nxp:Add support for rev E HW nxp_fmuk66-e

2026-10-28 07:03:34 +08:00 · 2020-07-31 09:46:27 -04:00
parent f8b6de24c7
commit e67486d603
24 changed files with 4050 additions and 1 deletions
@@ -0,0 +1,118 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR nxp
+	MODEL fmuk66-e
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS4
+		TEL2:/dev/ttyS1
+	DRIVERS
+		adc
+		barometer # all available barometer drivers
+		barometer/mpl3115a2
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm42688p
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		#dmesg
+		dumpfile
+		esc_calib
+		#hardfault_log # Needs bbsrm
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 30,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the NXPFMUK66E board",
+    "image": "",
+    "build_time": 0,
+    "summary": "NXPFMUK66E",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2096112,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,13 @@
+
+#
+# NXP fmuk66-e specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+
+fi
+
+rgbled_pwm start
+safety_button start
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# NXP fmuk66-e specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# NXP fmuk66-e specific board defaults
+#------------------------------------------------------------------------------
+
+adc start
+
+# Internal Mag I2C bus roll 180, yaw 90
+bmm150 -I -R 10 start
+
+# Onboard I2C baros
+bmp280 -I start
+
+# Internal SPI (accel + mag)
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start
+
+# Internal SPI bus ICM-42688
+icm42688p -R 12 -s start
@@ -0,0 +1,47 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config FMUK66_SDHC_AUTOMOUNT
+	bool "SDHC automounter"
+	default n
+	depends on FS_AUTOMOUNTER && KINETIS_SDHC
+
+if FMUK66_SDHC_AUTOMOUNT
+
+config FMUK66_SDHC_AUTOMOUNT_FSTYPE
+	string "SDHC file system type"
+	default "vfat"
+
+config FMUK66_SDHC_AUTOMOUNT_BLKDEV
+	string "SDHC block device"
+	default "/dev/mmcsd0"
+
+config FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT
+	string "SDHC mount point"
+	default "/fs/microsd"
+
+config FMUK66_SDHC_AUTOMOUNT_DDELAY
+	int "SDHC debounce delay (milliseconds)"
+	default 1000
+
+config FMUK66_SDHC_AUTOMOUNT_UDELAY
+	int "SDHC unmount retry delay (milliseconds)"
+	default 2000
+
+endif # FMUK66_SDHC_AUTOMOUNT
+
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
@@ -0,0 +1,533 @@
+/************************************************************************************
+ * configs/nxp/fmuk66-e/include/board.h
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *   		  Jordan MacIntyre
+ *   		  David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIG_NXP_FMUK66_V3_INCLUDE_BOARD_H
+#define __CONFIG_NXP_FMUK66_V3_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+#  include <stdint.h>
+#endif
+
+#include <arch/chip/chip.h>
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/*
+ *  The FMUK66-v3 is populated with a MK66FN2M0VLQ18 has 2 MiB of FLASH and
+ *  256 KiB of SRAM.
+ */
+/* Clocking *************************************************************************/
+/* The NXP FMUK66-E uses a 16MHz external powered Oscillator.  The Kinetis MCU startup
+ * from an internal digitally-controlled oscillator (DCO). Nuttx will enable the main
+ * external oscillator EXTAL0. The external oscillator can range from
+ * 32.768 KHz up to 50 MHz. The default external source for the MCG oscillator inputs
+ * EXTAL.
+ *
+ * Y1 a High-frequency, Oscillator
+ */
+#define BOARD_EXTAL_LP		 1
+#define BOARD_EXTAL_FREQ     16000000       /* 16MHz Oscillator Y1 */
+#define BOARD_XTAL32_FREQ    32768          /* 32KHz RTC Oscillator */
+
+#define BOARD_OSC_CR         OSC_CR_ERCLKEN /* Enable the OSCERCLK */
+#define BOARD_OSC_DIV        OSC_DIV_ERPS_DIV1 /* No OSCERCLK Divide */
+
+/* FLL Configuration.
+ *  BOARD_EXTAL_FREQ / BOARD_FRDIV has to be in the range 31.25 kHz to 39.0625
+ *  16 Mhz / MCG_C1_FRDIV_DIV512 = 31.25 kHz * 640 the default for MCG_C4
+ *  FLL is 20Mhz
+ */
+#define BOARD_FRDIV          MCG_C1_FRDIV_DIV512
+
+/* PLL Configuration.  Either the external clock or crystal frequency is used to
+ * select the PRDIV value. Only reference clock frequencies are supported that will
+ * produce a KINETIS_MCG_PLL_REF_MIN=8MHz >= PLLIN <=KINETIS_MCG_PLL_REF_MAX=16Mhz
+ * reference clock to the PLL.
+ *
+ *   PLL Input frequency:   PLLIN  = REFCLK / PRDIV = 16 MHz  / 2 = 8Mhz MHz
+ *   PLL Output frequency:  PLLOUT = PLLIN  * VDIV  = 8 MHz  * 42 = 336 MHz
+ *   MCG Frequency:         PLLOUT = 168 Mhz = 336 MHz / KINETIS_MCG_PLL_INTERNAL_DIVBY=2
+ *
+ * PRDIV register value is the divider minus KINETIS_MCG_C5_PRDIV_BASE.
+ * VDIV  register value is offset by KINETIS_MCG_C6_VDIV_BASE.
