Remove stm32 arch (#3586)

* remove stm32 arch * remove libopencm3 and luftboot --------- Co-authored-by: Fabien-B <Fabien-B@github.com>
2026-03-23 15:34:18 +08:00 · 2026-02-10 23:02:53 +01:00
parent ea2f5e029e
commit d464df9ee4
62 changed files with 5 additions and 10397 deletions
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,3 @@
-[submodule "sw/ext/libopencm3"]
-	path = sw/ext/libopencm3
-	url = https://github.com/libopencm3/libopencm3.git
-[submodule "sw/ext/luftboot"]
-	path = sw/ext/luftboot
-	url = https://github.com/paparazzi/luftboot.git
 [submodule "sw/ext/fatfs"]
 	path = sw/ext/fatfs
 	url = https://github.com/paparazzi/fatfs.git
--- a/conf/Makefile.stm32
+++ b/conf/Makefile.stm32
@@ -1,273 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-#   Copyright (C) 2009 Antoine Drouin
-#
-# This file is part of paparazzi.
-#
-# paparazzi is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-#
-# paparazzi is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with paparazzi; see the file COPYING.  If not, write to
-# the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA.
-#
-
-#
-# This is the common Makefile for the stm32-target.
-#
-
-SRC_ARCH = arch/stm32
-
-# Pretty Printer
-# Call with "make Q=''" to get full command display
-Q=@
-
-
-#
-# find compiler toolchain
-#
-include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
-
-ifeq ($(ARCH_L),f4)
-MCU   = cortex-m4
-else
-MCU   = cortex-m3
-endif
-OPT ?= s
-# Slightly bigger .elf files but gains the ability to decode macros
-DEBUG_FLAGS ?= -ggdb3
-
-CSTANDARD   ?= -std=gnu99
-CXXSTANDARD ?= -std=c++0x
-CINCS = $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/include
-
-# add syscalls and c++ new/delete operators
-$(TARGET).srcs += c++.cpp pprz_syscalls.c
-$(TARGET).CXXFLAGS += -fno-sized-deallocation
-
-# input files
-SRCS = $($(TARGET).srcs)
-#ASRC =
-
-# object files
-COBJ    = $(SRCS:%.c=$(OBJDIR)/%.o)
-OBJS    = $(COBJ:%.cpp=$(OBJDIR)/%.o)
-AOBJ    = $(ASRC:%.S=$(OBJDIR)/%.o)
-
-# linker script :
-#   if LDSCRIPT is defined in the airframe use that independantly of TARGET
-#   if not, and a TARGET.LDSCRIPT is defined, use that
-#   if not, use the default STM32f103re_flash.ld
-ifndef LDSCRIPT
-ifndef $(TARGET).LDSCRIPT
-$(warning Linker script for target "$(TARGET)" on board "$(BOARD)" not defined. Using stm32default.ld.)
-LDSCRIPT = $(SRC_ARCH)/stm32default.ld
-else
-LDSCRIPT = $($(TARGET).LDSCRIPT)
-$(info Using "$($(TARGET).LDSCRIPT)" as ldscript for target "$(TARGET)".)
-endif
-endif
-
-ifeq ($(ARCH_L), )
-FLOAT_ABI ?= -msoft-float
-else ifeq ($(ARCH_L),f4)
-ifndef HARD_FLOAT
-FLOAT_ABI ?= -msoft-float
-else
-FLOAT_ABI ?= -mfloat-abi=softfp -mfpu=fpv4-sp-d16
-endif
-endif
-
-ARCH_FLAGS ?= -mcpu=$(MCU) -mthumb
-
-# flags for warnings (C and C++)
-WARN_FLAGS += -Wall -Wextra -Wunused
-#WARN_FLAGS += -Wcast-qual
-WARN_FLAGS += -Wcast-align
-WARN_FLAGS += -Wpointer-arith
-WARN_FLAGS += -Wswitch-default
-WARN_FLAGS += -Wredundant-decls -Wmissing-declarations
-WARN_FLAGS += -Wshadow
-
-
-# common flags
-CFLAGS += -O$(OPT)
-CFLAGS += $(DEBUG_FLAGS)
-CFLAGS += $(FLOAT_ABI)
-CFLAGS += $(ARCH_FLAGS)
-CFLAGS += $(USER_CFLAGS)
-CFLAGS += $(WARN_FLAGS)
-CXXFLAGS += -O$(OPT)
-CXXFLAGS += $(DEBUG_FLAGS)
-CXXFLAGS += $(FLOAT_ABI)
-CXXFLAGS += $(ARCH_FLAGS)
-CXXFLAGS += $(USER_CFLAGS)
-CXXFLAGS += $(WARN_FLAGS)
-CXXFLAGS += $(CINCS)
-CXXFLAGS += $($(TARGET).CFLAGS)
-CXXFLAGS += $(BOARD_CFLAGS)
-
-
-CFLAGS += -I. -I./$(ARCH) -I../ext/libopencm3/include $(INCLUDES)
-CFLAGS += -D__thumb2__
-CFLAGS += -Wl,--gc-sections
-CFLAGS += -mfix-cortex-m3-ldrd
-CFLAGS += $(CSTANDARD)
-#CFLAGS += -malignment-traps
-CFLAGS += -fno-common
-CFLAGS += -ffunction-sections -fdata-sections
-CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
-CFLAGS += -Wstrict-prototypes -Wmissing-prototypes
-CFLAGS += -Wnested-externs
-CFLAGS += $($(TARGET).CFLAGS)
-CFLAGS += $(BOARD_CFLAGS)
-
-#CFLAGS += -fno-diagnostics-show-caret
-
-ifneq ($(ARCH_L), )
-ifeq ($(ARCH_L),f4)
-CFLAGS += -DSTM32F4
-CXXFLAGS += -DSTM32F4
-endif
-else
-CFLAGS += -DSTM32F1
-CXXFLAGS += -DSTM32F1
-endif
-
-# with cortex-m3 and m4 unaligned data can still be read
-CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
-
-
-# C++ only flags
-CXXFLAGS += $(CXXSTANDARD)
-CXXFLAGS += -I. -I./$(ARCH) -I../ext/libopencm3/include $(INCLUDES)
-CXXFLAGS += -pipe -fshow-column
-CXXFLAGS += -ffunction-sections -fdata-sections
-CXXFLAGS += $($(TARGET).CXXFLAGS)
-
-
-AFLAGS  = -ahls -mapcs-32
-AFLAGS += -mcpu=$(MCU) -mthumb
-AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst)
-
-LDFLAGS += -L../ext/libopencm3/lib
-LDFLAGS += -T$(LDSCRIPT) -nostartfiles -O$(OPT) -mthumb -mcpu=$(MCU)
-LDFLAGS += $(BOARD_LDFLAGS)
-
-ifeq ($(ARCH_L), )
-LDFLAGS += -mfix-cortex-m3-ldrd -msoft-float
-else ifeq ($(ARCH_L),f4)
-ifndef HARD_FLOAT
-LDFLAGS += -mfix-cortex-m3-ldrd -msoft-float
-else
-LDFLAGS += -lnosys -D__thumb2__\
-           -mfloat-abi=softfp -mfpu=fpv4-sp-d16
-endif
-endif
-
-LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
-ifneq ($(ARCH_L), )
-LDLIBS  += -lopencm3_stm32$(ARCH_L)
-else
-LDLIBS  += -lopencm3_stm32f1
-endif
-LDLIBS  += -lc -lm -lgcc
-
-CPFLAGS = -j .isr_vector -j .text -j .data
-CPFLAGS_BIN = -Obinary
-CPFLAGS_HEX = -Oihex
-
-ODFLAGS = -S
-
-# some common informative targets
-include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-common
-
-# Default target.
-all: printcommands sizebefore build sizeafter
-
-# depend order only for parallel make
-sizebefore: | printcommands
-build: | printcommands sizebefore
-sizeafter: | build
-
-build: $(OBJDIR) elf bin hex
-# lss sym
-
-$(OBJDIR):
-	@echo CREATING object dir $(OBJDIR)
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-
-elf: $(OBJDIR)/$(TARGET).elf
-bin: $(OBJDIR)/$(TARGET).bin
-hex: $(OBJDIR)/$(TARGET).hex
-lss: $(OBJDIR)/$(TARGET).lss
-sym: $(OBJDIR)/$(TARGET).sym
-
-%.bin: %.elf
-	@echo OBJCB $@
-	$(Q)$(CP) $(CPFLAGS) $(CPFLAGS_BIN) $< $@
-
-%.hex: %.elf
-	@echo OBJCH $@
-	$(Q)$(CP) $(CPFLAGS) $(CPFLAGS_HEX) $< $@
-
-# Create extended listing file from ELF output file.
-# testing: option -C
-%.lss: %.elf
-	@echo OBJD $@
-	$(Q)$(DMP) -h -S -C $< > $@
-
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-	@echo NM $@
-	$(Q)$(NM) -n $< > $@
-
-
-# Link: create ELF output file from object files.
-.SECONDARY : $(OBJDIR)/$(TARGET).elf
-.PRECIOUS : $(OBJS) $(AOBJ)
-%.elf: $(OBJS) $(AOBJ) | $(OBJDIR)
-	@echo LD $@
-	$(Q)$(LD) $(LDFLAGS) $($(TARGET).LDFLAGS) -o $@ $(OBJS) $(AOBJ) $(LDLIBS)
-
-# Compile: create object files from C source files.
-$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
-	@echo CC $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
-
-# Compile: create object files from C++ source files
-$(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
-	@echo CXX $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CXX) -MMD -c $(CXXFLAGS) $< -o $@
-
-# Assemble: create object files from assembler source files. ARM/Thumb
-$(AOBJ) : $(OBJDIR)/%.o : %.S
-	@echo AS $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(AFLAGS) $< -o $@
-
-# Load upload rules
-include $(PAPARAZZI_SRC)/conf/Makefile.stm32-upload
-
-# Listing of phony targets.
-.PHONY : all build elf bin lss sym
-
-#
-# Dependencies
-#
-ifneq ($(MAKECMDGOALS),clean)
-DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
-DEPS += $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.cpp=.d))
-include $(DEPS)
-endif
--- a/sw/airborne/arch/stm32/TIM_usage_list.txt
+++ b/sw/airborne/arch/stm32/TIM_usage_list.txt
@@ -1,30 +0,0 @@
-
-timer       subsystem/type (config options)
--------------------------------------------
-(advanced timers using RCC_APB1)
-TIM1        adc (if USE_AD_TIM1)
-            radio_control/ppm (if USE_PPM_TIM1, PPM input on SERVO6 pin)
-            actuators/pwm (if PWM_USE_TIM1)
-
-TIM8        radio_control/ppm (if USE_PPM_TIM8)
-
-(non-advanced timers using RCC_APB2)
-TIM2        adc (if USE_AD_TIM2, default)
-            radio_control/ppm (if USE_PPM_TIM2, PPM input on UART1_RX pin)
-            actuators/pwm (if PWM_USE_TIM2)
-
-TIM3        actuators/pwm (if PWM_USE_TIM3, PWM1..4 on LisaM)
-
-TIM4        adc (if USE_AD_TIM4)
-            actuators/pwm (PWM6..7 on LisaL)
-                          (PWM7..8) (if USE_SERVOS_7AND8)
-
-TIM5        actuators/pwm (PWM/Servos 5..6 on LisaM)
-
-TIM6        radio_control/spektrum
-
-TIM7        none
-
-TIM9        actuators/pwm (if PWM_USE_TIM9)
-
-TIM12       actuators/pwm (if PWM_USE_TIM12)
--- a/sw/airborne/arch/stm32/apogee.ld
+++ b/sw/airborne/arch/stm32/apogee.ld
@@ -1,34 +0,0 @@
-/*
- * Copyright (C) 2013 Gautier Hattenberger
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Apogee (STM32F405RGT6, 1024K flash, 192K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-	/* only 128K (SRAM1 and SRAM2) are accessible by all AHB masters. */
-	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-	/* Leaving 128k of space at the end of rom for persistent settings */
-	rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/krooz.ld
+++ b/sw/airborne/arch/stm32/krooz.ld
@@ -1,36 +0,0 @@
-/*
- * Hey Emacs, this is a -*- makefile -*-
- *
- * Copyright (C) 2012 Sergey Krukowski <softsr@yahoo.de>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Krooz (STM32F405, 1024K flash, 192K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-    /* Only 128K (SRAM1 and SRAM2) are accessible by all AHB masters. */
-    ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-    /* Leaving 128k of space at the end of rom for persistent settings */
-    rom (rx) : ORIGIN = 0x08004000, LENGTH = 896K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/led_hw.c
+++ b/sw/airborne/arch/stm32/led_hw.c
@@ -1,6 +0,0 @@
-#include "led.h"
-
-#ifdef LED_STP08
-uint8_t led_status[NB_LED];
-#endif
-
--- a/sw/airborne/arch/stm32/led_hw.h
+++ b/sw/airborne/arch/stm32/led_hw.h
@@ -1,108 +0,0 @@
-/*
- * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef LED_HW_H
-#define LED_HW_H
-
-#include "mcu_periph/gpio.h"
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-
-#include BOARD_CONFIG
-
-#include "std.h"
-
-/*
- *
- *  Regular GPIO driven LEDs
- *
- */
-#ifndef LED_STP08
-
-#define _LED_EVAL(i) i
-
-#define LED_GPIO(i) _LED_EVAL(LED_ ## i ## _GPIO)
-#define LED_GPIO_PIN(i) _LED_EVAL(LED_ ## i ## _GPIO_PIN)
-#define LED_GPIO_ON(i) _LED_EVAL(LED_ ## i ## _GPIO_ON)
-#define LED_GPIO_OFF(i) _LED_EVAL(LED_ ## i ## _GPIO_OFF)
-#define LED_AFIO_REMAP(i) _LED_EVAL(LED_ ## i ## _AFIO_REMAP)
-
-
-#define LED_INIT(i) {                                  \
-    gpio_setup_output(LED_GPIO(i), LED_GPIO_PIN(i));   \
-    LED_AFIO_REMAP(i);                                 \
-  }
-
-#define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
-#define LED_OFF(i) LED_GPIO_OFF(i)(LED_GPIO(i), LED_GPIO_PIN(i))
-#define LED_TOGGLE(i) gpio_toggle(LED_GPIO(i), LED_GPIO_PIN(i))
-
-#define LED_DISABLE(i) gpio_setup_input(LED_GPIO(i), LED_GPIO_PIN(i))
-
-#define LED_PERIODIC() {}
-
-
-/*
- *
- * Shift register driven LEDs
- *
- */
-#else  /* LED_STP08 */
-#define NB_LED 8
-extern uint8_t led_status[NB_LED];
-/* Lisa/L uses a shift register for driving LEDs */
-/* PA8  led_clk  */
-/* PC15 led_data */
-
-#define LED_INIT(_i) {                                  \
-    rcc_periph_clock_enable(RCC_GPIOA);                 \
-    rcc_periph_clock_enable(RCC_GPIOC);                 \
-    gpio_set_mode(GPIOA,                                \
-                  GPIO_MODE_OUTPUT_50_MHZ,              \
-                  GPIO_CNF_OUTPUT_PUSHPULL,             \
-                  GPIO8);                               \
-    gpio_set_mode(GPIOC,                                \
-                  GPIO_MODE_OUTPUT_50_MHZ,              \
-                  GPIO_CNF_OUTPUT_PUSHPULL,             \
-                  GPIO15);                              \
-    for(uint8_t _cnt=0; _cnt<NB_LED; _cnt++)            \
-      led_status[_cnt] = false;                         \
-  }
-
-#define LED_ON(i)  { led_status[i] = true;  }
-#define LED_OFF(i) { led_status[i] = false; }
-#define LED_TOGGLE(i) {led_status[i] = !led_status[i];}
-#define LED_DISABLE(i) LED_OFF(i)
-
-#define LED_PERIODIC() {                                    \
-    for (uint8_t _cnt = 0; _cnt < NB_LED; _cnt++) {         \
-      if (led_status[_cnt])                                 \
-        gpio_set(GPIOC, GPIO15);                            \
-      else                                                  \
-        gpio_clear(GPIOC, GPIO15);                          \
-      gpio_set(GPIOA, GPIO8); /* clock rising edge */       \
-      gpio_clear(GPIOA, GPIO8);  /* clock falling edge */   \
-    }                                                       \
-  }
-
-#endif /* LED_STP08 */
-
-#endif /* LED_HW_H */
--- a/sw/airborne/arch/stm32/lisa-l.ld
+++ b/sw/airborne/arch/stm32/lisa-l.ld
@@ -1,35 +0,0 @@
-/*
- * Hey Emacs, this is a -*- makefile -*-
- *
- * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Lisa-L (STM32F103RET6, 512K flash, 64K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
-	/* Leaving 2k of space at the end of rom for stored settings */
-	rom (rx) : ORIGIN = 0x08000000, LENGTH = 510K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/lisa-m.ld
+++ b/sw/airborne/arch/stm32/lisa-m.ld
@@ -1,35 +0,0 @@
-/*
- * Hey Emacs, this is a -*- makefile -*-
- *
- * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Lisa-M (STM32F105RCT6, 256K flash, 64K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
-	/* Leaving 2k of space at the end of rom for stored settings */
-	rom (rx) : ORIGIN = 0x08000000, LENGTH = 254K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/lisa-mx.ld
+++ b/sw/airborne/arch/stm32/lisa-mx.ld
@@ -1,35 +0,0 @@
-/*
- * Hey Emacs, this is a -*- makefile -*-
- *
- * Copyright (C) 2012 Sergey Krukowski <softsr@yahoo.de>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Lisa/MX (STM32F415, 1024K flash, 192K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-    ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-    /* Reserving 128kb flash for persistent settings. */
-    rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/mcu_arch.c
+++ b/sw/airborne/arch/stm32/mcu_arch.c
@@ -1,362 +0,0 @@
-/*
- * Copyright (C) 2010-2012 The Paparazzi team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_arch.c
- * @brief stm32 arch dependant microcontroller initialisation functions.
