From c4498ce9a3525bafd2d1c70f7e16812d14d51206 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sat, 10 Aug 2013 12:39:58 -0700
Subject: [PATCH 1/7] Add a 'menuconfig' target that makes it possible to use
 the NuttX menuconfig tool on the PX4 config files.

---
 Makefile | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index c02a986cdd..dc69b0ae8b 100644
--- a/Makefile
+++ b/Makefile
@@ -148,7 +148,7 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)/nuttx-configs/$(board) .)
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@$(ECHO) %% Exporting NuttX for $(board)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
@@ -156,6 +156,32 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
 
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+endif
+
 $(NUTTX_SRC):
 	@$(ECHO) ""
 	@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."

From 5e2d67617369474406d86d4eae5ba9a24d5cbb9f Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 12 Aug 2013 21:57:11 -0700
Subject: [PATCH 2/7] Remove our depdenency on CONFIG_ARCH_BOARD_* coming from
 <nuttx/config.h>

---
 makefiles/board_px4fmu-v1.mk | 1 +
 makefiles/board_px4io-v1.mk  | 1 +
 makefiles/firmware.mk        | 4 ++++
 3 files changed, 6 insertions(+)

diff --git a/makefiles/board_px4fmu-v1.mk b/makefiles/board_px4fmu-v1.mk
index 8370696446..4d692e31ab 100644
--- a/makefiles/board_px4fmu-v1.mk
+++ b/makefiles/board_px4fmu-v1.mk
@@ -6,5 +6,6 @@
 # Configure the toolchain
 #
 CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = PX4FMU_V1
 
 include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/board_px4io-v1.mk b/makefiles/board_px4io-v1.mk
index b0eb2dae79..1872a4124f 100644
--- a/makefiles/board_px4io-v1.mk
+++ b/makefiles/board_px4io-v1.mk
@@ -6,5 +6,6 @@
 # Configure the toolchain
 #
 CONFIG_ARCH			 = CORTEXM3
+CONFIG_BOARD			 = PX4IO_V1
 
 include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 3ad13088b0..0d742c37dc 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -154,6 +154,10 @@ $(error Config $(CONFIG) references board $(BOARD), but no board definition file
 endif
 export BOARD
 include $(BOARD_FILE)
+ifeq ($(CONFIG_BOARD),)
+$(error Board config for $(BOARD) does not define CONFIG_BOARD)
+endif
+EXTRADEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
 $(info %  BOARD               = $(BOARD))
 
 #

From 60275e1ae65633dfc03f6353b7796ed540975803 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 12 Aug 2013 21:59:10 -0700
Subject: [PATCH 3/7] Clean the FMUv1 config through menuconfig.

---
 nuttx-configs/px4fmu-v1/nsh/defconfig | 32 ++++++++++++++++-----------
 1 file changed, 19 insertions(+), 13 deletions(-)

diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index d338161296..a7a6725c65 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -73,17 +73,16 @@ CONFIG_ARCH="arm"
 # CONFIG_ARCH_CHIP_LPC31XX is not set
 # CONFIG_ARCH_CHIP_LPC43XX is not set
 # CONFIG_ARCH_CHIP_NUC1XX is not set
-# CONFIG_ARCH_CHIP_SAM3U is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
 CONFIG_ARCH_CHIP_STM32=y
 # CONFIG_ARCH_CHIP_STR71X is not set
 CONFIG_ARCH_CORTEXM4=y
-CONFIG_ARCH_HAVE_FPU=y
 CONFIG_ARCH_FAMILY="armv7-m"
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARCH_HAVE_CMNVECTOR=y
 CONFIG_ARMV7M_CMNVECTOR=y
-CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_ARCH_HAVE_FPU=y
 CONFIG_ARCH_FPU=y
 CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARMV7M_MPU is not set
@@ -93,10 +92,8 @@ CONFIG_ARCH_HAVE_MPU=y
 #
 # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
 CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
+CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_SERIAL_TERMIOS=y
-CONFIG_SERIAL_DISABLE_REORDERING=y
-CONFIG_SERIAL_IFLOWCONTROL=y
-CONFIG_SERIAL_OFLOWCONTROL=y
 
 #
 # STM32 Configuration Options
@@ -248,6 +245,7 @@ CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 # CONFIG_STM32_FORCEPOWER is not set
 # CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
 # CONFIG_STM32_TIM4_PWM is not set
 # CONFIG_STM32_TIM5_PWM is not set
 # CONFIG_STM32_TIM9_PWM is not set
@@ -275,6 +273,7 @@ CONFIG_UART5_RXDMA=y
 CONFIG_USART6_RXDMA=y
 # CONFIG_USART7_RXDMA is not set
 # CONFIG_USART8_RXDMA is not set
+CONFIG_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_USART_SINGLEWIRE=y
 
 #
@@ -342,15 +341,12 @@ CONFIG_BOOT_RUNFROMFLASH=y
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V1=y
-# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4fmu-v1"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD=""
 