+ */
+
+#define BOARD_PRDIV          2              /* PLL External Reference Divider */
+#define BOARD_VDIV           42             /* PLL VCO Divider (frequency multiplier) */
+
+/* Define additional MCG_C2 Setting */
+
+#define BOARD_MCG_C2_FCFTRIM 0              /* Do not enable FCFTRIM */
+#define BOARD_MCG_C2_LOCRE0  MCG_C2_LOCRE0  /* Enable reset on loss of clock */
+
+#define BOARD_PLLIN_FREQ     (BOARD_EXTAL_FREQ / BOARD_PRDIV)
+#define BOARD_PLLOUT_FREQ    (BOARD_PLLIN_FREQ * BOARD_VDIV)
+#define BOARD_MCG_FREQ       (BOARD_PLLOUT_FREQ/KINETIS_MCG_PLL_INTERNAL_DIVBY)
+
+/* SIM CLKDIV1 dividers */
+
+#define BOARD_OUTDIV1        1              /* Core        = MCG,    168 MHz */
+#define BOARD_OUTDIV2        3              /* Bus         = MCG / 3, 56 MHz */
+#define BOARD_OUTDIV3        3              /* FlexBus     = MCG / 3, 56 MHz */
+#define BOARD_OUTDIV4        6              /* Flash clock = MCG / 6, 28 MHz */
+
+#define BOARD_CORECLK_FREQ  (BOARD_MCG_FREQ / BOARD_OUTDIV1)
+#define BOARD_BUS_FREQ      (BOARD_MCG_FREQ / BOARD_OUTDIV2)
+#define BOARD_FLEXBUS_FREQ  (BOARD_MCG_FREQ / BOARD_OUTDIV3)
+#define BOARD_FLASHCLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV4)
+
+/* Use BOARD_MCG_FREQ as the output SIM_SOPT2 MUX selected by
+ * SIM_SOPT2[PLLFLLSEL]
+ */
+
+#define BOARD_SOPT2_PLLFLLSEL   SIM_SOPT2_PLLFLLSEL_MCGPLLCLK
+#define BOARD_SOPT2_FREQ        BOARD_MCG_FREQ
+
+/* Divider output clock = Divider input clock × [ (USBFRAC+1) / (USBDIV+1) ]
+ *     SIM_CLKDIV2_FREQ = BOARD_SOPT2_FREQ × [ (USBFRAC+1) / (USBDIV+1) ]
+ *                48Mhz = 168Mhz X [(1 + 1) / (6 + 1)]
+ *                48Mhz = 168Mhz / (6 + 1) * (1 + 1)
+ */
+
+#define BOARD_SIM_CLKDIV2_USBFRAC     2
+#define BOARD_SIM_CLKDIV2_USBDIV      7
+#define BOARD_SIM_CLKDIV2_FREQ        (BOARD_SOPT2_FREQ / BOARD_SIM_CLKDIV2_USBDIV * BOARD_SIM_CLKDIV2_USBFRAC)
+#define BOARD_USB_CLKSRC               SIM_SOPT2_USBSRC
+#define BOARD_USB_FREQ                 BOARD_SIM_CLKDIV2_FREQ
+
+
+/* Divider output clock = Divider input clock * ((PLLFLLFRAC+1)/(PLLFLLDIV+1))
+ *  SIM_CLKDIV3_FREQ = BOARD_SOPT2_FREQ × [ (PLLFLLFRAC+1) / (PLLFLLDIV+1)]
+ *            84 Mhz = 168 Mhz X [(0 + 1) / (1 + 1)]
+ *            84 Mhz = 168 Mhz / (1 + 1) * (0 + 1)
+ */
+
+#define BOARD_SIM_CLKDIV3_PLLFLLFRAC  1
+#define BOARD_SIM_CLKDIV3_PLLFLLDIV   2
+#define BOARD_SIM_CLKDIV3_FREQ        (BOARD_SOPT2_FREQ / BOARD_SIM_CLKDIV3_PLLFLLDIV * BOARD_SIM_CLKDIV3_PLLFLLFRAC)
+
+#define BOARD_LPUART0_CLKSRC           SIM_SOPT2_LPUARTSRC_MCGCLK
+#define BOARD_LPUART0_FREQ             BOARD_SIM_CLKDIV3_FREQ
+
+#define BOARD_TPM_CLKSRC               SIM_SOPT2_TPMSRC_OCSERCLK
+#define BOARD_TPM_FREQ                 BOARD_EXTAL_FREQ
+
+/* SDHC clocking ********************************************************************/
+
+/* SDCLK configurations corresponding to various modes of operation.   Formula is:
+ *
+ *   SDCLK  frequency = (base clock) / (prescaler * divisor)
+ *
+ * The SDHC module is always configure configured so that the core clock is the base
+ * clock.  Possible values for prescaler and divisor are:
+ *
+ *   SDCLKFS: {2, 4, 8, 16, 32, 63, 128, 256}
+ *   DVS:     {1..16}
+ */
+
+/* SDHC pull-up resistors **********************************************************/
+
+/* There are external pull-ups on the NXP fmuk66-e
+ * So enable we do not them.
+ */
+
+#undef BOARD_SDHC_ENABLE_PULLUPS
+
+/* Identification mode:  Optimal 400KHz, Actual 168Mhz / (32 * 14) = 375 KHz */
+
+#define BOARD_SDHC_IDMODE_PRESCALER    SDHC_SYSCTL_SDCLKFS_DIV32
+#define BOARD_SDHC_IDMODE_DIVISOR      SDHC_SYSCTL_DVS_DIV(14)
+
+/* MMC normal mode: Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
+
+#define BOARD_SDHC_MMCMODE_PRESCALER   SDHC_SYSCTL_SDCLKFS_DIV2
+#define BOARD_SDHC_MMCMODE_DIVISOR     SDHC_SYSCTL_DVS_DIV(5)
+
+/* SD normal mode (1-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
+
+#define BOARD_SDHC_SD1MODE_PRESCALER   SDHC_SYSCTL_SDCLKFS_DIV2
+#define BOARD_SDHC_SD1MODE_DIVISOR     SDHC_SYSCTL_DVS_DIV(5)
+
+/* SD normal mode (4-bit): Optimal 25MHz, Actual Actual 168Mhz / (2 * 4) = 21 MHz (with DMA)
+ * SD normal mode (4-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz (no DMA)
+ */
+
+#ifdef CONFIG_KINETIS_SDHC_DMA
+#  define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
+#  define BOARD_SDHC_SD4MODE_DIVISOR   SDHC_SYSCTL_DVS_DIV(4)
+#else
+#  define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
+#  define BOARD_SDHC_SD4MODE_DIVISOR   SDHC_SYSCTL_DVS_DIV(5)
+#endif
+
+
+/* LED definitions ******************************************************************/
+/* The NXP FMUK66-E has a separate Red, Green and Blue LEDs driven by the K66 as
+ * follows:
+ *
+ *   LED    K66
+ *   ------ -------------------------------------------------------
+ *   RED    FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
+ *   GREEN  FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
+ *   BLUE   CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way.  The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED_R       0
+#define BOARD_LED_G       1
+#define BOARD_LED_B       2
+#define BOARD_NLEDS       3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED_R_BIT   (1 << BOARD_LED_R)
+#define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
+#define BOARD_LED_B_BIT   (1 << BOARD_LED_B)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the NXP FMUK66-E.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL                Meaning                      LED state
+ *                                                      RED   GREEN  BLUE
+ *   -------------------  ----------------------------  ----------------- */
+#define LED_STARTED       1 /* NuttX has been started    OFF   OFF    OFF */
+#define LED_HEAPALLOCATE  2 /* Heap has been allocated   OFF   OFF    ON  */
+#define LED_IRQSENABLED   0 /* Interrupts enabled        OFF   OFF    ON  */
+#define LED_STACKCREATED  3 /* Idle stack created        OFF   ON     OFF */
+#define LED_INIRQ         0 /* In an interrupt          (no change)       */
+#define LED_SIGNAL        0 /* In a signal handler      (no change)       */
+#define LED_ASSERTION     0 /* An assertion failed      (no change)       */
+#define LED_PANIC         4 /* The system has crashed    FLASH OFF    OFF */
+#undef  LED_IDLE            /* K66 is in sleep mode     (Not used)        */
+
+/* Alternative pin resolution *******************************************************/
+/* If there are alternative configurations for various pins in the
+ * kinetis_k66pinmux.h header file, those alternative pins will be labeled with a
+ * suffix like _1, _2, etc.  The logic in this file must select the correct pin
+ * configuration for the board by defining a pin configuration (with no suffix) that
+ * maps to the correct alternative.