- * @ingroup stm32_arch
- */
-
-#include "mcu.h"
-
-#include BOARD_CONFIG
-
-#include <inttypes.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/stm32/flash.h>
-#include <libopencm3/cm3/scb.h>
-#include <libopencm3/stm32/rtc.h>
-#include <libopencm3/stm32/pwr.h>
-
-#include "std.h"
-
-#if defined(STM32F4)
-/* untested, should go into libopencm3 */
-const struct rcc_clock_scale rcc_hse_24mhz_3v3[RCC_CLOCK_3V3_END] = {
-  { /* 48MHz */
-    .pllm = 24,
-    .plln = 96,
-    .pllp = 2,
-    .pllq = 2,
-    .hpre = RCC_CFGR_HPRE_DIV_NONE,
-    .ppre1 = RCC_CFGR_PPRE_DIV_4,
-    .ppre2 = RCC_CFGR_PPRE_DIV_2,
-    .voltage_scale = PWR_SCALE1,
-    .flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_3WS,
-    .ahb_frequency  = 48000000,
-    .apb1_frequency = 12000000,
-    .apb2_frequency = 24000000,
-  },
-  { /* 84MHz */
-    .pllm = 24,
-    .plln = 336,
-    .pllp = 4,
-    .pllq = 7,
-    .hpre = RCC_CFGR_HPRE_DIV_NONE,
-    .ppre1 = RCC_CFGR_PPRE_DIV_2,
-    .ppre2 = RCC_CFGR_PPRE_DIV_NONE,
-    .voltage_scale = PWR_SCALE1,
-    .flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_2WS,
-    .ahb_frequency  = 84000000,
-    .apb1_frequency = 42000000,
-    .apb2_frequency = 84000000,
-  },
-  { /* 120MHz */
-    .pllm = 24,
-    .plln = 240,
-    .pllp = 2,
-    .pllq = 5,
-    .hpre = RCC_CFGR_HPRE_DIV_NONE,
-    .ppre1 = RCC_CFGR_PPRE_DIV_4,
-    .ppre2 = RCC_CFGR_PPRE_DIV_2,
-    .voltage_scale = PWR_SCALE1,
-    .flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_3WS,
-    .ahb_frequency  = 120000000,
-    .apb1_frequency = 30000000,
-    .apb2_frequency = 60000000,
-  },
-  { /* 168MHz */
-    .pllm = 24,
-    .plln = 336,
-    .pllp = 2,
-    .pllq = 7,
-    .hpre = RCC_CFGR_HPRE_DIV_NONE,
-    .ppre1 = RCC_CFGR_PPRE_DIV_4,
-    .ppre2 = RCC_CFGR_PPRE_DIV_2,
-    .flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS,
-    .ahb_frequency  = 168000000,
-    .apb1_frequency = 42000000,
-    .apb2_frequency = 84000000,
-  },
-};
-#endif
-
-#if defined(STM32F1)
-/*---------------------------------------------------------------------------*/
-/** @brief RCC Set System Clock HSE at 24MHz from HSE at 24MHz
-
-*/
-void rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz(void);
-void rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz(void)
-{
-  /* Enable internal high-speed oscillator. */
-  rcc_osc_on(RCC_HSI);
-  rcc_wait_for_osc_ready(RCC_HSI);
-
-  /* Select HSI as SYSCLK source. */
-  rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_HSICLK);
-
-  /* Enable external high-speed oscillator 24MHz. */
-  rcc_osc_on(RCC_HSE);
-  rcc_wait_for_osc_ready(RCC_HSE);
-  rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_HSECLK);
-
-  /*
-   * Set prescalers for AHB, ADC, ABP1, ABP2.
-   * Do this before touching the PLL (TODO: why?).
-   */
-  rcc_set_hpre(RCC_CFGR_HPRE_SYSCLK_NODIV);    /* Set. 24MHz Max. 72MHz */
-  rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV2);  /* Set. 12MHz Max. 14MHz */
-  rcc_set_ppre1(RCC_CFGR_PPRE1_HCLK_NODIV);    /* Set. 24MHz Max. 36MHz */
-  rcc_set_ppre2(RCC_CFGR_PPRE2_HCLK_NODIV);    /* Set. 24MHz Max. 72MHz */
-
-  /*
-   * Sysclk runs with 24MHz -> 0 waitstates.
-   * 0WS from 0-24MHz
-   * 1WS from 24-48MHz
-   * 2WS from 48-72MHz
-   */
-  flash_set_ws(FLASH_ACR_LATENCY_0WS);
-
-  /*
-   * Set the PLL multiplication factor to 2.
-   * 24MHz (external) * 2 (multiplier) / 2 (RCC_CFGR_PLLXTPRE_HSE_CLK_DIV2) = 24MHz
-   */
-  rcc_set_pll_multiplication_factor(RCC_CFGR_PLLMUL_PLL_CLK_MUL2);
-
-  /* Select HSE as PLL source. */
-  rcc_set_pll_source(RCC_CFGR_PLLSRC_HSE_CLK);
-
-  /*
-   * External frequency divide by 2 before entering PLL
-   * (only valid/needed for HSE).
-   */
-  rcc_set_pllxtpre(RCC_CFGR_PLLXTPRE_HSE_CLK_DIV2);
-
-  rcc_osc_on(RCC_PLL);
-  rcc_wait_for_osc_ready(RCC_PLL);
-
-  /* Select PLL as SYSCLK source. */
-  rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_PLLCLK);
-
-  /* Set the peripheral clock frequencies used */
-  rcc_ahb_frequency = 24000000;
-  rcc_apb1_frequency = 24000000;
-  rcc_apb2_frequency = 24000000;
-}
-#endif
-
-
-#ifdef SYSTEM_MEMORY_BASE
-void reset_to_dfu(void) {
-  // Request DFU at boot (init_dfu)
-  pwr_disable_backup_domain_write_protect();
-  RTC_BKPXR(0) = 0xFF;
-  pwr_enable_backup_domain_write_protect();
-  // Reset
-  scb_reset_system();
-}
-
-typedef void resetHandler_t(void);
-
-typedef struct isrVector_s {
-    volatile uint32_t    stackEnd;
-    resetHandler_t *resetHandler;
-} isrVector_t;
-
-static isrVector_t *system_isr_vector_table_base = (isrVector_t *) SYSTEM_MEMORY_BASE; // Find in ST AN2606. Defined in board header.
-
-static void init_dfu(void) {
-  /* Reset to DFU if requested */
-  rcc_periph_clock_enable(RCC_RTC);
-  rcc_periph_clock_enable(RCC_PWR);
-  if (RTC_BKPXR(0) == 0xFF) {
-    // DFU request
-    // 0. Reset request
-    pwr_disable_backup_domain_write_protect();
-    RTC_BKPXR(0) = 0x00;
-    pwr_enable_backup_domain_write_protect();
-    // 1. Set MSP to system_isr_vector_table_base.stackEnd
-    // (betaflight system_stm32f4xx.c::75)
-    // (betaflight cmsis_armcc.h::226
-    register uint32_t __regMainStackPointer __asm("msp") __attribute__((unused)); // Note: declared unused to suppress gcc warning, not actually unused!
-    __regMainStackPointer = system_isr_vector_table_base->stackEnd; // = topOfMainStack;
-    // 2. system_isr_vector_table_base.resetHandler() (betaflight system_stm32f4xx.c::76)
-    system_isr_vector_table_base->resetHandler();
-    while (1);
-  }
-}
-#endif // SYSTEM_MEMORY_BASE
-
-
-void mcu_arch_init(void)
-{
-#ifdef SYSTEM_MEMORY_BASE
-  init_dfu();
-#endif
-
-#if LUFTBOOT
-  PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
-#if defined STM32F4
-  SCB_VTOR = 0x00004000;
-#else
-  SCB_VTOR = 0x00002000;
-#endif
-#endif
-#if EXT_CLK == 8000000
-#if defined(STM32F1)
-  PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
-  rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE8_72MHZ]);
-#elif defined(STM32F4)
-#if AHB_CLK == 84000000
-  PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 84MHz.")
-  rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_84MHZ]);
-#else
-  PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 168MHz.")
-  rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-#endif
-#endif
-#elif EXT_CLK == 12000000
-#if defined(STM32F1)
-  PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 72MHz.")
-  rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE12_72MHZ]);
-#elif defined(STM32F4)
-  PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 168MHz.")
-  rcc_clock_setup_pll(&rcc_hse_12mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-#endif
-#elif EXT_CLK == 16000000
-#if defined(STM32F4)
-  PRINT_CONFIG_MSG("Using 16MHz external clock to PLL it to 168MHz.")
-  rcc_clock_setup_pll(&rcc_hse_16mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-#endif
-#elif EXT_CLK == 24000000
-#if defined(STM32F4)
-  PRINT_CONFIG_MSG("Using 24MHz external clock to PLL it to 168MHz.")
-  rcc_clock_setup_pll(&rcc_hse_24mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-#elif defined(STM32F1)
-  rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz();
-#endif
-#elif EXT_CLK == 25000000
-#if defined(STM32F4)
-  PRINT_CONFIG_MSG("Using 25MHz external clock to PLL it to 168MHz.")
-  rcc_clock_setup_pll(&rcc_hse_25mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-#endif
-#else
-#error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
-#endif
-
-  /* Configure priority grouping 0 bits for pre-emption priority and 4 bits for sub-priority.
-   * this was previously in i2c driver
-   * FIXME is it really needed ?
-   */
-  scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
-}
-
-#if defined(STM32F1)
-#define RCC_CFGR_PPRE2_SHIFT      11
-#define RCC_CFGR_PPRE2        (7 << RCC_CFGR_PPRE2_SHIFT)
-
-#define RCC_CFGR_PPRE1_SHIFT      8
-#define RCC_CFGR_PPRE1        (7 << RCC_CFGR_PPRE1_SHIFT)
-
-static inline uint32_t rcc_get_ppre1(void)
-{
-  return RCC_CFGR & RCC_CFGR_PPRE1;
-}
-
-static inline uint32_t rcc_get_ppre2(void)
-{
-  return RCC_CFGR & RCC_CFGR_PPRE2;
-}
-#elif defined(STM32F4)
-static inline uint32_t rcc_get_ppre1(void)
-{
-  return RCC_CFGR & ((1 << 10) | (1 << 11) | (1 << 12));
-}
-
-static inline uint32_t rcc_get_ppre2(void)
-{
-  return RCC_CFGR & ((1 << 13) | (1 << 14) | (1 << 15));
-}
-#endif
-
-/** @brief Get Timer clock frequency (before prescaling)
- * Only valid if using the internal clock for the timer.
- * Currently implemented for STM32F1x and STM32F405xx/407xx STM32F415xx/417xx.
- * Not valid for STM32F42xxx and STM32F43xxx.
- * @param[in] timer_peripheral Unsigned int32. Timer register address base
- * @return Unsigned int32. Timer base frequency
- */
-uint32_t timer_get_frequency(uint32_t timer_peripheral)
-{
-  switch (timer_peripheral) {
-      // Timers on high speed APB2
-    case TIM1:
-    case TIM8:
-#ifdef TIM9
-    case TIM9:
-#endif
-#ifdef TIM10
-    case TIM10:
-#endif
-#ifdef TIM11
-    case TIM11:
-#endif
-      if (!rcc_get_ppre2()) {
-        /* without APB2 prescaler, runs at APB2 freq */
-        return rcc_apb2_frequency;
-      } else {
-        /* with any ABP2 prescaler, runs at 2 * APB2 freq */
-        return rcc_apb2_frequency * 2;
-      }
-
-      // timers on low speed APB1
-    case TIM2:
-    case TIM3:
-    case TIM4:
-    case TIM5:
-    case TIM6:
-    case TIM7:
-#ifdef TIM12
-    case TIM12:
-#endif
-#ifdef TIM13
-    case TIM13:
-#endif
-#ifdef TIM14
-    case TIM14:
-#endif
-      if (!rcc_get_ppre1()) {
-        /* without APB1 prescaler, runs at APB1 freq */
-        return rcc_apb1_frequency;
-      } else {
-        /* with any ABP1 prescaler, runs at 2 * APB1 freq */
-        return rcc_apb1_frequency * 2;
-      }
-    default:
-      // other timers currently not supported
-      break;
-  }
-  return 0;
-}
--- a/sw/airborne/arch/stm32/mcu_arch.h
+++ b/sw/airborne/arch/stm32/mcu_arch.h
@@ -1,56 +0,0 @@
-/*
- * Copyright (C) 2010-2012 The Paparazzi team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_arch.h
- * @brief stm32 arch dependant microcontroller initialisation functions.
- * @addtogroup stm32_arch STM32 architecture
- */
-
-#ifndef STM32_MCU_ARCH_H
-#define STM32_MCU_ARCH_H
-
-#include "std.h"
-
-#include BOARD_CONFIG
-
-extern void mcu_arch_init(void);
-
-#ifdef SYSTEM_MEMORY_BASE
-extern void reset_to_dfu(void);
-#endif
-
-
-/* should probably not be here
- *   a couple of macros to use the rev instruction
- */
-#define MyByteSwap16(in, out) {                 \
-    asm volatile (                              \
-        "rev16        %0, %1\n\t"     \
-        : "=r" (out)                  \
-        : "r"(in)                     \
-                 );                            \
-  }
-
-uint32_t timer_get_frequency(uint32_t timer_peripheral);
-
-#endif /* STM32_MCU_ARCH_H */
--- a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
--- a/sw/airborne/arch/stm32/mcu_periph/adc_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.h
@@ -1,107 +0,0 @@
-/*
- * Copyright (C) 2010-2012  Paparazzi team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/adc_arch.h
- * @ingroup stm32_arch
- *
- * Driver for the analog to digital converters on STM32.