 #
 # Common Board Options
 #
-CONFIG_ARCH_HAVE_LEDS=y
-# CONFIG_ARCH_LEDS is not set
 CONFIG_NSH_MMCSDMINOR=0
 CONFIG_NSH_MMCSDSLOTNO=0
 CONFIG_NSH_MMCSDSPIPORTNO=3
@@ -358,8 +354,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=3
 #
 # Board-Specific Options
 #
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
 
 #
 # RTOS Features
@@ -497,6 +491,8 @@ CONFIG_USART1_BAUD=57600
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
 CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
 
 #
 # USART2 Configuration
@@ -507,6 +503,8 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_BITS=8
 CONFIG_USART2_PARITY=0
 CONFIG_USART2_2STOP=0
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
 
 #
 # UART5 Configuration
@@ -517,6 +515,8 @@ CONFIG_UART5_BAUD=57600
 CONFIG_UART5_BITS=8
 CONFIG_UART5_PARITY=0
 CONFIG_UART5_2STOP=0
+# CONFIG_UART5_IFLOWCONTROL is not set
+# CONFIG_UART5_OFLOWCONTROL is not set
 
 #
 # USART6 Configuration
@@ -527,6 +527,10 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0
 CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+CONFIG_SERIAL_IFLOWCONTROL=y
+CONFIG_SERIAL_OFLOWCONTROL=y
 CONFIG_USBDEV=y
 
 #
@@ -559,6 +563,7 @@ CONFIG_CDCACM_EPBULKIN_FSSIZE=64
 CONFIG_CDCACM_EPBULKIN_HSSIZE=512
 CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=256
 CONFIG_CDCACM_TXBUFSIZE=256
 CONFIG_CDCACM_VENDORID=0x26ac
@@ -747,6 +752,7 @@ CONFIG_EXAMPLES_CDCACM=y
 # CONFIG_EXAMPLES_MM is not set
 # CONFIG_EXAMPLES_MODBUS is not set
 CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
 CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_NULL is not set
 # CONFIG_EXAMPLES_NX is not set

From b6676f6cb8306fb99274f8e0a784d8846928d920 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 12 Aug 2013 23:54:35 -0700
Subject: [PATCH 4/7] NuttX is confused when it doesn't know what board it's
 building for - since we don't tell it in the config anymore, we need to pass
 it a hint.

---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index dc69b0ae8b..778395cee9 100644
--- a/Makefile
+++ b/Makefile
@@ -151,7 +151,7 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
+	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))

From 56d355414cbfef92b39af6830932e7f1487b03b9 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Tue, 13 Aug 2013 00:34:11 -0700
Subject: [PATCH 5/7] Fix handling of board config files. Treat CONFIG_BOARD
 like CONFIG_ARCH in the toolchain configuration.

---
 makefiles/firmware.mk               | 5 +----
 makefiles/module.mk                 | 3 ++-
 makefiles/toolchain_gnu-arm-eabi.mk | 7 +++++++
 3 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 0d742c37dc..ecff77db9a 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -153,11 +153,8 @@ ifeq ($(BOARD_FILE),)
 $(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
 endif
 export BOARD
+export BOARD_FILE
 include $(BOARD_FILE)
-ifeq ($(CONFIG_BOARD),)
-$(error Board config for $(BOARD) does not define CONFIG_BOARD)
-endif
-EXTRADEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
 $(info %  BOARD               = $(BOARD))
 
 #
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 9e4cbafc9c..9c1a828cc2 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -98,6 +98,7 @@
 #
 # CONFIG
 # BOARD
+# BOARD_FILE
 # MODULE_WORK_DIR
 # MODULE_OBJ
 # MODULE_MK
@@ -117,7 +118,7 @@ $(info %% MODULE_MK           = $(MODULE_MK))
 #
 # Get the board/toolchain config
 #
-include $(PX4_MK_DIR)/board_$(BOARD).mk
+include $(BOARD_FILE)
 
 #
 # Get the module's config
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 3f4d3371ac..9fd2dd516d 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
 $(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
 endif
 
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
+
 # optimisation flags
 #
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \

From de749a3602423f5ee6ca56f3cf2dfff04e31ec6d Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Tue, 13 Aug 2013 00:34:41 -0700
Subject: [PATCH 6/7] Stop expecting CONFIG_HRT_anything since we aren't baking
 it into the NuttX config anymore.

---
 nuttx-configs/px4fmu-v1/include/board.h     | 12 ++++-------
 nuttx-configs/px4io-v1/include/board.h      | 12 ++++-------
 nuttx-configs/px4io-v1/nsh/defconfig        | 22 ---------------------
 src/drivers/stm32/drv_hrt.c                 | 20 +++++++++----------
 src/drivers/stm32/tone_alarm/tone_alarm.cpp |  4 ----
 src/systemcmds/tests/test_hrt.c             |  2 +-
 6 files changed, 19 insertions(+), 53 deletions(-)

diff --git a/nuttx-configs/px4fmu-v1/include/board.h b/nuttx-configs/px4fmu-v1/include/board.h
index 5529d50972..839631b3a2 100644
--- a/nuttx-configs/px4fmu-v1/include/board.h
+++ b/nuttx-configs/px4fmu-v1/include/board.h
@@ -158,10 +158,8 @@
 