+ */
+
+/* CAN
+ * Signal Conn      Port Pin   Name
+ * ------- -------- ----- ----- --------
+ * CAN0TX  P8-2(H)  PTB18  97   CAN0_TX
+ * CAN0RX  P8-3(L)  PTB19  98   CAN0_RX
+ * CAN1TX  P19-2(H) PTC16  123  CAN1_TX
+ * CAN1RX  P19-3(L) PTC17  124  CAN1_RX
+ *
+ */
+#define PIN_CAN0_RX       PIN_CAN0_RX_2
+#define PIN_CAN0_TX       PIN_CAN0_TX_2
+#define PIN_CAN1_RX       PIN_CAN1_RX_2
+#define PIN_CAN1_TX       PIN_CAN1_TX_2
+
+/* 12C
+ *
+ */
+
+/* I2C0
+ *
+ * This device can be pinned out to be either or
+
+ * Bit   Pin Device   Signal Usage                 Conn
+ * ----- --- -------  --------------------------- ------
+ * PTB2   83 I2C0_SCL U_ECH Ultrasonic            P13-3
+ * PTB3   84 I2C0_SDA U_TRI Ultrasonic            P13-2
+ * ----- --- -------  --------------------------- ------
+ *
+ * Bit   Pin Device   Signal Usage                 Conn
+ * ----- --- -------  --------------------------- ------
+ * PTE24  45 I2C0_SCL IIC_SCL NFC Connector, IIC  P2-2
+ * PTE25  46 I2C0_SDA IIC_SDA NFC Connector, IIC  P2-3
+ * ----- --- -------  --------------------------- ------
+ */
+
+#define PIN_I2C0_SCL     PIN_I2C0_SCL_4   /* PTE24  IIC_SCL */
+#define PIN_I2C0_SDA     PIN_I2C0_SDA_4   /* PTE25  IIC_SDA */
+
+/* I2C1
+ *
+ * Bit   Pin Device   Signal         Usage         Conn
+ * ----- --- -------  -------------- ------------- ------
+ * PTC10 115 I2C1_SCL P_SCL, GPS_SCL Pressure, GPS P3-4
+ * PTC11 116 I2C1_SDA P_SDA, GPS_SDA Pressure, GPS P3-5
+ * ----- --- -------  -------------- ------------- ------
+ */
+
+#define PIN_I2C1_SCL     PIN_I2C1_SCL_1   /* PTC10 GPS / Pressure Sensor*/
+#define PIN_I2C1_SDA     PIN_I2C1_SDA_1   /* PTC11 GPS / Pressure Sensor */
+
+
+/* SPI
+ *
+ */
+
+/* SPI0 FRAM */
+
+#define PIN_SPI0_PCS0    PIN_SPI0_PCS2_1  /* PTC2 SPI_CS  FRAM_CS   */
+#define PIN_SPI0_SCK     PIN_SPI0_SCK_2   /* PTC5 SPI_CLK FRAM_SCK  */
+#define PIN_SPI0_OUT     PIN_SPI0_SOUT_2  /* PTC6 SPI_OUT FRAM_MOSI */
+#define PIN_SPI0_SIN     PIN_SPI0_SIN_2   /* PTC7 SPI_IN  FRAM_MISO */
+
+/* SPI1
+ * FXOS8700CQ Accelerometer
+ * FXAS21002CQ Gyroscope
+ */
+
+#define PIN_SPI1_PCS0    PIN_SPI1_PCS0_1  /* PTB10 A_CS   */
+#define PIN_SPI1_PCS1    PIN_SPI1_PCS1_1  /* PTB9  GM_CS  */
+#define PIN_SPI1_SCK     PIN_SPI1_SCK_1   /* PTB11 A_SCLK */
+#define PIN_SPI1_OUT     PIN_SPI1_SOUT_1  /* PTB16 A_MOSI */
+#define PIN_SPI1_SIN     PIN_SPI1_SIN_1   /* PTB17 A_MISO */
+
+/* SPI2
+ * Bit   Pin Device   Signal     Conn
+ * ----- --- -------  --------- ------
+ * PTB20 99  SPI2_PCS0 SPI2_CS  P18-5
+ * PTB21 100 SPI2_SCK  SPI2_CLK P18-2
+ * PTB22 101 SPI2_SOUT SPI2_OUT P18-3
+ * PTB23 102 SPI2_SIN SPI2_IN   P18-4
+ *
+ */
+
+#define PIN_SPI2_PCS0    PIN_SPI2_PCS0_1  /* PTB20 SPI2_CS  */
+#define PIN_SPI2_SCK     PIN_SPI2_SCK_1   /* PTB21 SPI2_CLK */
+#define PIN_SPI2_OUT     PIN_SPI2_SOUT_1  /* PTB22 SPI2_OUT */
+#define PIN_SPI2_SIN     PIN_SPI2_SIN_1   /* PTB23 SPI2_IN  */
+
+/* UART
+ *
+ * NuttX Will use LPUART0 as the Console
+ *
+ * LPUAR0
+ *  P16 Pin     Name        K66   Name
+ *  -------- ------------ ------ ---------
+ *      2    UART_TX       PTD9 LPUART0_TX
+ *      3    UART_RX       PTD8 LPUART0_RX
+ *  -------- ----- ------ ---------
+ */
+
+#define PIN_LPUART0_RX      (PIN_LPUART0_RX_3 | GPIO_PULLUP)
+#define PIN_LPUART0_TX      PIN_LPUART0_TX_3
+
+/* UART0
+ *
+ *  J7   Pin     Name        K66 Name
+ *  -------- ------------ ------- ---------
+ *      2    PTA2  UART0_TX
+ *      3    PTA1  UART0_RX
+ *      4    PTB3  UART0_CTS
+ *      5    PTB2  UART0_RTS
+ *  -------- ------------ ------- ---------
+ */
+
+#define PIN_UART0_RX      PIN_UART0_RX_1
+#define PIN_UART0_TX      PIN_UART0_TX_1
+#define PIN_UART0_CTS     PIN_UART0_CTS_3
+#define PIN_UART0_RTS     PIN_UART0_RTS_3
+
+/* UART1
+ *
+ *     Pin        Name           K66   Name
+ *  ------------- -------------- ----- ---------
+ *  P14-3,P15-2   FrSky_IN_RC_IN PTC3  UART1_RX
+ *  P14-2         FrSky_OUT      PTC4  UART1_TX
+ *  ------------- ------------ ----- ---------
+ */
+
+#define PIN_UART1_RX      PIN_UART1_RX_1
+#define PIN_UART1_TX      PIN_UART1_TX_1
+
+/* UART2
+ * No Alternative pins for UART2
+ *
+ *  P7   Pin     Name        K66 Name
+ *  -------- ------------ ------- ---------
+ *      2    GPS_TX       PTD3  UART2_TX
+ *      3    GPS_RX       PTD2  UART2_RX
+ *  -------- ------------ ------- ---------
+ */
+
+/* UART4
+ *
+ *  P10  Pin   Name        K66 Name
+ *  -------- ------------ ------- ---------
+ *      2    UART4_TX     PTC15  UART4_TX
+ *      3    UART4_RX     PTC14  UART4_RX
+ *      4    UART4_CTS    PTC13  UART4_CTS
+ *      5    UART4_RTS    PTE27  UART4_RTS
+ *  -------- ------------ ------- ---------
+ */
+
+#define PIN_UART4_RX      PIN_UART4_RX_1
+#define PIN_UART4_TX      PIN_UART4_TX_1
+#define PIN_UART4_RTS     PIN_UART4_RTS_2
+#define PIN_UART4_CTS     PIN_UART4_CTS_1
+
+/*
+ * Ethernet TJA1100 OPEN Alliance BroadR-Reach PHY for Automotive Ethernet
+ * -----------------------------------------------------------------------
+ *
+ *  -------------- ----------------- -----------------------------------------
+ * TJA1100        Board Signal(s)   K66F Pin
+ * Pin Signal                       Function               pinmux Name
+ * --- ---------- ----------------- ------------------------------------------
+ * 1   MDC        RMII0_MDC         PTB1/RMII0_MDC         PIN_RMII0_MDC
+ * 2   INT        RMII0_INT_B,      PTA27                  PTA27
+ * 3   nRST       ENET_RST          PTA28                  PTA28
+ * 4   VDDA(1V8)  Cap to GND         ---                    ---
+ * 5   XO         25Mhz OSC          ---                    ---
+ * 6   XI         25Mhz OSC          ---                    ---
+ * 7   VDDA(3V3)  E_3V3              ---                    ---
+ * 8   LED (LED_ENABLE = 1)  WAKE (LED_ENABLE = 0)          ---
+ * 8   VBAT       E_3V3              ---                    ---
+ * 10  nINH       ENET_INH          PTA8                   PTA8
+ * 11  VDDA(TX)   E_3V3              ---                    ---