- */
-
-#ifndef ADC_ARCH_H
-#define ADC_ARCH_H
-
-#include BOARD_CONFIG
-
-/* Set the correct ADC resolution */
-#ifndef ADC_RESOLUTION
-#define ADC_RESOLUTION 4096
-#endif
-
-enum adc1_channels {
-#ifdef AD1_1_CHANNEL
-  AD1_1,
-#endif
-#ifdef AD1_2_CHANNEL
-  AD1_2,
-#endif
-#ifdef AD1_3_CHANNEL
-  AD1_3,
-#endif
-#ifdef AD1_4_CHANNEL
-  AD1_4,
-#endif
-  ADC1_END
-};
-
-enum adc2_channels {
-  ADC2_BEGIN = ADC1_END-1,
-#ifdef AD2_1_CHANNEL
-  AD2_1,
-#endif
-#ifdef AD2_2_CHANNEL
-  AD2_2,
-#endif
-#ifdef AD2_3_CHANNEL
-  AD2_3,
-#endif
-#ifdef AD2_4_CHANNEL
-  AD2_4,
-#endif
-  ADC2_END
-};
-
-enum adc3_channels {
-  ADC3_BEGIN = ADC2_END-1,
-#ifdef AD3_1_CHANNEL
-  AD3_1,
-#endif
-#ifdef AD3_2_CHANNEL
-  AD3_2,
-#endif
-#ifdef AD3_3_CHANNEL
-  AD3_3,
-#endif
-#ifdef AD3_4_CHANNEL
-  AD3_4,
-#endif
-  ADC3_END
-};
-
-#if USE_ADC_WATCHDOG
-
-/* Watchdog callback type definition
- */
-typedef void (*adc_watchdog_callback)(void);
-
-/* Watchdog register function
- *
- * @param adc adc bank to monitor
- * @param chan adc channel to monitor
- * @param low low threshhold for callback trigger
- * @param high high threshhold for callback trigger
- */
-extern void register_adc_watchdog(uint32_t adc, uint8_t chan, uint16_t low, uint16_t high, adc_watchdog_callback cb);
-
-#endif
-
-#endif /* ADC_ARCH_H */
--- a/sw/airborne/arch/stm32/mcu_periph/can_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.c
@@ -1,259 +0,0 @@
-/*
- * Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/can_arch.c
- * @ingroup stm32_arch
- *
- * Handling of CAN hardware for STM32.
- */
-
-#include <stdint.h>
-#include <string.h>
-
-#include "mcu_periph/can_arch.h"
-#include "mcu_periph/can.h"
-
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/can.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "led.h"
-
-
-#ifdef RTOS_PRIO
-#define NVIC_USB_LP_CAN_RX0_IRQ_PRIO RTOS_PRIO+1
-#else
-#define NVIC_USB_LP_CAN_RX0_IRQ_PRIO 1
-#define NVIC_CAN1_RX_IRQ_PRIO 1
-#endif
-
-void _can_run_rx_callback(uint32_t id, uint8_t *buf, uint8_t len);
-
-struct can_arch_periph {
-  uint32_t canport;
-  bool can_initialized;
-  struct pprzcan_frame rxframe;
-  bool new_rxframe;
-  struct pprzaddr_can addr;
-};
-
-struct can_arch_periph can1_arch_s = {
-  .canport = CAN1,
-  .can_initialized = false,
-  .addr = {.can_ifindex = 1},
-  .rxframe = {0},
-  .new_rxframe = false;
-};
-
-
-void can_hw_init(void)
-{
-  can1.arch_struct = &can1_arch_s;
-
-#ifdef STM32F1
-  /* Enable peripheral clocks. */
-  rcc_periph_clock_enable(RCC_AFIO);
-  rcc_periph_clock_enable(RCC_GPIOB);
-  rcc_periph_clock_enable(RCC_CAN1);
-
-  /* Remap the gpio pin if necessary. */
-  AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
-
-  /* Configure CAN pin: RX (input pull-up). */
-  gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
-  gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);
-
-  /* Configure CAN pin: TX (output push-pull). */
-  gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
-                GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
-
-  /* NVIC setup. */
-  nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
-  nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, NVIC_USB_LP_CAN_RX0_IRQ_PRIO);
-
-#elif STM32F4
-
-  /* Enable peripheral clocks. */
-  rcc_periph_clock_enable(RCC_GPIOB);
-  rcc_periph_clock_enable(RCC_CAN1);
-
-  /* set up pins for CAN1TX & CAN1RX alternate function */
-  gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8 | GPIO9);
-  gpio_set_af(GPIOB, GPIO_AF9, GPIO8 | GPIO9);
-
-  /* enable interrupts on RX0 FIFO */
-  nvic_enable_irq(NVIC_CAN1_RX0_IRQ);
-  nvic_set_priority(NVIC_CAN1_RX0_IRQ, NVIC_CAN1_RX_IRQ_PRIO);
-
-#endif
-  /* Reset CAN. */
-  can_reset(can1_arch_s.canport);
-
-  /* CAN cell init.
-   * For time quanta calculation see STM32 reference manual
-   * section 24.7.7 "Bit timing" page 645
-   *
-   * To talk to CSC using LPC mcu we need a baud rate of 375kHz
-   * The APB1 runs at 36MHz therefor we select a prescaler of 12
-   * resulting in time quanta frequency of 36MHz / 12 = 3MHz
-   *
-   * As the Bit time is combined of 1tq for SYNC_SEG, TS1tq for bit
-   * segment 1 and TS2tq for bit segment 2:
-   * BITtq = 1tq + TS1tq + TS2tq
-   *
-   * We can choose to use TS1 = 3 and TS2 = 4 getting
-   * 1tq + 3tq + 4tq = 8tq per bit therefor a bit frequency is
-   * 3MHZ / 8 = 375kHz
-   *
-   * Maximum baud rate of CAN is 1MHz so we can choose to use
-   * prescaler of 2 resulting in a quanta frequency of 36MHz / 2 = 18Mhz
-   *
-   * So we need to devide the frequency by 18. This can be accomplished
-   * using TS1 = 10 and TS2 = 7 resulting in:
-   * 1tq + 10tq + 7tq = 18tq
-   *
-   * NOTE: Although it is out of spec I managed to have CAN run at 2MBit
-   * Just decrease the prescaler to 1. It worked for me(tm) (esden)
-   */
-  if (can_init(can1_arch_s.canport,
-               false,           /* TTCM: Time triggered comm mode? */
-               true,            /* ABOM: Automatic bus-off management? */
-               false,           /* AWUM: Automatic wakeup mode? */
-               false,           /* NART: No automatic retransmission? */
-               false,           /* RFLM: Receive FIFO locked mode? */
-               false,           /* TXFP: Transmit FIFO priority? */
-#ifdef STM32F1
-               CAN_BTR_SJW_1TQ,
-               CAN_BTR_TS1_10TQ,
-               CAN_BTR_TS2_7TQ,
-#elif STM32F4
-               CAN_BTR_SJW_1TQ,
-               CAN_BTR_TS1_14TQ,
-               CAN_BTR_TS2_6TQ,
-#endif
-               2,               /* BRP+1: Baud rate prescaler */
-               false,           /* loopback mode */
-               false)) {        /* silent mode */
-    /* TODO we need something somewhere where we can leave a note
-     * that CAN was unable to initialize. Just like any other
-     * driver should...
-     */
-
-    can_reset(can1_arch_s.canport);
-
-    return;
-  }
-
-  /* CAN filter 0 init. */
-  can_filter_id_mask_32bit_init(0,     /* Filter ID */
-                                0,     /* CAN ID */
-                                0,     /* CAN ID mask */
-                                0,     /* FIFO assignment (here: FIFO0) */
-                                true); /* Enable the filter. */
-
-  /* Enable CAN RX interrupt. */
-  can_enable_irq(can1_arch_s.canport, CAN_IER_FMPIE0);
-
-  /* Remember that we succeeded to initialize. */
-  can1_arch_s.can_initialized = true;
-}
-
-
-int can_transmit_frame(struct pprzcan_frame* txframe, struct pprzaddr_can* addr) {
-  if (!can1_arch_s.can_initialized) {
-    return -2;
-  }
-
-  if(txframe->len > 8) {
-    return -1; //does not currently support CANFD
-  }
-
-    return can_transmit(can1_arch_s.canport,      
-#ifdef USE_CAN_EXT_ID
-                      txframe->can_id & CAN_EID_MASK,
-                      true,  /* IDE: CAN ID extended */
-#else
-                      txframe->can_id & CAN_SID_MASK,
-                      false, /* IDE: CAN ID standard */
-#endif
-                      txframe->can_id & CAN_FRAME_RTR, /* RTR: Request transmit? */
-                      can_len_to_dlc(txframe->len),   /* DLC: Data length */
-                      (uint8_t *)txframe->data);
-
-}
-
-#ifdef STM32F1
-void usb_lp_can_rx0_isr(void)
-#elif STM32F4
-void can1_rx0_isr(void)
-#else
-#error "CAN unsuported on this MCU!"
-void __unsupported_isr(void)
-#endif
-{
-  uint32_t id;
-  uint8_t fmi;
-  bool ext, rtr;
-  uint8_t dlc;
-  struct pprzcan_frame* rxframe = &can1_arch_s.rxframe;
-
-
-  can_receive(can1_arch_s.canport,
-              0,     /* FIFO: 0 */
-              false, /* Release */
-              &rxframe->can_id,
-              &ext,
-              &rtr,
-              &fmi,
-              &dlc,
-              rxframe->data,
-              &rxframe->timestamp);
-  
-  rxframe->len = can_dlc_to_len(dlc);
-
-  if(ext) {
-    rxframe->can_id |= CAN_FRAME_EFF;
-  }
-  
-  if(rtr) {
-    rxframe->can_id |= CAN_FRAME_RTR;
-  }
-
-  can1_arch_s.new_rxframe = true;
-
-  can_fifo_release(can1_arch_s.canport, 0);
-}
-
-
-void can_event() {
-  if(can1_arch_s.new_rxframe) {
-    for(int i=0; i<CAN_NB_CALLBACKS_MAX; i++) {
-      if(can1.callbacks[i] != NULL) {
-        can1.callbacks[i](&can1_arch_s.rxframe, &can1_arch_s.addr, can1.callback_user_data[i]);
-      }
-    }
-    can1_arch_s.new_rxframe = false;
-  }
-}
--- a/sw/airborne/arch/stm32/mcu_periph/can_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.h
@@ -1,41 +0,0 @@
-/*
- * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/can_arch.h
- * @ingroup stm32_arch
- *
- * Handling of CAN hardware for STM32.
- */
-
-#ifndef MCU_PERIPH_STM32_CAN_ARCH_H
-#define MCU_PERIPH_STM32_CAN_ARCH_H
-
-void can_hw_init(void);
-void can_event(void);
-
-#if defined STM32F1
-void usb_lp_can1_rx0_irq_handler(void);
-#endif
-
-
-#endif /* MCU_PERIPH_STM32_CAN_ARCH_H */
--- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c
@@ -1,167 +0,0 @@
-/*
- * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/gpio_arch.c
- * @ingroup stm32_arch
- *
- * GPIO helper functions for STM32F1 and STM32F4.
- */
-
-#include "mcu_periph/gpio.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-
-void gpio_enable_clock(uint32_t port)
-{
-  switch (port) {
-    case GPIOA:
-      rcc_periph_clock_enable(RCC_GPIOA);
-      break;
-    case GPIOB:
-      rcc_periph_clock_enable(RCC_GPIOB);
-      break;
-    case GPIOC:
-      rcc_periph_clock_enable(RCC_GPIOC);
-      break;
-    case GPIOD:
-      rcc_periph_clock_enable(RCC_GPIOD);
-      break;
-#ifdef GPIOE
-    case GPIOE:
-      rcc_periph_clock_enable(RCC_GPIOE);
-      break;
-#endif
-#ifdef GPIOF
-    case GPIOF:
-      rcc_periph_clock_enable(RCC_GPIOF);
-      break;
-#endif
-#ifdef GPIOG
-    case GPIOG:
-      rcc_periph_clock_enable(RCC_GPIOG);
-      break;
-#endif
-#ifdef GPIOH
-    case GPIOH:
-      rcc_periph_clock_enable(RCC_GPIOH);
-      break;
-#endif
-#ifdef GPIOI
-    case GPIOI:
-      rcc_periph_clock_enable(RCC_GPIOI);
-      break;
-#endif
-    default:
-      break;
-  };
-}
-
-#ifdef STM32F1
-void gpio_setup_output(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_set_mode(port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, gpios);
-}
-
-void gpio_setup_input(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, gpios);
-}
-
-void gpio_setup_input_pullup(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_set(port, gpios);
-  gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, gpios);
-}
-
-void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_clear(port, gpios);
-  gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, gpios);
-}
-
-void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool is_output)
-{
-  gpio_enable_clock(port);
-  /* remap alternate function if needed */
-  if (af) {
-    rcc_periph_clock_enable(RCC_AFIO);
-    AFIO_MAPR |= af;
-  }
-  if (is_output) {
-    gpio_set_mode(port, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, pin);
-  } else {
-    gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, pin);
-  }
-}
-
-void gpio_setup_pin_analog(uint32_t port, uint16_t pin)
-{
-  gpio_enable_clock(port);
-  gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, pin);
-}
-
-#elif defined STM32F4
-
-void gpio_setup_output(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_mode_setup(port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, gpios);
-}
-
-void gpio_setup_input(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_mode_setup(port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, gpios);
-}
-
-void gpio_setup_input_pullup(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_mode_setup(port, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, gpios);
-}
-
-void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios)
-{
-  gpio_enable_clock(port);
-  gpio_mode_setup(port, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN, gpios);
-}
-
-void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool is_output __attribute__((unused)))
-{
-  gpio_enable_clock(port);
-  gpio_set_af(port, af, pin);
-  gpio_mode_setup(port, GPIO_MODE_AF, GPIO_PUPD_NONE, pin);
-}
-
-void gpio_setup_pin_analog(uint32_t port, uint16_t pin)
-{
-  gpio_enable_clock(port);
-  gpio_mode_setup(port, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, pin);
-}
-
-#endif
-
--- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
@@ -1,91 +0,0 @@
-/*
- * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/gpio_arch.h
- * @ingroup stm32_arch
- *
- * GPIO helper functions for STM32F1 and STM32F4.
- *
- * The gpio_set and gpio_clear functions are already available from libopencm3.
- */
-
-#ifndef GPIO_ARCH_H
-#define GPIO_ARCH_H
-
-#include <libopencm3/stm32/gpio.h>
-
-/**
- * Abstract gpio port type for hardware independent part
- */
-typedef uint32_t gpio_port_t;
-
-/**
- * Setup one or more pins of the given GPIO port as outputs.
- * @param[in] port
- * @param[in] gpios If multiple pins are to be changed, use logical OR '|' to separate them.
- */
-extern void gpio_setup_output(uint32_t port, uint16_t gpios);
-
-/**
- * Setup one or more pins of the given GPIO port as inputs.
- * @param[in] port
- * @param[in] gpios If multiple pins are to be changed, use logical OR '|' to separate them.
- */
-extern void gpio_setup_input(uint32_t port, uint16_t gpios);
-
-/**
- * Setup one or more pins of the given GPIO port as inputs with pull up resistor enabled.
- * @param[in] port
- * @param[in] gpios If multiple pins are to be changed, use logical OR '|' to separate them.
- */
-extern void gpio_setup_input_pullup(uint32_t port, uint16_t gpios);
-
-/**
- * Setup one or more pins of the given GPIO port as inputs with pull down resistors enabled.
- * @param[in] port
- * @param[in] gpios If multiple pins are to be changed, use logical OR '|' to separate them.