 /* High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		1	/* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
-#endif
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
 /* LED definitions ******************************************************************/
 /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
@@ -241,10 +239,8 @@
  *
  * PPM input is handled by the HRT timer.
  */
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL	3	/* use capture/compare channel 3 */
-# define GPIO_PPM_IN	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
-#endif
+#define HRT_PPM_CHANNEL	3	/* use capture/compare channel 3 */
+#define GPIO_PPM_IN	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
 
 /*
  * CAN
diff --git a/nuttx-configs/px4io-v1/include/board.h b/nuttx-configs/px4io-v1/include/board.h
index 668602ea89..6503a94cd0 100755
--- a/nuttx-configs/px4io-v1/include/board.h
+++ b/nuttx-configs/px4io-v1/include/board.h
@@ -118,10 +118,8 @@
 /* 
  * High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		1	/* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
-#endif
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 
 /*
  * PPM
@@ -130,10 +128,8 @@
  *
  * Pin is PA8, timer 1, channel 1
  */
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
-# define GPIO_PPM_IN		GPIO_TIM1_CH1IN
-#endif
+#define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
 
 /************************************************************************************
  * Public Data
diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig
index 5256722333..3785e03678 100755
--- a/nuttx-configs/px4io-v1/nsh/defconfig
+++ b/nuttx-configs/px4io-v1/nsh/defconfig
@@ -200,28 +200,6 @@ SERIAL_HAVE_CONSOLE_DMA=y
 CONFIG_USART2_RXDMA=n
 CONFIG_USART3_RXDMA=y
 
-#
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-# CONFIG_PWM_SERVO
-#   Enables the PWM servo driver.  The driver configuration must be
-#   supplied by the board support at initialisation time.
-#   Note that USART2 must be disabled on the PX4 board for this to
-#   be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-
 #
 # General build options
 #
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 7ef3db970e..83a1a1abbb 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -70,7 +70,7 @@
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
-#ifdef CONFIG_HRT_TIMER
+#ifdef HRT_TIMER
 
 /* HRT configuration */
 #if   HRT_TIMER == 1
@@ -155,7 +155,7 @@
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
 #else
-# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
+# error HRT_TIMER must be a value between 1 and 11
 #endif
 
 /*
@@ -275,7 +275,7 @@ static void		hrt_call_invoke(void);
 /*
  * Specific registers and bits used by PPM sub-functions
  */
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
  *
@@ -326,7 +326,7 @@ static void		hrt_call_invoke(void);
 #  define CCER_PPM	(GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
 #  define CCER_PPM_FLIP	GTIM_CCER_CC4P
 # else
-#  error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
+#  error HRT_PPM_CHANNEL must be a value between 1 and 4
 # endif
 
 /*
@@ -377,7 +377,7 @@ static void	hrt_ppm_decode(uint32_t status);
 # define CCMR1_PPM	0
 # define CCMR2_PPM	0
 # define CCER_PPM	0
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Initialise the timer we are going to use.
@@ -424,7 +424,7 @@ hrt_tim_init(void)
 	up_enable_irq(HRT_TIMER_VECTOR);
 }
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /*
  * Handle the PPM decoder state machine.
  */
@@ -526,7 +526,7 @@ error:
 	ppm_decoded_channels = 0;
 
 }
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Handle the compare interupt by calling the callout dispatcher
@@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
 	/* ack the interrupts we just read */
 	rSR = ~status;
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 
 	/* was this a PPM edge? */
 	if (status & (SR_INT_PPM | SR_OVF_PPM)) {
@@ -686,7 +686,7 @@ hrt_init(void)
 	sq_init(&callout_queue);
 	hrt_tim_init();
 
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 	/* configure the PPM input pin */
 	stm32_configgpio(GPIO_PPM_IN);
 #endif
@@ -907,4 +907,4 @@ hrt_latency_update(void)
 }
 
 
-#endif /* CONFIG_HRT_TIMER */
+#endif /* HRT_TIMER */
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 167ef30a8e..2284be84de 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -117,10 +117,6 @@
 
 #include <systemlib/err.h>
 
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
 /* Tone alarm configuration */
 #if   TONE_ALARM_TIMER == 2
 # define TONE_ALARM_BASE		STM32_TIM2_BASE
diff --git a/src/systemcmds/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c
index f21dd115b4..f6e540401f 100644
--- a/src/systemcmds/tests/test_hrt.c
+++ b/src/systemcmds/tests/test_hrt.c
@@ -94,7 +94,7 @@ extern uint16_t ppm_pulse_history[];
 
 int test_ppm(int argc, char *argv[])
 {
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 	unsigned i;
 
 	printf("channels: %u\n", ppm_decoded_channels);

From 50cf1c01b701fced6437dfe574fd09cd312b9f15 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Wed, 14 Aug 2013 22:29:36 -0700
Subject: [PATCH 7/7] Compile fix.

---
 src/drivers/stm32/drv_hrt.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 83a1a1abbb..e79d7e10a3 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -59,7 +59,7 @@
 #include <errno.h>
 #include <string.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 #include <drivers/drv_hrt.h>
 
 #include "chip.h"