+ * 12  TRX_P      ENET_P             ---                    ---
+ * 13  TRX_M      ENET_P             ---                    ---
+ * 14  VDDD(3V3)  E_3V3              ---                    ---
+ * 15  GND         ---               ---                    ---
+ * 16  VDDD(1V8)  Cap to GND         ---                    ---
+ * 17  RXER       RMII0_RXER        PTA5/RMII0_RXER        PIN_RMII0_RXER
+ * 18  CRS_DIV    RMII_CRSDV        PTA14/RMII0_CRS_DV     PIN_RMII0_CRS_DV
+ * 19  TXEN       RMII0_TXEN        PTA15/RMII0_TXEN       PIN_RMII0_TXEN
+ * 20  GND         ---               ---                    ---
+ * 21  CONFIG1    ENET_CON1    THIS PIN IS A NO CONNECT
+ * 22  CONFIG0    ENET_CONFIG0      PTA24                  PTA24
+ * 23  RXD1       RMII0_RXD_1       PTA12/RMII0_RXD1       PIN_RMII0_RXD1
+ * 24  RXD0       RMII0_RXD_0       PTA13/RMII0_RXD0       PIN_RMII0_RXD0
+ * 25  REF_CLK    E_REF_CLK         PTE26/ENET_1588_CLKIN  PIN_ENET_1588_CLKIN
+ * 26  GND2        ---               ---                    ---
+ * 27  VDD(IO)    E_3V3              ---                    ---
+ * 28  TXC         ---               ---                    ---
+ * 29  TXEN       RMII_TXEN         PTA15/RMII0_TXEN       PIN_RMII0_TXEN
+ * 30  TXD3
+ * 31  TXD2
+ * 32  TXD1       RMII0_TXD_1       PTA17/RMII0_TXD1       PIN_RMII0_TXD1
+ * 33  TXD0       RMII0_TXD_0       PTA16/RMII0_TXD0       PIN_RMII0_TXD0
+ * 34  TXER
+ * 35  EN         ENET_EN           PTA29                  PTA29
+ * 36  MDIO       RMII0_MDIO        PTB0/RMII0_MDIO        PIN_RMII0_MDIO
+ * --- ---------- ----------------- ------------------------------------
+ *
+ */
+
+#define PIN_RMII0_MDIO    PIN_RMII0_MDIO_1
+#define PIN_RMII0_MDC     PIN_RMII0_MDC_1
+#define PIN_ENET_PHY_RST  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN28)
+#define PIN_ENET_PHY_EN   (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN29)
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTC | PIN1)
+# define PROBE_2  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTA | PIN6)
+# define PROBE_3  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTD | PIN4)
+# define PROBE_4  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTD | PIN5)
+# define PROBE_5  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTE | PIN11)
+# define PROBE_6  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0  | PIN_PORTE | PIN12)
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { kinetis_pinconfig(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { kinetis_pinconfig(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { kinetis_pinconfig(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { kinetis_pinconfig(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { kinetis_pinconfig(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { kinetis_pinconfig(PROBE_6); } \
+	} while(0)
+
+# define PROBE(n,s)  do {kinetis_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: kinetis_boardinitialize
+ *
+ * Description:
+ *   All kinetis architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+void kinetis_boardinitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __CONFIG_NXP_FMUK66_V3_INCLUDE_BOARD_H */
@@ -0,0 +1,224 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="kinetis"
+CONFIG_ARCH_CHIP_KINETIS=y
+CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=15175
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_PRODUCTID=0x001c
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 v3.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=8000
+CONFIG_CDCACM_VENDORID=0x1FC9
+CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_TJA1100=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_AUTOMOUNTER=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_KINETIS_ADC0=y
+CONFIG_KINETIS_ADC1=y
+CONFIG_KINETIS_CRC=y
+CONFIG_KINETIS_DMA=y
+CONFIG_KINETIS_EMAC_RMIICLK1588CLKIN=y
+CONFIG_KINETIS_ENET=y
+CONFIG_KINETIS_FLEXCAN0=y
+CONFIG_KINETIS_FLEXCAN1=y
+CONFIG_KINETIS_GPIOIRQ=y
+CONFIG_KINETIS_I2C0=y
+CONFIG_KINETIS_I2C1=y
+CONFIG_KINETIS_LPTMR0=y
+CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_MERGE_TTY=y
+CONFIG_KINETIS_PDB=y
+CONFIG_KINETIS_PIT=y
+CONFIG_KINETIS_PORTAINTS=y
+CONFIG_KINETIS_PORTBINTS=y
+CONFIG_KINETIS_PORTCINTS=y
+CONFIG_KINETIS_PORTDINTS=y
+CONFIG_KINETIS_PORTEINTS=y
+CONFIG_KINETIS_RTC=y
+CONFIG_KINETIS_SDHC=y
+CONFIG_KINETIS_SERIALBRK_BSDCOMPAT=y
+CONFIG_KINETIS_SPI0=y
+CONFIG_KINETIS_SPI1=y
+CONFIG_KINETIS_SPI2=y
+CONFIG_KINETIS_UART0=y
+CONFIG_KINETIS_UART0_RXDMA=y
+CONFIG_KINETIS_UART1=y
+CONFIG_KINETIS_UART1_RXDMA=y
+CONFIG_KINETIS_UART2=y
+CONFIG_KINETIS_UART2_RXDMA=y
+CONFIG_KINETIS_UART4=y
+CONFIG_KINETIS_UART4_RXDMA=y
+CONFIG_KINETIS_UARTFIFOS=y
+CONFIG_KINETIS_UART_BREAKS=y
+CONFIG_KINETIS_UART_EXTEDED_BREAK=y
+CONFIG_KINETIS_UART_INVERT=y
+CONFIG_KINETIS_USBDCD=y
+CONFIG_KINETS_LPUART_LOWEST=y
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPUART0_BAUD=57600
+CONFIG_LPUART0_SERIAL_CONSOLE=y
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NFILE_DESCRIPTORS=15
+CONFIG_NFILE_STREAMS=8
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_REBOOT=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x1fff0000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CUTERM=y
+CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TIME_EXTENDED=y
+CONFIG_UART0_IFLOWCONTROL=y
+CONFIG_UART0_OFLOWCONTROL=y
+CONFIG_UART1_RXBUFSIZE=600
+CONFIG_UART1_TXBUFSIZE=1100
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_IFLOWCONTROL=y
+CONFIG_UART4_OFLOWCONTROL=y
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1100
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -0,0 +1,179 @@
+/****************************************************************************
+ * configs/nxp_fmuk66-e/scripts/flash.ld
+ *
+ *   Copyright (C) 2016, 2017 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The MK66FN2M0VLQ18 has 2 MiB of FLASH beginning at address 0x0000:0000 and
+ * 256 KiB of SRAM beginning at address 0x1fff:0000- (SRAM_L) (64Kib) and
+ * 0x2000:0000 196 Kib  (SRAM_U).