- */
-extern void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios);
-
-/**
- * Setup a gpio for input or output with alternate function.
- * This is an STM32 specific helper funtion and should only be used in stm32 arch code.
- */
-#if defined(STM32F1)
-extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool is_output);
-#else
-extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool is_output);
-#endif
-
-/**
- * Setup a gpio for analog use.
- * This is an STM32 specific helper funtion and should only be used in stm32 arch code.
- */
-extern void gpio_setup_pin_analog(uint32_t port, uint16_t pin);
-
-/**
- * Enable the relevant clock.
- * This is an STM32 specific helper funtion and should only be used in stm32 arch code.
- */
-extern void gpio_enable_clock(uint32_t port);
-
-#endif /* GPIO_ARCH_H */
--- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
--- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2009-2012 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/i2c_arch.h
- * @ingroup stm32_arch
- *
- * Hardware level I2C handling for the STM32.
- */
-
-#ifndef I2C_HW_H
-#define I2C_HW_H
-
-#include <libopencm3/stm32/i2c.h>
-
-#if USE_I2C1
-
-extern void i2c1_hw_init(void);
-extern void i2c1_ev_irq_handler(void);
-extern void i2c1_er_irq_handler(void);
-
-#endif /* USE_I2C1 */
-
-
-#if USE_I2C2
-
-extern void i2c2_hw_init(void);
-extern void i2c2_ev_irq_handler(void);
-extern void i2c2_er_irq_handler(void);
-
-#endif /* USE_I2C2 */
-
-
-#if USE_I2C3 && defined STM32F4
-
-extern void i2c3_hw_init(void);
-extern void i2c3_ev_irq_handler(void);
-extern void i2c3_er_irq_handler(void);
-
-#endif /* USE_I2C3 */
-
-
-#endif /* I2C_HW_H */
--- a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
@@ -1,354 +0,0 @@
-/*
- * Copyright (C) 2014 Gautier Hattenberger
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/pwm_input_arch.c
- * @ingroup stm32_arch
- *
- * handling of smt32 PWM input using a timer with capture.
- */
-#include "mcu_periph/pwm_input.h"
-
-#include BOARD_CONFIG
-#include "generated/airframe.h"
-
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "mcu_periph/sys_time.h"
-#include "mcu_periph/gpio.h"
-
-// for timer_get_frequency
-#include "mcu_arch.h"
-
-#define ONE_MHZ_CLK 1000000
-#ifdef NVIC_TIM_IRQ_PRIO
-#define PWM_INPUT_IRQ_PRIO  NVIC_TIM_IRQ_PRIO
-#else
-#define PWM_INPUT_IRQ_PRIO 2
-#endif
-
-static inline void pwm_input_set_timer(uint32_t tim, uint32_t ticks_per_usec)
-{
-  timer_set_mode(tim, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
-  timer_set_period(tim, 0xFFFF);
-  uint32_t timer_clk = timer_get_frequency(tim);
-  timer_set_prescaler(tim, (timer_clk / (ticks_per_usec * ONE_MHZ_CLK)) - 1);
-  timer_enable_counter(tim);
-}
-
-void pwm_input_init(void)
-{
-  int i;
-  // initialize the arrays to 0
-  for (i = 0; i < PWM_INPUT_NB; i++) {
-    pwm_input_duty_tics[i] = 0;
-    pwm_input_duty_valid[i] = 0;
-    pwm_input_period_tics[i] = 0;
-    pwm_input_period_valid[i] = 0;
-  }
-
-  /** Configure timers
-   *  - timer clock enable
-   *  - base configuration
-   *  - enable counter
-   */
-#if USE_PWM_INPUT_TIM1
-  rcc_periph_clock_enable(RCC_TIM1);
-  rcc_periph_reset_pulse(RST_TIM1);
-  pwm_input_set_timer(TIM1, TIM1_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM2
-  rcc_periph_clock_enable(RCC_TIM2);
-  rcc_periph_reset_pulse(RST_TIM2);
-  pwm_input_set_timer(TIM2, TIM2_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM3
-  rcc_periph_clock_enable(RCC_TIM3);
-  rcc_periph_reset_pulse(RST_TIM3);
-  pwm_input_set_timer(TIM3, TIM3_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM4
-  rcc_periph_clock_enable(RCC_TIM4);
-  rcc_periph_reset_pulse(RST_TIM4);
-  pwm_input_set_timer(TIM4, TIM4_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM5
-  rcc_periph_clock_enable(RCC_TIM5);
-  rcc_periph_reset_pulse(RST_TIM5);
-  pwm_input_set_timer(TIM5, TIM5_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM8
-  rcc_periph_clock_enable(RCC_TIM8);
-  rcc_periph_reset_pulse(RST_TIM8);
-  pwm_input_set_timer(TIM8, TIM8_TICKS_PER_USEC);
-#endif
-#if USE_PWM_INPUT_TIM9
-  rcc_periph_clock_enable(RCC_TIM9);
-  rcc_periph_reset_pulse(RST_TIM9);
-  pwm_input_set_timer(TIM9, TIM9_TICKS_PER_USEC);
-#endif
-
-#ifdef USE_PWM_INPUT1
-  /* GPIO configuration as input capture for timer */
-  gpio_setup_pin_af(PWM_INPUT1_GPIO_PORT, PWM_INPUT1_GPIO_PIN, PWM_INPUT1_GPIO_AF, FALSE);
-
-  /** TIM configuration: Input Capture mode
-   *  Two IC signals are mapped to the same TI input
-   */
-  timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, PWM_INPUT1_TIMER_INPUT);
-  timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, PWM_INPUT1_TIMER_INPUT);
-#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
-  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_RISING);
-  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_FALLING);
-#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
-  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_FALLING);
-  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_RISING);
-#endif
-
-  /* Select the valid trigger input */
-  timer_slave_set_trigger(PWM_INPUT1_TIMER, PWM_INPUT1_SLAVE_TRIG);
-  /* Configure the slave mode controller in reset mode */
-  timer_slave_set_mode(PWM_INPUT1_TIMER, TIM_SMCR_SMS_RM);
-
-  /* Enable timer Interrupt(s). */
-  nvic_set_priority(PWM_INPUT1_IRQ, PWM_INPUT_IRQ_PRIO);
-  nvic_enable_irq(PWM_INPUT1_IRQ);
-#ifdef PWM_INPUT1_IRQ2
-  nvic_set_priority(PWM_INPUT1_IRQ2, PWM_INPUT_IRQ_PRIO);
-  nvic_enable_irq(PWM_INPUT1_IRQ2);
-#endif
-
-  /* Enable the Capture/Compare and Update interrupt requests. */
-  timer_enable_irq(PWM_INPUT1_TIMER, (PWM_INPUT1_CC_IE | TIM_DIER_UIE));
-
-  /* Enable capture channel. */
-  timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD);
-  timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY);
-#endif
-
-#ifdef USE_PWM_INPUT2
-  /* GPIO configuration as input capture for timer */
-  gpio_setup_pin_af(PWM_INPUT2_GPIO_PORT, PWM_INPUT2_GPIO_PIN, PWM_INPUT2_GPIO_AF, FALSE);
-
-  /** TIM configuration: Input Capture mode
-   *  Two IC signals are mapped to the same TI input
-   */
-  timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, PWM_INPUT2_TIMER_INPUT);
-  timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, PWM_INPUT2_TIMER_INPUT);
-#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
-  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_RISING);
-  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_FALLING);
-#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
-  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_FALLING);
-  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_RISING);
-#endif
-
-  /* Select the valid trigger input */
-  timer_slave_set_trigger(PWM_INPUT2_TIMER, PWM_INPUT2_SLAVE_TRIG);
-  /* Configure the slave mode controller in reset mode */
-  timer_slave_set_mode(PWM_INPUT2_TIMER, TIM_SMCR_SMS_RM);
-
-  /* Enable timer Interrupt(s). */
-  nvic_set_priority(PWM_INPUT2_IRQ, PWM_INPUT_IRQ_PRIO);
-  nvic_enable_irq(PWM_INPUT2_IRQ);
-#ifdef PWM_INPUT2_IRQ2
-  nvic_set_priority(PWM_INPUT2_IRQ2, PWM_INPUT_IRQ_PRIO);
-  nvic_enable_irq(PWM_INPUT2_IRQ2);
-#endif
-
-  /* Enable the Capture/Compare and Update interrupt requests. */
-  timer_enable_irq(PWM_INPUT2_TIMER, (PWM_INPUT2_CC_IE | TIM_DIER_UIE));
-
-  /* Enable capture channel. */
-  timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD);
-  timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY);
-#endif
-
-}
-
-
-#if USE_PWM_INPUT_TIM1
-
-#if defined(STM32F1)
-void tim1_up_isr(void)
-{
-#elif defined(STM32F4)
-void tim1_up_tim10_isr(void) {
-#endif
-  if ((TIM1_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM1, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-void tim1_cc_isr(void) {
-  if ((TIM1_SR & TIM1_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM1, TIM1_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_PERIOD;
-    pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM1_SR & TIM1_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM1, TIM1_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_DUTY;
-    pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = true;
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM2
-
-void tim2_isr(void) {
-  if ((TIM2_SR & TIM2_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM2, TIM2_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_PERIOD;
-    pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM2_SR & TIM2_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM2, TIM2_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_DUTY;
-    pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM2_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM2, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM3
-
-void tim3_isr(void) {
-  if ((TIM3_SR & TIM3_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM3, TIM3_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_PERIOD;
-    pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM3_SR & TIM3_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM3, TIM3_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_DUTY;
-    pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM3_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM3, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM4
-
-void tim4_isr(void) {
-  if ((TIM4_SR & TIM4_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM4, TIM4_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM4_PWM_INPUT_IDX] = TIM4_CCR_PERIOD;
-    pwm_input_period_valid[TIM4_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM4_SR & TIM4_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM4, TIM4_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM4_PWM_INPUT_IDX] = TIM4_CCR_DUTY;
-    pwm_input_duty_valid[TIM4_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM4_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM4, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM5
-
-void tim5_isr(void) {
-  if ((TIM5_SR & TIM5_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM5, TIM5_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_PERIOD;
-    pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM5_SR & TIM5_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM5, TIM5_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_DUTY;
-    pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM5_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM5, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM8
-
-#if defined(STM32F1)
-void tim8_up_isr(void)
-{
-#elif defined(STM32F4)
-void tim8_up_tim13_isr(void) {
-#endif
-  if ((TIM8_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM8, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-void tim8_cc_isr(void) {
-  if ((TIM8_SR & TIM8_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM8, TIM8_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_PERIOD;
-    pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM8_SR & TIM8_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM8, TIM8_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_DUTY;
-    pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = true;
-  }
-}
-
-#endif
-
-#if USE_PWM_INPUT_TIM9
-
-// TIM1 break interrupt (which we don't care here) and TIM9 global interrupt
-void tim1_brk_tim9_isr(void) {
-  if ((TIM9_SR & TIM9_CC_IF_PERIOD) != 0) {
-    timer_clear_flag(TIM9, TIM9_CC_IF_PERIOD);
-    pwm_input_period_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_PERIOD;
-    pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM9_SR & TIM9_CC_IF_DUTY) != 0) {
-    timer_clear_flag(TIM9, TIM9_CC_IF_DUTY);
-    pwm_input_duty_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_DUTY;
-    pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = true;
-  }
-  if ((TIM9_SR & TIM_SR_UIF) != 0) {
-    timer_clear_flag(TIM9, TIM_SR_UIF);
-    // FIXME clear overflow interrupt but what else ?
-  }
-}
-
-#endif
-
--- a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2014 Gautier Hattenberger
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/pwm_input_arch.h
- * @ingroup stm32_arch
- *
- * handling of smt32 PWM input using a timer with capture.
- */
-
-#ifndef PWM_INPUT_ARCH_H
-#define PWM_INPUT_ARCH_H
-
-#include "std.h"
-
-enum pwm_input_channels {
-  PWM_INPUT1,
-  PWM_INPUT2,
-  PWM_INPUT_NB
-};
-
-/**
- * The default pwm counter is set-up to have 1/6 us resolution.
- *
- * The timer clock frequency (before prescaling):
- * STM32F1:
- *   TIM1 -> APB2 = HCLK = 72MHz
- *   TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
- * STM32F4:
- *   TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
- *   TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
- */
-#ifndef PWM_INPUT1_TICKS_PER_USEC
-#define PWM_INPUT1_TICKS_PER_USEC 6
-#endif
-
-#ifndef PWM_INPUT2_TICKS_PER_USEC
-#define PWM_INPUT2_TICKS_PER_USEC 6
-#endif
-
-#endif /* PWM_INPUT_ARCH_H */
-
--- a/sw/airborne/arch/stm32/mcu_periph/rng_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/rng_arch.c
@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2017 Michal Podhradsky <mpodhradsky@galois.com>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file rng_arch.c
- *  \brief arch specific Random Number Generator API
- *
- */
-#include "mcu_periph/rng.h"
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/rng.h>
-
-uint32_t last;
-
-void rng_init(void) {
-  rcc_periph_clock_enable(RCC_RNG);
-  rng_enable();
-  // dont forget to throw away the first generated number
-  last = rng_wait_and_get();
-}
-
-void rng_deinit(void) {
-  rng_disable();
-  rcc_periph_clock_disable(RCC_RNG);
-}
-
-// Return true only if we got a new number
-// that is different from the previous one
-bool rng_get(uint32_t *rand_nr) {
-  uint32_t tmp = 0;
-  if (rng_get_random(&tmp) && (tmp != last)) {
-    last = tmp;
-    *rand_nr = tmp;
-    return true;
-  } else {
-    return false;
-  }
-}
-
-// Wait until we get a new number that is different
-// from the previous one. We can wait forever here if
-// the clocks are not setup properly.
-uint32_t rng_wait_and_get(void) {
-  uint32_t tmp = last;
-  while (tmp == last) {
-    tmp = rng_get_random_blocking();
-  }
-  last = tmp;
-  return tmp;
-}
--- a/sw/airborne/arch/stm32/mcu_periph/spi_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/spi_arch.c
--- a/sw/airborne/arch/stm32/mcu_periph/spi_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/spi_arch.h
@@ -1,34 +0,0 @@
-/*
- * Copyright (C) 2005-2012 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/mcu_periph/spi_arch.h
- * @ingroup stm32_arch
- *
- * Handling of SPI hardware for STM32.
- */
-
-#ifndef SPI_ARCH_H
-#define SPI_ARCH_H
-
-
-#endif // SPI_ARCH_H
--- a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
@@ -1,160 +0,0 @@
-/*
- * Copyright (C) 2009-2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/sys_time_arch.c
- * @ingroup stm32_arch
- *
- * STM32 timing functions.
- *
- */
-
-#include "mcu_periph/sys_time.h"
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/cm3/systick.h>
-#include "std.h"
-
-#include "libopencm3/cm3/systick.h"
-
-#ifdef SYS_TIME_LED
-#include "led.h"
-#endif
-
-#ifndef USE_OCM3_SYSTICK_INIT
-#define USE_OCM3_SYSTICK_INIT 1
-#endif
-
-void sys_tick_handler(void);
-
-/** Initialize SysTick.
- * Generate SysTick interrupt every sys_time.resolution_cpu_ticks
- */
-void sys_time_arch_init(void)
-{
-  /* run cortex systick timer with 72MHz (FIXME only 72 or does it work with 168MHz???) */
-#if USE_OCM3_SYSTICK_INIT
-  systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
-#endif
-  sys_time.cpu_ticks_per_sec = AHB_CLK;
-
-  /* cpu ticks per desired sys_time timer step */
-  sys_time.resolution_cpu_ticks = (uint32_t)(sys_time.resolution * sys_time.cpu_ticks_per_sec + 0.5);
-
-#if USE_OCM3_SYSTICK_INIT
-  /* The timer interrupt is activated on the transition from 1 to 0,
-   * therefore it activates every n+1 clock ticks.
