED(timer);
+				rv = -EIO;
+			}
+		}
+	}
+
+	return rv;
+}
+int up_input_capture_set_filter(unsigned channel,  capture_filter_t filter)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			rv = OK;
+			uint32_t timer = timer_io_channels[channel].timer_index;
+
+			irqstate_t flags = enter_critical_section();
+
+			switch (timer_io_channels[channel].timer_channel) {
+
+			case 1:
+			case 2:
+			case 3:
+			case 4:
+			default:
+				UNUSED(timer);
+				rv = -EIO;
+			}
+
+			leave_critical_section(flags);
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_trigger(unsigned channel,  input_capture_edge *edge)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			rv = OK;
+
+			uint32_t timer = timer_io_channels[channel].timer_index;
+			uint32_t rvalue = 0;
+
+			switch (timer_io_channels[channel].timer_channel) {
+
+			case 1:
+			case 2:
+			case 3:
+			case 4:
+			default:
+				UNUSED(timer);
+				rv = -EIO;
+			}
+
+			if (rv == 0) {
+				switch (rvalue) {
+
+				case 0:
+					*edge = Rising;
+					break;
+
+				case 1:// (GTIM_CCER_CC1P | GTIM_CCER_CC1NP):
+					*edge = Both;
+					break;
+
+				case 2: //(GTIM_CCER_CC1P):
+					*edge = Falling;
+					break;
+
+				default:
+					rv = -EIO;
+				}
+			}
+		}
+	}
+
+	return rv;
+}
+int up_input_capture_set_trigger(unsigned channel,  input_capture_edge edge)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			uint16_t edge_bits = 0xffff;
+
+			switch (edge) {
+			case Disabled:
+				break;
+
+			case Rising:
+				edge_bits = 0;
+				break;
+
+			case Falling:
+				edge_bits = 0;// GTIM_CCER_CC1P;
+				break;
+
+			case Both:
+				edge_bits = 0;// GTIM_CCER_CC1P | GTIM_CCER_CC1NP;
+				break;
+
+			default:
+				return -EINVAL;;
+			}
+
+			uint32_t timer = timer_io_channels[channel].timer_index;
+			uint16_t rvalue;
+			rv = OK;
+
+			irqstate_t flags = enter_critical_section();
+
+			switch (timer_io_channels[channel].timer_channel) {
+
+			case 1:
+			case 2:
+			case 3:
+			case 4:
+			default:
+				UNUSED(rvalue);
+				UNUSED(timer);
+				UNUSED(edge_bits);
+				rv = -EIO;
+			}
+
+			leave_critical_section(flags);
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			irqstate_t flags = enter_critical_section();
+			*callback = channel_handlers[channel].callback;
+			*context = channel_handlers[channel].context;
+			leave_critical_section(flags);
+			rv = OK;
+		}
+	}
+
+	return rv;
+
+}
+
+int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+			input_capture_bind(channel, callback, context);
+			rv = 0;
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+		irqstate_t flags = enter_critical_section();
+		*stats =  channel_stats[channel];
+
+		if (clear) {
+			memset(&channel_stats[channel], 0, sizeof(*stats));
+		}
+
+		leave_critical_section(flags);
+	}
+
+	return rv;
+}
@@ -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>
@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012, 2017 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
+ *
+ * samv7-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			2
+#define MAX_TIMER_LED_CHANNELS	6
+
+#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,
+	IOTimerChanMode_OneShot = 4,
+	IOTimerChanMode_Trigger = 5,
+	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
+ *** Note that the clock_freq is set to the source in the clock tree that
+ *** feeds this specific timer. This can differs by Timer!
+ *** In PWM  mode the timer's prescaler is set to achieve a counter frequency of 1MHz
+ *** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz
+ *** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz
+ *** the resulting PSC will be one and the timer will count at it's clock frequency.
+ */
+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, void *arg);
+__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
+__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
+__EXPORT int io_timer_handler3(int irq, void *context, void *arg);
+
+__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_init_timer(unsigned timer);
+
+__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);
+__EXPORT extern void io_timer_trigger(void);
+
+__END_DECLS
@@ -0,0 +1,160 @@
+/****************************************************************************
+ *
+ *   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 drv_pwm_servo.c
+ *
+ * Servo driver supporting PWM servos connected to STM32 timer blocks.
+ *
+ * Works with samv7 timers
+ */
+
+#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 <chip.h>
+#include <up_internal.h>
+#include <up_arch.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;
+}
+
+void up_pwm_update(void)
+{
+	io_timer_trigger();
+}
+
+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);
+}
@@ -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>
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 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_trigger.h
+ *
+ * stm32-specific PWM output data.
+ */
+
+#pragma once
+
+#include <drivers/drv_pwm_trigger.h>
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__samv7__tone_alarm
+	MAIN tone_alarm
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		tone_alarm.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Tone alarm driver
+#
+
+MODULE_COMMAND	= tone_alarm
+
+SRCS		= tone_alarm.cpp
+
+INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os