+ *
+ * NOTE: that the first part of the K66 FLASH region is reserved for
+ *       interrupt vectflash and, following that, is a region from 0x0000:0400
+ *       to 0x0000:040f that is reserved for the FLASH control fields (FCF).
+ *
+ * NOTE: The on-chip RAM is split evenly among SRAM_L and SRAM_U. The RAM is
+ *       also implemented such that the SRAM_L and SRAM_U ranges form a
+ *       contiguous block in the memory map.
+ */
+
+MEMORY
+{
+	vectflash  (rx)  : ORIGIN = 0x00006000, LENGTH = 1K
+	cfmprotect (rx)  : ORIGIN = 0x00006400, LENGTH = 16
+	progflash  (rx)  : ORIGIN = 0x00006410, LENGTH = 2M - ((6*4K) + 1K + 16)
+	datasram  (rwx)  : ORIGIN = 0x1fff0000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+ENTRY(__start)
+EXTERN(__flashconfigbytes)
+SECTIONS
+{
+	.vectors : {
+		_svectors = ABSOLUTE(.);
+		 KEEP(*(.vectors))
+		_evectors = ABSOLUTE(.);
+	} > vectflash
+
+	.cfmprotect : {
+		KEEP(*(.cfmconfig))
+	} > cfmprotect
+
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/*
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > progflash =0xff
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+         KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > progflash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > progflash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > progflash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > progflash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > datasram AT > progflash
+
+	.ramfunc ALIGN(4): {
+		_sramfuncs = ABSOLUTE(.);
+		*(.ramfunc  .ramfunc.*)
+		_eramfuncs = ABSOLUTE(.);
+		 . = ALIGN(8);
+		 FILL(0xff)
+		 . += 8;
+	} > datasram AT > progflash =0xff
+
+	_framfuncs = LOADADDR(.ramfunc);
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > datasram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,221 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="kinetis"
+CONFIG_ARCH_CHIP_KINETIS=y
+CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=15175
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_PRODUCTID=0x001c
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 v3.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=8000
+CONFIG_CDCACM_VENDORID=0x1FC9
+CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_TJA1100=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_AUTOMOUNTER=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_IOB_NBUFFERS=48
+CONFIG_IOB_NCHAINS=16
+CONFIG_KINETIS_ADC0=y
+CONFIG_KINETIS_ADC1=y
+CONFIG_KINETIS_CRC=y
+CONFIG_KINETIS_DMA=y
+CONFIG_KINETIS_EMAC_RMIICLK1588CLKIN=y
+CONFIG_KINETIS_ENET=y
+CONFIG_KINETIS_FLEXCAN0=y
+CONFIG_KINETIS_FLEXCAN1=y
+CONFIG_KINETIS_GPIOIRQ=y
+CONFIG_KINETIS_I2C0=y
+CONFIG_KINETIS_I2C1=y
+CONFIG_KINETIS_LPTMR0=y
+CONFIG_KINETIS_LPUART0=y
+CONFIG_KINETIS_MERGE_TTY=y
+CONFIG_KINETIS_PDB=y
+CONFIG_KINETIS_PIT=y
+CONFIG_KINETIS_PORTAINTS=y
+CONFIG_KINETIS_PORTBINTS=y
+CONFIG_KINETIS_PORTCINTS=y
+CONFIG_KINETIS_PORTDINTS=y
+CONFIG_KINETIS_PORTEINTS=y
+CONFIG_KINETIS_RTC=y
+CONFIG_KINETIS_SDHC=y
+CONFIG_KINETIS_SERIALBRK_BSDCOMPAT=y
+CONFIG_KINETIS_SPI0=y
+CONFIG_KINETIS_SPI1=y
+CONFIG_KINETIS_SPI2=y
+CONFIG_KINETIS_UART0=y
+CONFIG_KINETIS_UART0_RXDMA=y
+CONFIG_KINETIS_UART1=y
+CONFIG_KINETIS_UART1_RXDMA=y
+CONFIG_KINETIS_UART2=y
+CONFIG_KINETIS_UART2_RXDMA=y
+CONFIG_KINETIS_UART4=y
+CONFIG_KINETIS_UART4_RXDMA=y
+CONFIG_KINETIS_UARTFIFOS=y
+CONFIG_KINETIS_UART_BREAKS=y
+CONFIG_KINETIS_UART_EXTEDED_BREAK=y
+CONFIG_KINETIS_UART_INVERT=y
+CONFIG_KINETIS_USBDCD=y
+CONFIG_KINETS_LPUART_LOWEST=y
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPUART0_BAUD=57600
+CONFIG_LPUART0_SERIAL_CONSOLE=y
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_NOTIFIER=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NET_UDP=y
+CONFIG_NFILE_DESCRIPTORS=15
+CONFIG_NFILE_STREAMS=8
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_DD=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_REBOOT=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x1fff0000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_CUTERM=y
+CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TIME_EXTENDED=y
+CONFIG_UART0_IFLOWCONTROL=y
+CONFIG_UART0_OFLOWCONTROL=y
+CONFIG_UART1_RXBUFSIZE=600
+CONFIG_UART1_TXBUFSIZE=1100
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_IFLOWCONTROL=y
+CONFIG_UART4_OFLOWCONTROL=y
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1100
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -0,0 +1,118 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR nxp
+	MODEL fmuk66-e
+	LABEL socketcan
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS4
+		TEL2:/dev/ttyS1
+	DRIVERS
+		adc
+		barometer # all available barometer drivers
+		barometer/mpl3115a2
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm42688p
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
+		tone_alarm
+		#uavcannode_v1
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		#dmesg
+		dumpfile
+		esc_calib
+		#hardfault_log # Needs bbsrm
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)
@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	autoleds.c
+	automount.c
+	can.c
+	i2c.cpp
+	init.c
+	led.c
+	sdhc.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		drivers__led # drv_led_start
+		px4_layer
+	)
@@ -0,0 +1,164 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/*
+ * This module shall be used during board bring up of Nuttx.