-   */
-  systick_set_reload(sys_time.resolution_cpu_ticks - 1);
-
-  systick_interrupt_enable();
-  systick_counter_enable();
-#endif
-}
-
-
-uint32_t get_sys_time_usec(void)
-{
-  return sys_time.nb_sec * 1000000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem) +
-         usec_of_cpu_ticks(systick_get_reload() - systick_get_value());
-}
-
-uint32_t get_sys_time_usec100(void)
-{
-  return sys_time.nb_sec * 10000 +
-         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100 +
-         usec_of_cpu_ticks(systick_get_reload() - systick_get_value())/100;
-}
-
-uint32_t get_sys_time_msec(void)
-{
-  return sys_time.nb_sec * 1000 +
-         msec_of_cpu_ticks(sys_time.nb_sec_rem) +
-         msec_of_cpu_ticks(systick_get_reload() - systick_get_value());
-}
-
-// FIXME : nb_tick rollover ???
-//
-// 97 days at 512hz
-// 12 hours at 100khz
-//
-void sys_tick_handler(void)
-{
-  sys_time.nb_tick++;
-
-  sys_time.nb_sec_rem += sys_time.resolution_cpu_ticks;
-  if (sys_time.nb_sec_rem >= sys_time.cpu_ticks_per_sec) {
-    sys_time.nb_sec_rem -= sys_time.cpu_ticks_per_sec;
-    sys_time.nb_sec++;
-
-#ifdef SYS_TIME_LED
-    LED_TOGGLE(SYS_TIME_LED);
-#endif
-  }
-  for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) {
-    if (sys_time.timer[i].in_use &&
-        sys_time.nb_tick >= sys_time.timer[i].end_time) {
-      sys_time.timer[i].end_time += sys_time.timer[i].duration;
-      sys_time.timer[i].elapsed = true;
-      if (sys_time.timer[i].cb) {
-        sys_time.timer[i].cb(i);
-      }
-    }
-  }
-}
-
-/** Busy wait in microseconds.
- *
- *  max value is limited by the max number of cycle
- *  i.e 2^32 * usec_of_cpu_ticks(systick_get_reload())
- */
-void sys_time_usleep(uint32_t us)
-{
-  // start time
-  uint32_t start = systick_get_value();
-  // max time of one full counter cycle (n + 1 ticks)
-  uint32_t DT = usec_of_cpu_ticks(systick_get_reload() + 1);
-  // number of cycles
-  uint32_t n = us / DT;
-  // remaining number of cpu ticks
-  uint32_t rem = cpu_ticks_of_usec(us % DT);
-  // end time depend on the current value of the counter
-  uint32_t end;
-  if (rem < start) {
-    end = start - rem;
-  } else {
-    // one more count flag is required
-    n++;
-    end = systick_get_reload() - rem + start;
-  }
-  // count number of cycles (when counter reachs 0)
-  while (n) {
-    while (!systick_get_countflag());
-    n--;
-  }
-  // wait remaining ticks
-  while (systick_get_value() > end);
-}
-
-void sys_time_msleep(uint32_t ms) {
-  sys_time_usleep(ms*1000);
-}
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
--- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -1,48 +0,0 @@
-/*
- * Copyright (C) 2009-2010 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/mcu_periph/uart_arch.h
- * @ingroup stm32_arch
- *
- * Handling of UART hardware for STM32.
- */
-
-#ifndef STM32_UART_ARCH_H
-#define STM32_UART_ARCH_H
-
-#define B1200       1200
-#define B2400       2400
-#define B4800       4800
-#define B9600       9600
-#define B19200     19200
-#define B38400     38400
-#define B57600     57600
-#define B100000   100000
-#define B115200   115200
-#define B230400   230400
-#define B460800   460800
-#define B921600   921600
-#define B1500000 1500000
-#define B3000000 3000000
-#define UART_SPEED(_def) _def
-
-#endif /* STM32_UART_ARCH_H */
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.c
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.c
@@ -1,183 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_dualpwm_arch.c
- *  STM32 dual PWM servos handling.
- */
-
-//VALID TIMERS IS TIM5 ON THE LISA/M
-
-#include "modules/actuators/actuators_shared_arch.h"
-#include "modules/actuators/actuators_dualpwm_arch.h"
-#include "modules/actuators/actuators_dualpwm.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "mcu_periph/gpio_arch.h"
-
-uint32_t ratio_4ms, ratio_16ms;
-
-
-uint32_t actuators_dualpwm_values[ACTUATORS_DUALPWM_NB];
-
-/** PWM arch init called by generic pwm driver
- */
-void actuators_dualpwm_arch_init(void)
-{
-
-  /*-----------------------------------
-   * Configure timer peripheral clocks
-   *-----------------------------------*/
-#if PWM_USE_TIM1
-  rcc_periph_clock_enable(RCC_TIM1);
-#endif
-#if PWM_USE_TIM2
-  rcc_periph_clock_enable(RCC_TIM2);
-#endif
-#if PWM_USE_TIM3
-  rcc_periph_clock_enable(RCC_TIM3);
-#endif
-#if PWM_USE_TIM4
-  rcc_periph_clock_enable(RCC_TIM4);
-#endif
-#if PWM_USE_TIM5
-  rcc_periph_clock_enable(RCC_TIM5);
-#endif
-#if PWM_USE_TIM8
-  rcc_periph_clock_enable(RCC_TIM8);
-#endif
-#if PWM_USE_TIM9
-  rcc_periph_clock_enable(RCC_TIM9);
-#endif
-#if PWM_USE_TIM12
-  rcc_periph_clock_enable(RCC_TIM12);
-#endif
-
-  /*----------------
-   * Configure GPIO
-   *----------------*/
-#ifdef DUAL_PWM_SERVO_5
-  gpio_setup_pin_af(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, TRUE);
-#endif
-#ifdef DUAL_PWM_SERVO_6
-  gpio_setup_pin_af(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, TRUE);
-#endif
-
-#if DUAL_PWM_USE_TIM5
-  rcc_periph_reset_pulse(RST_TIM5);
-  set_servo_timer(TIM5, TIM5_SERVO_HZ, PWM_TIM5_CHAN_MASK);
-
-  nvic_set_priority(NVIC_TIM5_IRQ, 2);
-  nvic_enable_irq(NVIC_TIM5_IRQ);
-  timer_enable_irq(TIM5, TIM_DIER_CC1IE);
-#endif
-
-  //calculation the values to put into the timer registers to generate pulses every 4ms and 16ms.
-  ratio_4ms = (ONE_MHZ_CLK / 250) - 1;
-  ratio_16ms = (ONE_MHZ_CLK / 62.5) - 1;
-
-}
-
-
-/** Interuption called at the end of the timer. In our case alternatively very 4ms and 16ms (twice every 20ms)
- */
-#if DUAL_PWM_USE_TIM5
-void tim5_isr(void)
-{
-
-  dual_pwm_isr();
-}
-#endif
-
-
-
-
-/** Fonction that clears the flag of interuption in order to reactivate the interuption
- */
-void clear_timer_flag(void)
-{
-
-#if DUAL_PWM_USE_TIM5
-  timer_clear_flag(TIM5, TIM_SR_CC1IF);
-#endif
-}
-
-
-void set_dual_pwm_timer_s_period(uint32_t period)
-{
-
-#if DUAL_PWM_USE_TIM5
-  timer_set_period(TIM5, period);
-#endif
-}
-
-
-void set_dual_pwm_timer_s_oc(uint32_t oc_value, uint32_t oc_value2)
-{
-
-#if DUAL_PWM_USE_TIM5
-  timer_set_oc_value(DUAL_PWM_SERVO_5_TIMER, DUAL_PWM_SERVO_5_OC, oc_value);
-  timer_set_oc_value(DUAL_PWM_SERVO_6_TIMER, DUAL_PWM_SERVO_6_OC, oc_value2);
-#endif
-}
-
-
-
-
-void dual_pwm_isr(void)
-{
-
-  static int num_pulse = 0;  //status of the timer. Are we controling the first or the second servo
-
-  clear_timer_flag();
-
-  if (num_pulse == 1) {
-
-    set_dual_pwm_timer_s_period(ratio_16ms);
-    set_dual_pwm_timer_s_oc(actuators_dualpwm_values[DUAL_PWM_SERVO_5_P1],actuators_dualpwm_values[DUAL_PWM_SERVO_5_P2]);
-
-    num_pulse = 0;
-  } else {
-
-    set_dual_pwm_timer_s_period(ratio_4ms);
-    set_dual_pwm_timer_s_oc(actuators_dualpwm_values[DUAL_PWM_SERVO_6_P1],actuators_dualpwm_values[DUAL_PWM_SERVO_6_P2]);
-
-    num_pulse = 1;
-  }
-}
-
-void actuators_dualpwm_set(uint8_t idx, int16_t value)
-{
-  actuators_dualpwm_values[idx] = value;
-}
-
-/** Set pulse widths from actuator values, assumed to be in us
- */
-void actuators_dualpwm_commit(void)
-{
-
-  //we don't need to commit the values into this function as far as it's done in the interuption
-  //(wich is called every 4ms and 16ms alternatively (twice every 20ms))
-
-}
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.h
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.h
@@ -1,58 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_dualpwm_arch.h
- *  STM32 PWM servos handling.
- */
-
-#ifndef ACTUATORS_dualpwm_ARCH_H
-#define ACTUATORS_dualpwm_ARCH_H
-
-#include "std.h"
-
-#include BOARD_CONFIG
-
-// Max 2 dualpwm channels of 2 pulses each
-#ifndef ACTUATORS_DUALPWM_NB
-#define ACTUATORS_DUALPWM_NB 4
-#endif
-
-
-extern uint32_t actuators_dualpwm_values[ACTUATORS_DUALPWM_NB];
-
-extern void actuators_dualpwm_set(uint8_t idx, int16_t value);
-
-extern void actuators_dualpwm_commit(void);
-
-extern void dual_pwm_isr(void);
-
-extern void clear_timer_flag(void);
-
-extern void set_dual_pwm_timer_s_period(uint32_t period);
-
-extern void set_dual_pwm_timer_s_oc(uint32_t oc_value, uint32_t oc_value2);
-
-#define SERVOS_TICS_OF_USEC(_v) (_v)
-
-#define ActuatorDualpwmSet actuators_dualpwm_set
-#define ActuatorsDualpwmCommit  actuators_dualpwm_commit
-
-#endif /* ACTUATORS_dualpwm_ARCH_H */
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.c
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.c
@@ -1,195 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_pwm_arch.c
- *  STM32 PWM servos handling.
- */
-
-//VALID TIMERS ARE TIM1,2,3,4,5,8,9,12
-
-#include "modules/actuators/actuators_shared_arch.h"
-#include "modules/actuators/actuators_pwm_arch.h"
-#include "modules/actuators/actuators_pwm.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/timer.h>
-
-#include "mcu_periph/gpio_arch.h"
-
-
-/** PWM arch init called by generic pwm driver
- */
-void actuators_pwm_arch_init(void)
-{
-  /*-----------------------------------
-   * Configure timer peripheral clocks
-   *-----------------------------------*/
-#if PWM_USE_TIM1
-  rcc_periph_clock_enable(RCC_TIM1);
-#endif
-#if PWM_USE_TIM2
-  rcc_periph_clock_enable(RCC_TIM2);
-#endif
-#if PWM_USE_TIM3
-  rcc_periph_clock_enable(RCC_TIM3);
-#endif
-#if PWM_USE_TIM4
-  rcc_periph_clock_enable(RCC_TIM4);
-#endif
-#if PWM_USE_TIM5
-  rcc_periph_clock_enable(RCC_TIM5);
-#endif
-#if PWM_USE_TIM8
-  rcc_periph_clock_enable(RCC_TIM8);
-#endif
-#if PWM_USE_TIM9
-  rcc_periph_clock_enable(RCC_TIM9);
-#endif
-#if PWM_USE_TIM12
-  rcc_periph_clock_enable(RCC_TIM12);
-#endif
-
-  /*----------------
-   * Configure GPIO
-   *----------------*/
-#ifdef PWM_SERVO_0
-  gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_1
-  gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_2
-  gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_3
-  gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_4
-  gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_5
-  gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_6
-  gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_7
-  gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_8
-  gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_9
-  gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_10
-  gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, TRUE);
-#endif
-#ifdef PWM_SERVO_11
-  gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, TRUE);
-#endif
-
-#if PWM_USE_TIM1
-  rcc_periph_reset_pulse(RST_TIM1);
-  set_servo_timer(TIM1, TIM1_SERVO_HZ, PWM_TIM1_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM2
-  rcc_periph_reset_pulse(RST_TIM2);
-  set_servo_timer(TIM2, TIM2_SERVO_HZ, PWM_TIM2_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM3
-  rcc_periph_reset_pulse(RST_TIM3);
-  set_servo_timer(TIM3, TIM3_SERVO_HZ, PWM_TIM3_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM4
-  rcc_periph_reset_pulse(RST_TIM4);
-  set_servo_timer(TIM4, TIM4_SERVO_HZ, PWM_TIM4_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM5
-  rcc_periph_reset_pulse(RST_TIM5);
-  set_servo_timer(TIM5, TIM5_SERVO_HZ, PWM_TIM5_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM8
-  rcc_periph_reset_pulse(RST_TIM8);
-  set_servo_timer(TIM8, TIM8_SERVO_HZ, PWM_TIM8_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM9
-  rcc_periph_reset_pulse(RST_TIM9);
-  set_servo_timer(TIM9, TIM9_SERVO_HZ, PWM_TIM9_CHAN_MASK);
-#endif
-
-#if PWM_USE_TIM12
-  rcc_periph_reset_pulse(RST_TIM12);
-  set_servo_timer(TIM12, TIM12_SERVO_HZ, PWM_TIM12_CHAN_MASK);
-#endif
-
-}
-
-/** Set pulse widths from actuator values, assumed to be in us
- */
-void actuators_pwm_arch_commit(void)
-{
-#ifdef PWM_SERVO_0
-  timer_set_oc_value(PWM_SERVO_0_TIMER, PWM_SERVO_0_OC, actuators_pwm_values[PWM_SERVO_0]);
-#endif
-#ifdef PWM_SERVO_1
-  timer_set_oc_value(PWM_SERVO_1_TIMER, PWM_SERVO_1_OC, actuators_pwm_values[PWM_SERVO_1]);
-#endif
-#ifdef PWM_SERVO_2
-  timer_set_oc_value(PWM_SERVO_2_TIMER, PWM_SERVO_2_OC, actuators_pwm_values[PWM_SERVO_2]);
-#endif
-#ifdef PWM_SERVO_3
-  timer_set_oc_value(PWM_SERVO_3_TIMER, PWM_SERVO_3_OC, actuators_pwm_values[PWM_SERVO_3]);
-#endif
-#ifdef PWM_SERVO_4
-  timer_set_oc_value(PWM_SERVO_4_TIMER, PWM_SERVO_4_OC, actuators_pwm_values[PWM_SERVO_4]);
-#endif
-#ifdef PWM_SERVO_5
-  timer_set_oc_value(PWM_SERVO_5_TIMER, PWM_SERVO_5_OC, actuators_pwm_values[PWM_SERVO_5]);
-#endif
-#ifdef PWM_SERVO_6
-  timer_set_oc_value(PWM_SERVO_6_TIMER, PWM_SERVO_6_OC, actuators_pwm_values[PWM_SERVO_6]);
-#endif
-#ifdef PWM_SERVO_7
-  timer_set_oc_value(PWM_SERVO_7_TIMER, PWM_SERVO_7_OC, actuators_pwm_values[PWM_SERVO_7]);
-#endif
-#ifdef PWM_SERVO_8
-  timer_set_oc_value(PWM_SERVO_8_TIMER, PWM_SERVO_8_OC, actuators_pwm_values[PWM_SERVO_8]);
-#endif
-#ifdef PWM_SERVO_9
-  timer_set_oc_value(PWM_SERVO_9_TIMER, PWM_SERVO_9_OC, actuators_pwm_values[PWM_SERVO_9]);
-#endif
-#ifdef PWM_SERVO_10
-  timer_set_oc_value(PWM_SERVO_10_TIMER, PWM_SERVO_10_OC, actuators_pwm_values[PWM_SERVO_10]);
-#endif
-#ifdef PWM_SERVO_11
-  timer_set_oc_value(PWM_SERVO_11_TIMER, PWM_SERVO_11_OC, actuators_pwm_values[PWM_SERVO_11]);
-#endif
-
-}
-
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.h
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.h
@@ -1,35 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_pwm_arch.h
- *  STM32 PWM servos handling.
- */
-
-#ifndef ACTUATORS_PWM_ARCH_H
-#define ACTUATORS_PWM_ARCH_H
-
-#include "std.h"
-
-#include BOARD_CONFIG
-
-#define SERVOS_TICS_OF_USEC(_v) (_v)
-
-#endif /* ACTUATORS_PWM_ARCH_H */
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.c
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.c
@@ -1,122 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_shared_arch.c
- *  STM32 PWM and dualPWM servos shared functions.
- */
-
-#include "arch/stm32/modules/actuators/actuators_shared_arch.h"
-
-#include <libopencm3/stm32/timer.h>
-// for timer_get_frequency
-#include "arch/stm32/mcu_arch.h"
-
-
-/** Set PWM channel configuration
- */
-void actuators_pwm_arch_channel_init(uint32_t timer_peripheral,
-                                     enum tim_oc_id oc_id)
-{
-
-  timer_disable_oc_output(timer_peripheral, oc_id);
-  //There is no such register in TIM9 and 12.
-  if (timer_peripheral != TIM9 && timer_peripheral != TIM12) {
-    timer_disable_oc_clear(timer_peripheral, oc_id);
-  }
-  timer_enable_oc_preload(timer_peripheral, oc_id);
-  timer_set_oc_slow_mode(timer_peripheral, oc_id);
-  timer_set_oc_mode(timer_peripheral, oc_id, TIM_OCM_PWM1);
-  timer_set_oc_polarity_high(timer_peripheral, oc_id);
-  timer_enable_oc_output(timer_peripheral, oc_id);
-  // Used for TIM1 and TIM8, the function does nothing if other timer is specified.
-  timer_enable_break_main_output(timer_peripheral);
-}
-
-
-/** Set Timer configuration
- * @param[in] timer Timer register address base
- * @param[in] freq PWM frequency in Hz (1 / auto-reload period)
- * @param[in] channels_mask output compare channels to enable
- */
-void set_servo_timer(uint32_t timer, uint32_t freq, uint8_t channels_mask)
-{
-  /* Timer global mode:
-   * - No divider.
-   * - Alignement edge.
-   * - Direction up.
-   */
-  if ((timer == TIM9) || (timer == TIM12))
-    //There are no EDGE and DIR settings in TIM9 and TIM12
-  {
-    timer_set_mode(timer, TIM_CR1_CKD_CK_INT, 0, 0);
-  } else {
-    timer_set_mode(timer, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
-  }
-
-
-  // By default the PWM_BASE_FREQ is set to 1MHz thus the timer tick period is 1uS
-  uint32_t timer_clk = timer_get_frequency(timer);
-  timer_set_prescaler(timer, (timer_clk / PWM_BASE_FREQ) - 1);
-
-  timer_disable_preload(timer);
-
-  timer_continuous_mode(timer);
-
-  timer_set_period(timer, (PWM_BASE_FREQ / freq) - 1);
-
-  /* Disable outputs and configure channel if needed. */
-  if (bit_is_set(channels_mask, 0)) {
-    actuators_pwm_arch_channel_init(timer, TIM_OC1);
-  }
-  if (bit_is_set(channels_mask, 1)) {
-    actuators_pwm_arch_channel_init(timer, TIM_OC2);
-  }
-  if (bit_is_set(channels_mask, 2)) {
-    actuators_pwm_arch_channel_init(timer, TIM_OC3);
-  }
-  if (bit_is_set(channels_mask, 3)) {
-    actuators_pwm_arch_channel_init(timer, TIM_OC4);
-  }
-
-  /*
-   * Set initial output compare values.
-   * Note: Maybe we should preload the compare registers with some sensible
-   * values before we enable the timer?
-   */
-  //timer_set_oc_value(timer, TIM_OC1, 1000);
-  //timer_set_oc_value(timer, TIM_OC2, 1000);
-  //timer_set_oc_value(timer, TIM_OC3, 1000);
-  //timer_set_oc_value(timer, TIM_OC4, 1000);
-
-  /* -- Enable timer -- */
-  /*
-   * ARR reload enable.
-   * Note: In our case it does not matter much if we do preload or not. As it
-   * is unlikely we will want to change the frequency of the timer during
-   * runtime anyways.
-   */
-  timer_enable_preload(timer);
-
-  /* Counter enable. */
-  timer_enable_counter(timer);
-
-}
-
--- a/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.h
+++ b/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.h
@@ -1,81 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/** @file arch/stm32/modules/actuators/actuators_shared_arch.h
- *  STM32 PWM and dualPWM servos shared functions.
- */
-
-#ifndef ACTUATORS_PWM_SHARED_ARCH_H
-#define ACTUATORS_PWM_SHARED_ARCH_H
-
-#include "std.h"
-
-#include BOARD_CONFIG
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/cm3/nvic.h>
-#include "mcu_arch.h"
-
-#define ONE_MHZ_CLK 1000000
-
-/* Default timer base frequency is 1MHz */
-#if ! defined(PWM_BASE_FREQ)
-#define PWM_BASE_FREQ ONE_MHZ_CLK
-#endif
-
-
-/** Default servo update rate in Hz */
-#ifndef SERVO_HZ
-#define SERVO_HZ 40
-#endif
-
-// Update rate can be adapted for each timer
-#ifndef TIM1_SERVO_HZ
-#define TIM1_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM2_SERVO_HZ
-#define TIM2_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM3_SERVO_HZ
-#define TIM3_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM4_SERVO_HZ
-#define TIM4_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM5_SERVO_HZ
-#define TIM5_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM8_SERVO_HZ
-#define TIM8_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM9_SERVO_HZ
-#define TIM9_SERVO_HZ SERVO_HZ
-#endif
-#ifndef TIM12_SERVO_HZ
-#define TIM12_SERVO_HZ SERVO_HZ
-#endif
-
-extern void actuators_pwm_arch_channel_init(uint32_t timer_peripheral, enum tim_oc_id oc_id);
-extern void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask);
-
-#endif /* ACTUATORS_PWM_SHARED_ARCH_H */
--- a/sw/airborne/arch/stm32/modules/core/settings_arch.c
+++ b/sw/airborne/arch/stm32/modules/core/settings_arch.c
@@ -1,320 +0,0 @@
-/*
- * Copyright (C) 2011 Martin Mueller <martinmm@pfump.org>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/**
- * @file arch/stm32/modules/core/settings_arch.c
- * Persistent settings low level flash routines stm32.
- *
- * data          flash_addr
- * data_size     flash_end - FSIZ
- * checksum      flash_end - FCHK
- *
- * STM32: minimum write size 2 bytes, endurance 10k cycles,
- *        max sector erase time 40ms, max prog time 70us per 2 bytes
- */
-
-#include "modules/core/settings.h"
-
-#include <libopencm3/stm32/flash.h>
-#include <libopencm3/stm32/crc.h>
-#include <libopencm3/stm32/dbgmcu.h>
-
-struct FlashInfo {
-  uint32_t addr;
-  uint32_t total_size;
-  uint32_t page_nr;
-  uint32_t page_size;
-};
-
-
-static uint32_t pflash_checksum(uint32_t ptr, uint32_t size);
-static int32_t flash_detect(struct FlashInfo *flash);
-static int32_t pflash_program_bytes(struct FlashInfo *flash,
-                                    uint32_t src,
-                                    uint32_t size,
-                                    uint32_t chksum);
-
-#if defined(STM32F1)
-#define FLASH_SIZE_ MMIO16(0x1FFFF7E0)
-#elif defined(STM32F4)
-#define FLASH_SIZE_ MMIO16(0x1FFF7A22)
-#endif
-
-#define FLASH_BEGIN 0x08000000
-#define FSIZ        8
-#define FCHK        4
-
-
-static uint32_t pflash_checksum(uint32_t ptr, uint32_t size)
-{
-  uint32_t i;
-
-  /* reset crc */
-  CRC_CR = CRC_CR_RESET;
-
-  if (ptr % 4) {
-    /* calc in 8bit chunks */
-    for (i = 0; i < (size & ~3); i += 4) {
-      CRC_DR = (*(uint8_t *)(ptr + i)) |
-               (*(uint8_t *)(ptr + i + 1)) << 8 |
-               (*(uint8_t *)(ptr + i + 2)) << 16 |
-               (*(uint8_t *)(ptr + i + 3)) << 24;
-    }
-  } else {
-    /* calc in 32bit */
-    for (i = 0; i < (size & ~3); i += 4) {
-      CRC_DR = *(uint32_t *)(ptr + i);
-    }
-  }
-
-  /* remaining bytes */
-  switch (size % 4) {
-    case 1:
-      CRC_DR = *(uint8_t *)(ptr + i);
-      break;
-    case 2:
-      CRC_DR = (*(uint8_t *)(ptr + i)) |
-               (*(uint8_t *)(ptr + i + 1)) << 8;
-      break;
-    case 3:
-      CRC_DR = (*(uint8_t *)(ptr + i)) |
-               (*(uint8_t *)(ptr + i + 1)) << 8 |
-               (*(uint8_t *)(ptr + i + 2)) << 16;
-      break;
-    default:
-      break;
-  }
-
-  return CRC_DR;
-}
-
-static int32_t flash_detect(struct FlashInfo *flash)
-{
-
-  flash->total_size = FLASH_SIZE_ * 0x400;
-
-#if defined(STM32F1)
-  /* FIXME This will not work for connectivity line (needs ID, see below), but
-           device ID is only readable when freshly loaded through JTAG?! */
-
-  /* WARNING If you are using this for F4 this only works for memory sizes
-   * larger than 128kb. Otherwise the first few sectors are either 16kb or
-   * 64kb. To make those small devices work we would need to know what the page
-   * we want to put the settings into is. Otherwise we will might be writing
-   * into a 64kb page that is actually 16kb big.
-   */
-  switch (flash->total_size) {
-      /* low density */
-    case 0x00004000: /* 16 kBytes */
-    case 0x00008000: /* 32 kBytes */
-      /* medium density, e.g. STM32F103RBT6 (Olimex STM32-H103) */
-    case 0x00010000: /* 64 kBytes */
-    case 0x00020000: { /* 128 kBytes */
-      flash->page_size = 0x400;
-      break;
-    }
-    /* high density, e.g. STM32F103RE (Joby Lisa/M, Lisa/L) */
-    case 0x00040000: /* 256 kBytes */
-    case 0x00080000: /* 512 kBytes */
-      /* XL density */
-    case 0x000C0000: /* 768 kBytes */
-    case 0x00100000: { /* 1 MByte */
-      flash->page_size = 0x800;
-      break;
-    }
-    default: {return -1;}
-  }
-
-#elif defined(STM32F4) /* this is the correct way of detecting page sizes but we currently only use it for the F4 because the F1 version is broken. */
-  uint32_t device_id;
-
-  /* read device id */
-  device_id = DBGMCU_IDCODE & DBGMCU_IDCODE_DEV_ID_MASK;
-
-  switch (device_id) {
-      /* low density */
-    case 0x412:
-      /* medium density, e.g. STM32F103RB (Olimex STM32-H103) */
-    case 0x410: {
-      flash->page_size = 0x400;
-      break;
-    }
-    /* high density, e.g. STM32F103RE (Joby Lisa/L) */
-    case 0x414:
-      /* XL density */
-    case 0x430:
-      /* connectivity line */
-    case 0x418: {
-      flash->page_size = 0x800;
-      break;
-    }
-    case 0x0413: /* STM32F405xx/07xx and STM32F415xx/17xx) */
-    case 0x0419: /* STM32F42xxx and STM32F43xxx */
-    case 0x0423: /* STM32F401xB/C */
-    case 0x0433: /* STM32F401xD/E */
-    case 0x0431: { /* STM32F411xC/E */
-      flash->page_size = 0x20000;
-      break;
-    }
-    default: return -1;
-  }
-
-  switch (flash->total_size) {
-    case 0x00004000: /* 16 kBytes */
-    case 0x00008000: /* 32 kBytes */
-    case 0x00010000: /* 64 kBytes */
-    case 0x00020000: /* 128 kBytes */
-    case 0x00040000: /* 256 kBytes */
-    case 0x00080000: /* 512 kBytes */
-    case 0x000C0000: /* 768 kBytes */
-    case 0x00100000: /* 1 MByte */
-    case 0x00200000: /* 2 MByte */
-      break;
-    default: return -1;
-  }
-#else
-#error Unknown device
-#endif
-
-#if defined(STM32F1)
-  flash->page_nr = (flash->total_size / flash->page_size) - 1;
-  flash->addr = FLASH_BEGIN + flash->page_nr * flash->page_size;
-#elif defined(STM32F4)
-  /* We are assuming all pages are 128kb so we have to compensate for the first
-   * few pages that are smaller which means we have to skip the first 4.