+ *
+ * The NXP FMUK66-E has a separate Red, Green and Blue LEDs driven by the K66
+ * as follows:
+ *
+ *   LED    K66
+ *   ------ -------------------------------------------------------
+ *   RED    FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
+ *   GREEN  FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
+ *   BLUE   CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
+ *
+ * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the NXP fmuk66-e.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL                Meaning                 LED state
+ *                                                 RED   GREEN  BLUE
+ *   -------------------  -----------------------  -----------------
+ *   LED_STARTED          NuttX has been started    OFF  OFF  OFF
+ *   LED_HEAPALLOCATE     Heap has been allocated   OFF  OFF  ON
+ *   LED_IRQSENABLED      Interrupts enabled        OFF  OFF  ON
+ *   LED_STACKCREATED     Idle stack created        OFF  ON   OFF
+ *   LED_INIRQ            In an interrupt          (no change)
+ *   LED_SIGNAL           In a signal handler      (no change)
+ *   LED_ASSERTION        An assertion failed      (no change)
+ *   LED_PANIC            The system has crashed    FLASH OFF OFF
+ *   LED_IDLE             K66 is in sleep mode     (Optional, not used)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "kinetis.h"
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Summary of all possible settings */
+
+#define LED_NOCHANGE      0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
+#define LED_OFF_OFF_OFF   1 /* LED_STARTED */
+#define LED_OFF_OFF_ON    2 /* LED_HEAPALLOCATE */
+#define LED_OFF_ON_OFF    3 /* LED_STACKCREATED */
+#define LED_ON_OFF_OFF    4 /* LED_PANIC */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ *
+ * Description:
+ *   Initialize the on-board LED
+ *
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	kinetis_pinconfig(GPIO_LED_R);
+	kinetis_pinconfig(GPIO_LED_G);
+	kinetis_pinconfig(GPIO_LED_B);
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (led != LED_NOCHANGE) {
+		bool redoff   = true;
+		bool greenoff = true;
+		bool blueoff  = true;
+
+		switch (led) {
+		default:
+		case LED_OFF_OFF_OFF:
+			break;
+
+		case LED_OFF_OFF_ON:
+			blueoff = false;
+			break;
+
+		case LED_OFF_ON_OFF:
+			greenoff = false;
+			break;
+
+		case LED_ON_OFF_OFF:
+			redoff = false;
+			break;
+		}
+
+		kinetis_gpiowrite(GPIO_LED_R, redoff);
+		kinetis_gpiowrite(GPIO_LED_G, greenoff);
+		kinetis_gpiowrite(GPIO_LED_B, blueoff);
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (led == LED_ON_OFF_OFF) {
+		kinetis_gpiowrite(GPIO_LED_R, true);
+		kinetis_gpiowrite(GPIO_LED_G, true);
+		kinetis_gpiowrite(GPIO_LED_B, true);
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,304 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
+#  define CONFIG_DEBUG_FS 1
+#endif
+
+#include <debug.h>
+#include <stddef.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/clock.h>
+#include <nuttx/fs/automount.h>
+
+#include "board_config.h"
+#ifdef HAVE_AUTOMOUNTER
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* This structure represents the changeable state of the automounter */
+
+struct fmuk66_automount_state_s {
+	volatile automount_handler_t handler;    /* Upper half handler */
+	FAR void *arg;                           /* Handler argument */
+	bool enable;                             /* Fake interrupt enable */
+	bool pending;                            /* Set if there an event while disabled */
+};
+
+/* This structure represents the static configuration of an automounter */
+
+struct fmuk66_automount_config_s {
+	/* This must be first thing in structure so that we can simply cast from struct
+	 * automount_lower_s to struct fmuk66_automount_config_s
+	 */
+
+	struct automount_lower_s lower;          /* Publicly visible part */
+	FAR struct fmuk66_automount_state_s *state; /* Changeable state */
+};
+
+/************************************************************************************
+ * Private Function Prototypes
+ ************************************************************************************/
+
+static int  fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg);
+static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable);
+static bool fmuk66_inserted(FAR const struct automount_lower_s *lower);
+
+/************************************************************************************
+ * Private Data
+ ************************************************************************************/
+
+static struct fmuk66_automount_state_s g_sdhc_state;
+static const struct fmuk66_automount_config_s g_sdhc_config = {
+	.lower        =
+	{
+		.fstype     = CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE,
+		.blockdev   = CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV,
+		.mountpoint = CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT,
+		.ddelay     = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY),
+		.udelay     = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY),
+		.attach     = fmuk66_attach,
+		.enable     = fmuk66_enable,
+		.inserted   = fmuk66_inserted
+	},
+	.state        = &g_sdhc_state
+};
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  fmuk66_attach
+ *
+ * Description:
+ *   Attach a new SDHC event handler
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *   isr   - The new event handler to be attach
+ *   arg   - Client data to be provided when the event handler is invoked.
+ *
+ *  Returned Value:
+ *    Always returns OK
+ *
+ ************************************************************************************/
+
+static int fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg)
+{
+	FAR const struct fmuk66_automount_config_s *config;
+	FAR struct fmuk66_automount_state_s *state;
+
+	/* Recover references to our structure */
+
+	config = (FAR struct fmuk66_automount_config_s *)lower;
+	DEBUGASSERT(config != NULL && config->state != NULL);
+
+	state = config->state;
+
+	/* Save the new handler info (clearing the handler first to eliminate race
+	 * conditions).
+	 */
+
+	state->handler = NULL;
+	state->pending = false;
+	state->arg     = arg;
+	state->handler = isr;
+	return OK;
+}
+
+/************************************************************************************
+ * Name:  fmuk66_enable
+ *
+ * Description:
+ *   Enable card insertion/removal event detection
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *   enable - True: enable event detection; False: disable
+ *
+ *  Returned Value:
+ *    None
+ *
+ ************************************************************************************/
+
+static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable)
+{
+	FAR const struct fmuk66_automount_config_s *config;
+	FAR struct fmuk66_automount_state_s *state;
+	irqstate_t flags;
+
+	/* Recover references to our structure */
+
+	config = (FAR struct fmuk66_automount_config_s *)lower;
+	DEBUGASSERT(config != NULL && config->state != NULL);
+
+	state = config->state;
+
+	/* Save the fake enable setting */
+
+	flags = enter_critical_section();
+	state->enable = enable;
+
+	/* Did an interrupt occur while interrupts were disabled? */
+
+	if (enable && state->pending) {
+		/* Yes.. perform the fake interrupt if the interrutp is attached */
+
+		if (state->handler) {
+			bool inserted = fmuk66_cardinserted();
+			(void)state->handler(&config->lower, state->arg, inserted);
+		}
+
+		state->pending = false;
+	}
+
+	leave_critical_section(flags);
+}
+
+/************************************************************************************
+ * Name: fmuk66_inserted
+ *
+ * Description:
+ *   Check if a card is inserted into the slot.
+ *
+ * Input Parameters:
+ *   lower - An instance of the auto-mounter lower half state structure
+ *
+ *  Returned Value:
+ *    True if the card is inserted; False otherwise
+ *
+ ************************************************************************************/
+
+static bool fmuk66_inserted(FAR const struct automount_lower_s *lower)
+{
+	return fmuk66_cardinserted();
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  fmuk66_automount_initialize
+ *
+ * Description:
+ *   Configure auto-mounters for each enable and so configured SDHC
+ *
+ * Input Parameters:
+ *   None
+ *
+ *  Returned Value:
+ *    None
+ *
+ ************************************************************************************/
+
+void fmuk66_automount_initialize(void)
+{
+	FAR void *handle;
+
+	finfo("Initializing automounter(s)\n");
+
+	/* Initialize the SDHC0 auto-mounter */
+
+	handle = automount_initialize(&g_sdhc_config.lower);
+
+	if (!handle) {
+		ferr("ERROR: Failed to initialize auto-mounter for SDHC0\n");
+	}
+}
+
+/************************************************************************************
+ * Name:  fmuk66_automount_event
+ *
+ * Description:
+ *   The SDHC card detection logic has detected an insertion or removal event.  It
+ *   has already scheduled the MMC/SD block driver operations.  Now we need to
+ *   schedule the auto-mount event which will occur with a substantial delay to make
+ *   sure that everything has settle down.
+ *
+ * Input Parameters:
+ *   slotno - Identifies the SDHC0 slot: SDHC0_SLOTNO or SDHC1_SLOTNO.  There is a
+ *      terminology problem here:  Each SDHC supports two slots, slot A and slot B.