-   */
-  flash->page_nr = (flash->total_size / flash->page_size) - 1 + 4;
-  flash->addr = FLASH_BEGIN + (flash->page_nr - 4) * flash->page_size;
-#endif
-
-  return 0;
-}
-
-
-static int32_t pflash_erase(struct FlashInfo *flash)
-{
-  uint32_t i;
-
-  /* erase */
-  flash_unlock();
-#if defined(STM32F1)
-  flash_erase_page(flash->addr);
-#elif defined(STM32F4)
-  flash_erase_sector(flash->page_nr, FLASH_CR_PROGRAM_X32);
-#endif
-  flash_lock();
-
-  /* verify erase */
-  for (i = 0; i < flash->page_size; i += 4) {
-    if ((*(uint32_t *)(flash->addr + i)) != 0xFFFFFFFF) { return -1; }
-  }
-  return 0;
-}
-
-// (gdb) p *flash
-// $1 = {addr = 134739968, total_size = 524288, page_nr = 255, page_size = 2048}
-//              0x807F800             0x80000
-static int32_t pflash_program_bytes(struct FlashInfo *flash,
-                                    uint32_t   src,
-                                    uint32_t   size,
-                                    uint32_t   chksum)
-{
-  uint32_t i;
-
-  /* erase, return with error if not successful */
-  if (pflash_erase(flash)) { return -1; }
-
-  flash_unlock();
-  /* write full 16 bit words */
-  for (i = 0; i < (size & ~1); i += 2) {
-    flash_program_half_word(flash->addr + i,
-                            (uint16_t)(*(uint8_t *)(src + i) | (*(uint8_t *)(src + i + 1)) << 8));
-  }
-  /* fill bytes with a zero */
-  if (size & 1) {
-    flash_program_half_word(flash->addr + i, (uint16_t)(*(uint8_t *)(src + i)));
-  }
-  /* write size */
-  flash_program_half_word(flash->addr + flash->page_size - FSIZ,
-                          (uint16_t)(size & 0xFFFF));
-  flash_program_half_word(flash->addr + flash->page_size - FSIZ + 2,
-                          (uint16_t)((size >> 16) & 0xFFFF));
-  /* write checksum */
-  flash_program_half_word(flash->addr + flash->page_size - FCHK,
-                          (uint16_t)(chksum & 0xFFFF));
-  flash_program_half_word(flash->addr + flash->page_size - FCHK + 2,
-                          (uint16_t)((chksum >> 16) & 0xFFFF));
-  flash_lock();
-
-  /* verify data */
-  for (i = 0; i < size; i++) {
-    if ((*(uint8_t *)(flash->addr + i)) != (*(uint8_t *)(src + i))) { return -2; }
-  }
-  if (*(uint32_t *)(flash->addr + flash->page_size - FSIZ) != size) { return -3; }
-  if (*(uint32_t *)(flash->addr + flash->page_size - FCHK) != chksum) { return -4; }
-
-  return 0;
-}
-
-int32_t persistent_write(void *ptr, uint32_t size)
-{
-  struct FlashInfo flash_info;
-  if (flash_detect(&flash_info)) { return -1; }
-  if ((size > flash_info.page_size - FSIZ) || (size == 0)) { return -2; }
-
-  return pflash_program_bytes(&flash_info,
-                              (uint32_t)ptr,
-                              size,
-                              pflash_checksum((uint32_t)ptr, size));
-}
-
-int32_t persistent_read(void *ptr, uint32_t size)
-{
-  struct FlashInfo flash;
-  uint32_t i;
-
-  /* check parameters */
-  if (flash_detect(&flash)) { return -1; }
-  if ((size > flash.page_size - FSIZ) || (size == 0)) { return -2; }
-
-  /* check consistency */
-  if (size != *(uint32_t *)(flash.addr + flash.page_size - FSIZ)) { return -3; }
-  if (pflash_checksum(flash.addr, size) !=
-      *(uint32_t *)(flash.addr + flash.page_size - FCHK)) {
-    return -4;
-  }
-
-  /* copy data */
-  for (i = 0; i < size; i++) {
-    *(uint8_t *)((uint32_t)ptr + i) = *(uint8_t *)(flash.addr + i);
-  }
-
-  return 0;
-}
-
-int32_t persistent_clear(void)
-{
-  struct FlashInfo flash_info;
-  if (flash_detect(&flash_info)) { return -1; }
-
-  return pflash_erase(&flash_info);
-}
--- a/sw/airborne/arch/stm32/modules/core/threads_arch.c
+++ b/sw/airborne/arch/stm32/modules/core/threads_arch.c
@@ -1,66 +0,0 @@
-/*
- * Copyright (C) 2025 The Paparazzi Team
- * 
- * This file is part of paparazzi.
- *
- * Paparazzi is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * See LICENSE file for the full license version, or see http://www.gnu.org/licenses/
- */
-#include "modules/core/threads.h"
-#include "modules/core/threads_arch.h"
-#include "stdbool.h"
-#include "mcu_periph/sys_time.h"
-
-int pprz_mtx_init(pprz_mutex_t* mtx) {
-  (void)mtx;
-  return 0;
-}
-
-int pprz_mtx_lock(pprz_mutex_t* mtx) {
-  (void)mtx;
-  return 0;
-}
-
-int pprz_mtx_trylock(pprz_mutex_t* mtx) {
-  (void)mtx;
-  (void)mtx;
-  return 0;
-}
-
-int pprz_mtx_unlock(pprz_mutex_t* mtx) {
-  (void)mtx;
-  return 0;
-}
-
-void pprz_bsem_init(pprz_bsem_t* bsem, bool taken) {
-  bsem->value = taken ? 0: 1;
-}
-
-void pprz_bsem_wait(pprz_bsem_t* bsem) {
-  while (bsem->value == 0)
-  {
-    // active wait
-    asm("NOP");
-  }
-  bsem->value = 0;
-}
-
-int pprz_bsem_wait_timeout(pprz_bsem_t* bsem, float timeout) {
-  float time_end = get_sys_time_float() + timeout;
-  while(get_sys_time_float() - time_end > 0) {
-    // active wait
-    if(bsem->value) {
-      bsem->value = 0;
-      return 0;
-    }
-  }
-  return -1;
-}
-
-void pprz_bsem_signal(pprz_bsem_t* bsem) {
-  bsem->value = 1;
-}
--- a/sw/airborne/arch/stm32/modules/core/threads_arch.h
+++ b/sw/airborne/arch/stm32/modules/core/threads_arch.h
@@ -1,29 +0,0 @@
-/*
- * Copyright (C) 2025 The Paparazzi Team
- * 
- * This file is part of paparazzi.
- *
- * Paparazzi is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * See LICENSE file for the full license version, or see http://www.gnu.org/licenses/
- */
-
-#pragma once
-
-#define PPRZ_NORMAL_PRIO NORMALPRIO
-
-#define THREADS_ATTRIBUTES __attribute__((error("Threads cannot be used in STM32 bare metal ARCH.")))
-
-struct pprzMutex {
-  int dummy;  // avoid warning: empty declaration
-};
-
-struct pprzBSem {
-  volatile int value;
-};
-
-
-typedef int pprz_thread_t;
--- a/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.c
+++ b/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.c
@@ -1,117 +0,0 @@
-#include "modules/imu/imu.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/exti.h>
-#include <libopencm3/stm32/spi.h>
-#include <libopencm3/stm32/dma.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "mcu_periph/i2c.h"
-
-#ifndef STM32F1
-#error "imu_aspirin_arch arch currently only implemented for STM32F1"
-#endif
-
-void imu_aspirin_arch_int_enable(void)
-{
-
-#ifdef ASPIRIN_USE_GYRO_INT
-  nvic_set_priority(NVIC_EXTI15_10_IRQ, 0x0F);
-  nvic_enable_irq(NVIC_EXTI15_10_IRQ);
-#endif
-
-  nvic_set_priority(NVIC_EXTI2_IRQ, 0x0F);
-  nvic_enable_irq(NVIC_EXTI2_IRQ);
-
-  // should not be needed anymore, handled by the spi driver
-#if 0
-  /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
-  nvic_set_priority(NVIC_DMA1_CHANNEL4_IRQ, 0);
-  nvic_enable_irq(NVIC_DMA1_CHANNEL4_IRQ);
-#endif
-}
-
-void imu_aspirin_arch_int_disable(void)
-{
-
-#ifdef ASPIRIN_USE_GYRO_INT
-  nvic_disable_irq(NVIC_EXTI15_10_IRQ);
-#endif
-
-  nvic_disable_irq(NVIC_EXTI2_IRQ);
-
-  // should not be needed anymore, handled by the spi driver
-#if 0
-  /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
-  nvic_disable_irq(NVIC_DMA1_CHANNEL4_IRQ);
-#endif
-}
-
-void imu_aspirin_arch_init(void)
-{
-
-  // This was needed for Lisa/L????
-#if 0
-  /* Set "mag ss" and "mag reset" as floating inputs ------------------------*/
-  /* "mag ss"    (PC12) is shorted to I2C2 SDA       */
-  /* "mag reset" (PC13) is shorted to I2C2 SCL       */
-  rcc_periph_clock_enable(RCC_GPIOC);
-  gpio_set_mode(GPIOC, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_FLOAT, GPIO12 | GPIO13);
-#endif
-
-  /* Gyro --------------------------------------------------------------------*/
-  /* configure external interrupt exti15_10 on PC14( gyro int ) */
-  rcc_periph_clock_enable(RCC_GPIOC);
-  rcc_periph_clock_enable(RCC_AFIO);
-  gpio_set_mode(GPIOC, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_FLOAT, GPIO14);
-
-#ifdef ASPIRIN_USE_GYRO_INT
-  exti_select_source(EXTI14, GPIOC);
-  exti_set_trigger(EXTI14, EXTI_TRIGGER_FALLING);
-  exti_enable_request(EXTI14);
-#endif
-
-  /* configure external interrupt exti2 on PB2( accel int ) */
-  rcc_periph_clock_enable(RCC_GPIOB);
-  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_FLOAT, GPIO2);
-  exti_select_source(EXTI2, GPIOB);
-  exti_set_trigger(EXTI2, EXTI_TRIGGER_FALLING);
-  exti_enable_request(EXTI2);
-
-}
-
-
-/****** the interrupts should be handled in the peripheral drivers *******/
-
-/*
- * Gyro data ready
- */
-void exti15_10_isr(void)
-{
-
-  /* clear EXTI */
-  exti_reset_request(EXTI14);
-
-#ifdef ASPIRIN_USE_GYRO_INT
-  imu_aspirin.gyro_eoc = true;
-  imu_aspirin.status = AspirinStatusReadingGyro;
-#endif
-
-}
-
-/*
- * Accel data ready
- */
-void exti2_isr(void)
-{
-
-  /* clear EXTI */
-  exti_reset_request(EXTI2);
-
-  //adxl345_start_reading_data();
-}
-
--- a/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.h
+++ b/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.h
@@ -1,18 +0,0 @@
-#ifndef IMU_ASPIRIN_ARCH_H
-#define IMU_ASPIRIN_ARCH_H
-
-#include "modules/imu/imu.h"
-#include <libopencm3/stm32/gpio.h>
-
-extern void imu_aspirin_arch_int_enable(void);
-extern void imu_aspirin_arch_int_disable(void);
-
-// gyro eoc
-static inline int imu_aspirin_eoc(void)
-{
-  return (gpio_get(GPIOC, GPIO14) == 0);
-}
-
-
-
-#endif /* IMU_ASPIRIN_ARCH_H */
--- a/sw/airborne/arch/stm32/modules/intermcu/link_mcu_hw.h
+++ b/sw/airborne/arch/stm32/modules/intermcu/link_mcu_hw.h
@@ -1,43 +0,0 @@
-/*  $Id: link_mcu_hw.h 2064 2007-11-23 12:35:50Z hecto $
- *
- * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \brief handling of arm7 inter mcu link
- *
- */
-
-#ifndef LINK_MCU_HW_H
-#define LINK_MCU_HW_H
-
-#define CRC_INIT 0x0
-#define CrcLow(x) ((x)&0xff)
-#define CrcHigh(x) ((x)>>8)
-
-static inline uint16_t CrcUpdate(uint16_t crc, uint8_t data)
-{
-  uint8_t a = ((uint8_t)CrcHigh(crc)) + data;
-  uint8_t b = ((uint8_t)CrcLow(crc)) + a;
-  crc = b | a << 8;
-  return crc;
-}
-
-#endif /* LINK_MCU_HW_H */
--- a/sw/airborne/arch/stm32/modules/radio_control/ppm_arch.c
+++ b/sw/airborne/arch/stm32/modules/radio_control/ppm_arch.c
@@ -1,312 +0,0 @@
-/*
- * Copyright (C) 2010-2014 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
- * @file arch/stm32/modules/radio_control/ppm_arch.c
- * @ingroup stm32_arch
- *
- * STM32 ppm decoder.
- *
- * Input signal either on:
- *  - PA1 TIM2/CH2 (uart1 trig on Lisa/L)  (Servo 6 on Lisa/M)
- *  - PA10 TIM1/CH3 (uart1 trig on Lisa/L) (uart1 rx on Lisa/M)
- *
- */
-
-#include "modules/radio_control/radio_control.h"
-#include "modules/radio_control/ppm.h"
-
-#include BOARD_CONFIG
-
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "mcu_periph/gpio.h"
-
-// for timer_get_frequency
-#include "mcu_arch.h"
-
-#define ONE_MHZ_CLK 1000000
-#ifdef NVIC_TIM_IRQ_PRIO
-#define PPM_IRQ_PRIO  NVIC_TIM_IRQ_PRIO
-#else
-#define PPM_IRQ_PRIO 2
-#endif
-
-
-static uint32_t timer_rollover_cnt;
-
-
-#if USE_PPM_TIM1
-
-PRINT_CONFIG_MSG("Using TIM1 for PPM input.")
-#define PPM_TIMER           TIM1
-#define RCC_TIM_PPM         RCC_TIM1
-#define RST_TIM_PPM         RST_TIM1
-
-#elif USE_PPM_TIM2
-
-PRINT_CONFIG_MSG("Using TIM2 for PPM input.")
-#define PPM_TIMER           TIM2
-#define RCC_TIM_PPM         RCC_TIM2
-#define RST_TIM_PPM         RST_TIM2
-
-#elif USE_PPM_TIM3
-
-PRINT_CONFIG_MSG("Using TIM3 for PPM input.")
-#define PPM_TIMER           TIM3
-#define RCC_TIM_PPM         RCC_TIM3
-#define RST_TIM_PPM         RST_TIM3
-
-#elif USE_PPM_TIM4
-
-PRINT_CONFIG_MSG("Using TIM4 for PPM input.")
-#define PPM_TIMER           TIM4
-#define RCC_TIM_PPM         RCC_TIM4
-#define RST_TIM_PPM         RST_TIM4
-
-#elif USE_PPM_TIM5
-
-PRINT_CONFIG_MSG("Using TIM5 for PPM input.")
-#define PPM_TIMER           TIM5
-#define RCC_TIM_PPM         RCC_TIM5
-#define RST_TIM_PPM         RST_TIM5
-
-#elif USE_PPM_TIM8
-
-PRINT_CONFIG_MSG("Using TIM8 for PPM input.")
-#define PPM_TIMER           TIM8
-#define RCC_TIM_PPM         RCC_TIM8
-#define RST_TIM_PPM         RST_TIM8
-
-#elif USE_PPM_TIM9
-
-PRINT_CONFIG_MSG("Using TIM9 for PPM input.")
-#define PPM_TIMER           TIM9
-#define RCC_TIM_PPM         RCC_TIM9
-#define RST_TIM_PPM         RST_TIM9
-
-#elif USE_PPM_TIM12
-
-PRINT_CONFIG_MSG("Using TIM12 for PPM input.")
-#define PPM_TIMER           TIM12
-#define RCC_TIM_PPM         RCC_TIM12
-#define RST_TIM_PPM         RST_TIM12
-
-#else
-#error Unknown PPM input timer configuration.
-#endif
-
-void ppm_arch_init(void)
-{
-  /* timer clock enable */
-  rcc_periph_clock_enable(RCC_TIM_PPM);
-
-  /* GPIO configuration as input capture for timer */
-  gpio_setup_pin_af(PPM_GPIO_PORT, PPM_GPIO_PIN, PPM_GPIO_AF, FALSE);
-
-  /* Time Base configuration */
-  rcc_periph_reset_pulse(RST_TIM_PPM);
-  timer_set_mode(PPM_TIMER, TIM_CR1_CKD_CK_INT,
-                 TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
-  timer_set_period(PPM_TIMER, 0xFFFF);
-  uint32_t timer_clk = timer_get_frequency(PPM_TIMER);
-  timer_set_prescaler(PPM_TIMER, (timer_clk / (RC_PPM_TICKS_PER_USEC * ONE_MHZ_CLK)) - 1);
-
-  /* TIM configuration: Input Capture mode ---------------------
-      The Rising edge is used as active edge
-   ------------------------------------------------------------ */
-#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
-  timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_RISING);
-#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
-  timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_FALLING);
-#else
-#error "Unknown PPM_PULSE_TYPE"
-#endif
-  timer_ic_set_input(PPM_TIMER, PPM_CHANNEL, PPM_TIMER_INPUT);
-  timer_ic_set_prescaler(PPM_TIMER, PPM_CHANNEL, TIM_IC_PSC_OFF);
-  timer_ic_set_filter(PPM_TIMER, PPM_CHANNEL, TIM_IC_OFF);
-
-  /* Enable timer Interrupt(s). */
-  nvic_set_priority(PPM_IRQ, PPM_IRQ_PRIO);
-  nvic_enable_irq(PPM_IRQ);
-
-#ifdef PPM_IRQ2
-  nvic_set_priority(PPM_IRQ2, PPM_IRQ_PRIO);
-  nvic_enable_irq(PPM_IRQ2);
-#endif
-
-  /* Enable the Capture/Compare and Update interrupt requests. */
-  timer_enable_irq(PPM_TIMER, (PPM_CC_IE | TIM_DIER_UIE));
-
-  /* Enable capture channel. */
-  timer_ic_enable(PPM_TIMER, PPM_CHANNEL);
-
-  /* TIM enable counter */
-  timer_enable_counter(PPM_TIMER);
-
-  timer_rollover_cnt = 0;
-}
-
-#if USE_PPM_TIM2
-
-void tim2_isr(void)
-{
-  if ((TIM2_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM2, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM2) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  } else if ((TIM2_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM2, TIM_SR_UIF);
-  }
-}
-
-
-#elif USE_PPM_TIM3
-
-void tim3_isr(void)
-{
-  if ((TIM3_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM3, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM3) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  } else if ((TIM3_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM3, TIM_SR_UIF);
-  }
-}
-
-#elif USE_PPM_TIM4
-
-void tim4_isr(void)
-{
-  if ((TIM4_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM4, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM4) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  } else if ((TIM4_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM4, TIM_SR_UIF);
-  }
-}
-
-#elif USE_PPM_TIM5
-
-void tim5_isr(void)
-{
-  if ((TIM5_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM5, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM5) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  } else if ((TIM5_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM5, TIM_SR_UIF);
-  }
-}
-
-
-#elif USE_PPM_TIM1
-
-#if defined(STM32F1)
-void tim1_up_isr(void)
-{
-#elif defined(STM32F4)
-void tim1_up_tim10_isr(void) {
-#endif
-  if ((TIM1_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM1, TIM_SR_UIF);
-  }
-}
-
-void tim1_cc_isr(void) {
-  if ((TIM1_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM1, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM1) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  }
-}
-
-#elif USE_PPM_TIM8
-
-#if defined(STM32F1)
-void tim8_up_isr(void) {
-#elif defined(STM32F4)
-void tim8_up_tim13_isr(void) {
-#endif
-  if ((TIM8_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM8, TIM_SR_UIF);
-  }
-}
-
-void tim8_cc_isr(void) {
-  if ((TIM8_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM8, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM8) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-  }
-}
-
-#elif USE_PPM_TIM9 && defined(STM32F4)
-
-void tim1_brk_tim9_isr(void)
-{
-  if ((TIM9_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM9, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM9) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-
-  } else if ((TIM9_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM9, TIM_SR_UIF);
-  }
-}
-
-#elif USE_PPM_TIM12 && defined(STM32F4)
-
-void tim8_brk_tim12_isr(void)
-{
-  if ((TIM12_SR & PPM_CC_IF) != 0) {
-    timer_clear_flag(TIM12, PPM_CC_IF);
-
-    uint32_t now = timer_get_counter(TIM12) + timer_rollover_cnt;
-    ppm_decode_frame(now);
-
-  } else if ((TIM12_SR & TIM_SR_UIF) != 0) {
-    timer_rollover_cnt += (1 << 16);
-    timer_clear_flag(TIM12, TIM_SR_UIF);
-  }
-}
-
-
-
-#endif /* USE_PPM_TIM1 */
-
--- a/sw/airborne/arch/stm32/modules/radio_control/ppm_arch.h
+++ b/sw/airborne/arch/stm32/modules/radio_control/ppm_arch.h
@@ -1,49 +0,0 @@
-/*
- * Copyright (C) 2010-2014 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
- * @file arch/stm32/modules/radio_control/ppm_arch.h
- * @ingroup stm32_arch
- *
- * STM32 ppm decoder.
- *
- */
-
-#ifndef PPM_ARCH_H
-#define PPM_ARCH_H
-
-/**
- * The ppm counter is set-up to have 1/6 us resolution.
- *
- * The timer clock frequency (before prescaling):
- * STM32F1:
- *   TIM1 -> APB2 = HCLK = 72MHz
- *   TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
- * STM32F4:
- *   TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
- *   TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
- */
-#define RC_PPM_TICKS_PER_USEC 6
-
-#define RC_PPM_TICKS_OF_USEC(_v)        ((_v)*RC_PPM_TICKS_PER_USEC)
-#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*RC_PPM_TICKS_PER_USEC)
-#define USEC_OF_RC_PPM_TICKS(_v)        ((_v)/RC_PPM_TICKS_PER_USEC)
-
-#endif /* PPM_ARCH_H */
--- a/sw/airborne/arch/stm32/my_debug_servo.h
+++ b/sw/airborne/arch/stm32/my_debug_servo.h
@@ -1,63 +0,0 @@
-#ifndef MY_DEBUG_SERVO_H
-#define MY_DEBUG_SERVO_H
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-
-/* using servo 2 connector as debug */
-
-#define DEBUG_S1_TOGGLE() {  GPIOC_ODR ^= GPIO6; }
-#define DEBUG_S1_ON()     {  GPIOC_BSRR = GPIO6; }
-#define DEBUG_S1_OFF()    {  GPIOC_BRR  = GPIO6; }
-
-#define DEBUG_S2_TOGGLE() {  GPIOC_ODR ^= GPIO7; }
-#define DEBUG_S2_ON()     {  GPIOC_BSRR = GPIO7; }
-#define DEBUG_S2_OFF()    {  GPIOC_BRR  = GPIO7; }
-
-#define DEBUG_S3_TOGGLE() {  GPIOC_ODR ^= GPIO8; }
-#define DEBUG_S3_ON()     {  GPIOC_BSRR = GPIO8; }
-#define DEBUG_S3_OFF()    {  GPIOC_BRR  = GPIO8; }
-
-#define DEBUG_S4_TOGGLE() {  GPIOC_ODR ^= GPIO9; }
-#define DEBUG_S4_ON()     {  GPIOC_BSRR = GPIO9; }
-#define DEBUG_S4_OFF()    {  GPIOC_BRR  = GPIO9; }
-
-#define DEBUG_S5_TOGGLE() {  GPIOB_ODR ^= GPIO8; }
-#define DEBUG_S5_ON()     {  GPIOB_BSRR = GPIO8; }
-#define DEBUG_S5_OFF()    {  GPIOB_BRR  = GPIO8; }
-
-#define DEBUG_S6_TOGGLE() {  GPIOB_ODR ^= GPIO9; }
-#define DEBUG_S6_ON()     {  GPIOB_BSRR = GPIO9; }
-#define DEBUG_S6_OFF()    {  GPIOB_BRR  = GPIO9; }
-
-
-
-#define DEBUG_SERVO1_INIT() {                                           \
-    /* S1: PC6    S2: PC7    S3: PC8 */                                 \
-    GPIOC_BSRR = GPIO6 | GPIO7 | GPIO8 ;                                \
-    rcc_periph_clock_enable(RCC_GPIOC);                                 \
-    gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,                       \
-                  GPIO_CNF_OUTPUT_PUSHPULL, GPIO6 | GPIO7 | GPIO8);     \
-    DEBUG_S1_OFF();                                                     \
-    DEBUG_S2_OFF();                                                     \
-    DEBUG_S3_OFF();                                                     \
-  }
-
-#define DEBUG_SERVO2_INIT() {                                           \
-    /* S4: PC9 */                                                       \
-    GPIOC_BSRR = GPIO9;                                                 \
-    rcc_periph_clock_enable(RCC_GPIOC);                                 \
-    gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,                       \
-                  GPIO_CNF_OUTPUT_PUSHPULL, GPIO9);                     \
-    /* S5: PB8 and S6: PB9 */                                           \
-    GPIOB_BSRR = GPIO8 | GPIO9;                                         \
-    rcc_periph_clock_enable(RCC_GPIOB);                                 \
-    gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,                       \
-                  GPIO_CNF_OUTPUT_PUSHPULL, GPIO8 | GPIO9);             \
-    DEBUG_S4_OFF();                                                     \
-    DEBUG_S5_OFF();                                                     \
-    DEBUG_S6_OFF();                                                     \
-  }
-
-
-#endif /* MY_DEBUG_SERVO_H */
--- a/sw/airborne/arch/stm32/navstik.ld
+++ b/sw/airborne/arch/stm32/navstik.ld
@@ -1,36 +0,0 @@
-/*
- * Hey Emacs, this is a -*- makefile -*-
- *
- * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
- *
- * This file is part of Paparazzi.
- *
- * Paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * Paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/* Linker script for Navstik (STM32F415, 1024K flash, 192K RAM). */
-
-/* Define memory regions. */
-MEMORY
-{
-    /* only 128K (SRAM1 and SRAM2) are accessible by all AHB masters. */
-    ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-    /* Reserving 128kb flash for persistent settings. */
-    rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
-}
-
-/* Include the common ld script. */
-INCLUDE cortex-m-generic.ld
--- a/sw/airborne/arch/stm32/peripherals/hmc5843_arch.c
+++ b/sw/airborne/arch/stm32/peripherals/hmc5843_arch.c
@@ -1,62 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-#include "peripherals/hmc5843.h"
-
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/spi.h>
-#include <libopencm3/stm32/exti.h>
-#include <libopencm3/cm3/nvic.h>
-
-#include "mcu_periph/i2c.h"
-
-#ifndef STM32F1
-#error "HMC5843 arch currently only implemented for STM32F1"
-#endif
-
-void hmc5843_arch_init(void)
-{
-  /* configure external interrupt exti5 on PB5( mag int ) */
-  rcc_periph_clock_enable(RCC_GPIOB);
-  rcc_periph_clock_enable(RCC_AFIO);
-  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_FLOAT, GPIO5);
-
-#ifdef HMC5843_USE_INT
-  exti_select_source(EXTI5, GPIOB);
-  exti_set_trigger(EXTI5, EXTI_TRIGGER_FALLING);
-  exti_enable_request(EXTI5);
-
-  nvic_set_priority(NVIC_EXTI9_5_IRQ, 0x0f);
-  nvic_enable_irq(NVIC_EXTI9_5_IRQ);
-#endif
-}
-
-void hmc5843_arch_reset(void)
-{
-  i2c2_er_irq_handler();
-}
-
-void exti9_5_isr(void)
-{
-
-  exti_reset_request(EXTI5);
-}
--- a/sw/airborne/arch/stm32/peripherals/hmc5843_arch.h
+++ b/sw/airborne/arch/stm32/peripherals/hmc5843_arch.h
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef HMC5843_ARCH_H
-#define HMC5843_ARCH_H
-
-#include <libopencm3/stm32/gpio.h>
-
-/* returns true if conversion done */
-static inline int mag_eoc(void)
-{
-  return (gpio_get(GPIOB, GPIO5) != 0);
-}
-
-#endif /* HMC5843_ARCH_H */
--- a/sw/airborne/arch/stm32/peripherals/max1168_arch.c
+++ b/sw/airborne/arch/stm32/peripherals/max1168_arch.c
@@ -1,60 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-#include "peripherals/max1168.h"
-
-#include "libopencm3/stm32/rcc.h"
-#include "libopencm3/stm32/gpio.h"
-#include "libopencm3/stm32/exti.h"
-#include <libopencm3/cm3/nvic.h>
-
-#ifndef STM32F1
-#error "HMC5843 arch currently only implemented for STM32F1"
-#endif
-
-void max1168_arch_init(void)
-{
-
-  /* configure external interrupt exti2 on PD2( data ready ) v1.0*/
-  /*                                       PB2( data ready ) v1.1*/
-  rcc_periph_clock_enable(RCC_GPIOB);
-  rcc_periph_clock_enable(RCC_AFIO);
-  gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
-                GPIO_CNF_INPUT_FLOAT, GPIO2);
-
-  exti_select_source(EXTI2, GPIOB);
-  exti_set_trigger(EXTI2, EXTI_TRIGGER_FALLING);
-  exti_enable_request(EXTI2);
-
-  nvic_set_priority(NVIC_EXTI2_IRQ, 0xF);
-  nvic_enable_irq(NVIC_EXTI2_IRQ);
-
-}
-
-void exti2_isr(void)
-{
-
-  /* clear EXTI */
-  exti_reset_request(EXTI2);
-
-  max1168_status = MAX1168_GOT_EOC;
-
-}
-
--- a/sw/airborne/arch/stm32/peripherals/max1168_arch.h
+++ b/sw/airborne/arch/stm32/peripherals/max1168_arch.h
@@ -1,26 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef MAX1168_ARCH_H
-#define MAX1168_ARCH_H
-
-
-#endif /* MAX1168_ARCH_H */
--- a/sw/airborne/arch/stm32/peripherals/ms2100_arch.c
+++ b/sw/airborne/arch/stm32/peripherals/ms2100_arch.c
@@ -1,85 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/peripherals/ms2100_arch.c
- *
- * STM32 specific functions for the ms2100 magnetic sensor from PNI.
- */
-
-#include "peripherals/ms2100.h"
-#include "mcu_periph/sys_time.h"
-
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/exti.h>
-#include <libopencm3/cm3/nvic.h>
-
-#ifndef STM32F1
-#error "MS2100 arch currently only implemented for STM32F1"
-#endif
-
-void ms2100_arch_init(void)
-{
-
-  /* set mag reset as output (reset on PC13) ----*/
-  rcc_periph_clock_enable(RCC_GPIOC);
-  rcc_periph_clock_enable(RCC_AFIO);
-  gpio_set(GPIOC, GPIO13);
-  gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO13);
-  Ms2100Reset();
-
-  /* configure data ready input on PB5 */
-  rcc_periph_clock_enable(RCC_GPIOB);
-  gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO5);
-
-  /* external interrupt for drdy pin */
-  exti_select_source(EXTI5, GPIOB);
-  exti_set_trigger(EXTI5, EXTI_TRIGGER_RISING);
-  exti_enable_request(EXTI5);
-
-  nvic_set_priority(NVIC_EXTI9_5_IRQ, 0x0f);
-  nvic_enable_irq(NVIC_EXTI9_5_IRQ);
-}
-
-void ms2100_reset_cb(struct spi_transaction *t __attribute__((unused)))
-{
-  // set RESET pin high for at least 100 nsec
-  // busy wait should not harm
-  Ms2100Set();
-
-  // FIXME, make nanosleep funcion
-  uint32_t dt_ticks = cpu_ticks_of_nsec(110);
-  int32_t end_cpu_ticks = systick_get_value() - dt_ticks;
-  if (end_cpu_ticks < 0) {
-    end_cpu_ticks += systick_get_reload();
-  }
-  while (systick_get_value() > (uint32_t)end_cpu_ticks)
-    ;
-
-  Ms2100Reset();
-}
-
-void exti9_5_isr(void)
-{
-  ms2100.status = MS2100_GOT_EOC;
-  exti_reset_request(EXTI5);
-}
--- a/sw/airborne/arch/stm32/peripherals/ms2100_arch.h
+++ b/sw/airborne/arch/stm32/peripherals/ms2100_arch.h
@@ -1,59 +0,0 @@
-/*
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file arch/stm32/peripherals/ms2100_arch.h
- *
- * STM32 specific functions for the ms2100 magnetic sensor from PNI.
- */
-
-#ifndef MS2100_ARCH_H
-#define MS2100_ARCH_H
-
-#include <libopencm3/stm32/gpio.h>
-#include "mcu_periph/spi.h"
-
-/**
- * Here Reset indicates the Ms2100 is in normal state, i.e.
- * the reset line is driven low (i.e. the GPIO is "reset")
- */
-static inline void Ms2100Reset(void)
-{
-  GPIOC_BRR = GPIO13;
-}
-
-/**
- * Here Set indicates the Ms2100 is in reset state, i.e.
- * the reset line is driven high (i.e. the GPIO is "set")
- */
-static inline void Ms2100Set(void)
-{
-  GPIOC_BSRR = GPIO13;
-}
-
-#define Ms2100HasEOC() (gpio_get(GPIOB, GPIO5) != 0)
-
-/** Reset callback.
- * called before spi transaction and after slave select
- */
-extern void ms2100_reset_cb(struct spi_transaction *t);
-
-#endif /* MS2100_ARCH_H */
--- a/Show More
+++ b/Show More