+ *      Only slot A is used.  So this is not a really a slot, but an HSCMI peripheral
+ *      number.
+ *   inserted - True if the card is inserted in the slot.  False otherwise.
+ *
+ *  Returned Value:
+ *    None
+ *
+ *  Assumptions:
+ *    Interrupts are disabled.
+ *
+ ************************************************************************************/
+
+void fmuk66_automount_event(bool inserted)
+{
+	FAR const struct fmuk66_automount_config_s *config = &g_sdhc_config;
+	FAR struct fmuk66_automount_state_s *state = &g_sdhc_state;
+
+	/* Is the auto-mounter interrupt attached? */
+
+	if (state->handler) {
+		/* Yes.. Have we been asked to hold off interrupts? */
+
+		if (!state->enable) {
+			/* Yes.. just remember the there is a pending interrupt. We will
+			 * deliver the interrupt when interrupts are "re-enabled."
+			 */
+
+			state->pending = true;
+
+		} else {
+			/* No.. forward the event to the handler */
+
+			(void)state->handler(&config->lower, state->arg, inserted);
+		}
+	}
+}
+
+#endif /* HAVE_AUTOMOUNTER */
@@ -0,0 +1,562 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * NXP fmuk66-e internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <kinetis.h>
+#include <hardware/kinetis_pinmux.h>
+#include <arch/board/board.h>
+
+__END_DECLS
+
+/* FMUK66 GPIOs ***********************************************************************************/
+/* LEDs */
+/* An RGB LED is connected through GPIO as shown below:
+ * TBD (no makring on schematic)
+ *   LED    K66
+ *   ------ -------------------------------------------------------
+ *   RED    FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
+ *   GREEN  FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
+ *   BLUE   CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
+ */
+
+#define GPIO_LED_R             (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN1)
+#define GPIO_LED_G             (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN9)
+#define GPIO_LED_B             (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN8)
+
+
+#define GPIO_LED_1             (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN13)
+#define GPIO_LED_2             (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN14)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1 // Use D9 and D10
+#define BOARD_OVERLOAD_LED     LED_AMBER
+#define BOARD_ARMED_STATE_LED  LED_GREEN
+
+#define GPIO_NFC_IO            (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTA | PIN26)
+#define GPIO_SENSOR_P_EN       (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTB | PIN8)
+
+
+/* UART tty Mapping
+ * Device   tty        alt           Connector Name
+ * ------- ---------- -------------- --------- -------------------------
+ * LPUART0 /dev/tty0  /dev/console    J16      DCD-Mini
+ * UART0   /dev/tty1      ---         J7       SERIAL 2 / TELEMETRY 2 / IRDA
+ * UART1   /dev/tty2      ---         J15      SERIAL4/FrSky, RC_IN
+ * UART2   /dev/tty3      ---         J3       GPS connector
+ * UART4   /dev/tty4      ---         J10      SERIAL 1 / TELEMETRY 1
+ */
+
+/* High-resolution timer */
+#define HRT_TIMER              1  /* TPM1 timer for the HRT */
+#define HRT_TIMER_CHANNEL      0  /* Use capture/compare channel 0 */
+
+/* PPM IN
+ */
+
+#define HRT_PPM_CHANNEL        1  /* Use TPM1 capture/compare channel 1 */
+#define GPIO_PPM_IN            PIN_TPM1_CH1_1    /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */
+
+
+/*
+ *
+ * NXP fmuk66-e has separate RC_IN
+ *
+ * GPIO PPM_IN on PTA9 PIN_TPM1_CH1 and PCT3 USART1 RX
+ * SPEKTRUM_RX (it's TX or RX in Bind) on PCT3 USART1 RX
+ * Inversion is possible the UART
+ * The FMU can drive GPIO PPM_IN as an output
+ */
+
+/* Spektrum controls ******************************************************/
+
+/* Power is a p-Channel FET */
+
+#define GPIO_SPEKTRUM_P_EN          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)
+
+/* For binding the Spektrum 3-pin interfaces is used with it TX (output)
+ * as an input Therefore we drive are UARTx_RX (normaly an input) as an
+ * output
+ */
+
+#define GPIO_PPM_IN_AS_OUT          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN3)
+
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(PIN_UART1_RX)
+#define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* RC input */
+
+#define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
+#define GPIO_RSSI_IN            PIN_ADC1_SE13
+
+/* Ethernet Control
+ *
+ * Uninitialized to Reset Disabled and Inhibited
+ * All pins driven low to not back feed when power is off
+ */
+
+#define nGPIO_ETHERNET_P_EN     (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTE | PIN10)
+#define GPIO_ENET_RST           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN28)
+#define GPIO_ENET_EN            (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN29)
+#define GPIO_ENET_INH           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN8)
+
+/* CAN Control
+ * Control pin S allows two operating modes to be selected:
+ * high-speed mode (Low) or silent mode (high)
+ */
+
+#define GPIO_CAN0_STB           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO  | PIN_PORTC | PIN19)
+#define GPIO_CAN1_STB           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO  | PIN_PORTC | PIN18)
+
+
+/* Safety Switch
+ * TBD
+ */
+#define GPIO_LED_SAFETY         (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO  | PIN_PORTC | PIN0)
+#define GPIO_BTN_SAFETY         (GPIO_PULLUP | PIN_PORTE | PIN28)
+
+/* NXP FMUK66-E GPIOs ****************************************************************/
+
+/*	SDHC
+ *
+ * A micro Secure Digital (SD) card slot is available on the board connected to
+ * the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
+ * format SD memory cards. The SD card detect pin (PTE6) is an open switch that
+ * shorts with VDD when card is inserted.
+ *
+ *   ------------ ------------- --------
+ *    SD Card Slot Board Signal  K66 Pin
+ *    ------------ ------------- --------
+ *    DAT0         SDHC0_D0      PTE1
+ *    DAT1         SDHC0_D1      PTE0
+ *    DAT2         SDHC0_D2      PTE5
+ *    CD/DAT3      SDHC0_D3      PTE4
+ *    CMD          SDHC0_CMD     PTE3
+ *    CLK          SDHC0_DCLK    PTE2
+ *    SWITCH       D_CARD_DETECT PTD10
+ *                 CAED_P_EN     PTD6
+ *    ------------ ------------- --------
+ *
+ * There is no Write Protect pin available to the K66
+ */
+#define nVDD_3V3_SD_CARD_EN                 (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN25)
+
+
+/* SE050 Secure Element  */
+#define SE050_ENA                           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN24)
+#define SE050_RST_N                         (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN11)
+
+//#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
+
+/* SPI device reset signals
+ * In Active state
+ */
+
+/* Sensor interrupts */
+
+#define GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1 (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTD | PIN12)
+#define GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2  (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTE | PIN7)
+#define GPIO_nSPI1_DRDY3_ICM42688_INT1      (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTE | PIN9)
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4
+ * Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap
+ * in the AD4-AD7 range on the same ADC.
+ *
+ * Only ADC1 is used
+ *         Bits 31:0 are ADC1 channels 31:0
+ */
+
+#define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
+#define ADC1_GPIO(n)  PIN_ADC1_SE##n
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC_USB_VBUS_VALID          ADC1_CH(0)      /* USB_VBUS_VALID   29    -    ADC1_DP0  */
+#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
+#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11)     /* BAT_ISENS        86   PTB5  ADC1_SE11 */
+#define ADC_5V_RAIL_SENSE           ADC1_CH(12)     /* 5V_VSENS         87   PTB6  ADC1_SE12 */
+#define ADC_RSSI_IN                 ADC1_CH(13)     /* RSSI_IN          88   PTB7  ADC1_SE13 */
+#define ADC_AD1                     ADC1_CH(16)     /* AD1              35    -    ADC1_SE16 */
+#define ADC_AD2                     ADC1_CH(18)     /* AD2              37    -    ADC1_SE18 */
+#define ADC_AD3                     ADC1_CH(23)     /* AD3              39    -    ADC1_SE23 */
+
+/* Mask use to initialize the ADC driver */
+
+#define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
+		      (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+		      (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
+		      (1 << ADC_5V_RAIL_SENSE) | \
+		      (1 << ADC_RSSI_IN) | \
+		      (1 << ADC_AD1) | \
+		      (1 << ADC_AD2) | \
+		      (1 << ADC_AD3))
+
+
+/* GPIO that require Configuration */
+
+#define PX4_ADC_GPIO  \
+	/* PTB4  ADC1_SE10 */  ADC1_GPIO(10),  \
+	/* PTB5  ADC1_SE11 */  ADC1_GPIO(11),  \
+	/* PTB6  ADC1_SE12 */  ADC1_GPIO(12),  \
+	/* PTB7  ADC1_SE13 */  ADC1_GPIO(13)
+
+
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
+
+/* User GPIOs
+ *
+ */
+
+/* Timer I/O PWM and capture
+ *
+ * 14 PWM outputs are configured.
+ * 14 Timer inputs are configured.
+ *
+ * Pins:
+ *      Defined in board.h
+ */
+// todo:Design this!
+
+#define DIRECT_PWM_OUTPUT_CHANNELS  10
+#define DIRECT_INPUT_TIMER_CHANNELS 10
+
+/* Power supply control and monitoring GPIOs */
+// None
+
+#define GPIO_PERIPH_3V3_EN  0
+
+
+/* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
+ * It is driving a NPN
+ */
+#define TONE_ALARM_TIMER     2   /* timer */
+#define TONE_ALARM_CHANNEL   1   /* channel  */
+#define GPIO_TONE_ALARM_IDLE (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN11)
+#define GPIO_TONE_ALARM      (PIN_TPM2_CH1_1)
+
+/* USB
+ *
+ *  VBUS detection is on 29  ADC_DPM0 and PTE8
+ */
+#define GPIO_USB_VBUS_VALID         /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)
+
+/* PWM input driver. Use FMU PWM14 pin
+ * todo:desing this
+ */
+#define PWMIN_TIMER		0
+#define PWMIN_TIMER_CHANNEL	2
+#define GPIO_PWM_IN		GPIO_FTM0_CH2IN
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_ETH_EN(on_true)                px4_arch_gpiowrite(nGPIO_ETHERNET_P_EN, !(on_true))
+// Do not have #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
+// Do not have #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
+#define VDD_3V3_SENSORS_EN(on_true)        px4_arch_gpiowrite(GPIO_SENSOR_P_EN, (on_true))
+#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_P_EN, !(on_true))
+#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_SPEKTRUM_P_EN)
+// Do not have #define VDD_5V_RC_EN(on_true)              px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
+// Do not have #define VDD_5V_WIFI_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(nVDD_3V3_SD_CARD_EN, !(on_true))
+
+/* Map to control term used in RC lib */
+#define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))
+
+
+/*
+ * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_HAS_LED_PWM              1
+
+#define LED_TIM3_CH1OUT   /* PTD1  RGB_R */ PIN_FTM3_CH1_1
+#define LED_TIM3_CH5OUT   /* PTC9  RGB_G */ PIN_FTM3_CH5_1
+#define LED_TIM3_CH4OUT   /* PTC8  RGB_B */ PIN_FTM3_CH4_1
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST {  \
+		GPIO_LED_R,           \
+		GPIO_LED_G,           \
+		GPIO_LED_B,           \
+		GPIO_SENSOR_P_EN,     \
+		nVDD_3V3_SD_CARD_EN,  \
+		nGPIO_ETHERNET_P_EN,  \
+		GPIO_SPEKTRUM_P_EN,   \
+		SE050_ENA,            \
+		SE050_RST_N,          \
+		PX4_ADC_GPIO,         \
+		GPIO_USB_VBUS_VALID,  \
+		GPIO_ENET_RST,        \
+		GPIO_ENET_EN,         \
+		GPIO_ENET_INH,        \
+		PIN_CAN0_RX,          \
+		PIN_CAN0_TX,          \
+		PIN_CAN1_RX,          \
+		PIN_CAN1_TX,          \
+		GPIO_CAN0_STB,        \
+		GPIO_CAN1_STB,        \
+		GPIO_BTN_SAFETY,      \
+		GPIO_TONE_ALARM_IDLE, \
+		GPIO_NFC_IO,          \
+		GPIO_LED_1,           \
+		GPIO_LED_2            \
+	}
+
+/* Automounter */
+
+#define HAVE_MMCSD      1
+#define HAVE_AUTOMOUNTER 1
+#if !defined(CONFIG_FS_AUTOMOUNTER) || !defined(HAVE_MMCSD)
+#  undef HAVE_AUTOMOUNTER
+#  undef CONFIG_FMUK66_SDHC_AUTOMOUNT
+#endif
+
+#ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT
+#  undef HAVE_AUTOMOUNTER
+#endif
+
+/* Automounter defaults */
+
+#ifdef HAVE_AUTOMOUNTER
+
+#  ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE
+#    define CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE "vfat"
+#  endif
+
+#  ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV
+#    define CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV "/dev/mmcds0"
+#  endif
+
+#  ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT
+#    define CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT "/mnt/sdcard"
+#  endif
+
+#  ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY
+#    define CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY 1000
+#  endif
+
+#  ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY
+#    define CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY 2000
+#  endif
+#endif /* HAVE_AUTOMOUNTER */
+
+#define BOARD_HAS_NOISY_FXOS8700_MAG 1 // Disable internal MAG
+
+#define BOARD_NUM_IO_TIMERS 3
+
+/************************************************************************************
+ * Public data
+ ************************************************************************************/
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: fmuk66_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP FMUK66-E board.
+ *
+ ************************************************************************************/
+
+void fmuk66_spidev_initialize(void);
+
+/************************************************************************************
+ * Name: fmuk66_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+int  fmuk66_spi_bus_initialize(void);
+
+/****************************************************************************************************
+ * Name: board_spi_reset board_peripheral_reset
+ *
+ * Description:
+ *   Called to reset SPI and the perferal bus
+ *
+ ****************************************************************************************************/
+void board_peripheral_reset(int ms);
+
+/************************************************************************************
+ * Name: fmuk66_bringup
+ *
+ * Description:
+ *   Bring up board features
+ *
+ ************************************************************************************/
+
+#if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
+int fmuk66_bringup(void);
+#endif
+
+/****************************************************************************
+ * Name: fmuk66_sdhc_initialize
+ *
+ * Description:
+ *   Inititialize the SDHC SD card slot
+ *
+ ****************************************************************************/
+
+int fmuk66_sdhc_initialize(void);
+
+/************************************************************************************
+ * Name: fmuk66_cardinserted
+ *
+ * Description:
+ *   Check if a card is inserted into the SDHC slot
+ *
+ ************************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool fmuk66_cardinserted(void);
+#else
+#  define fmuk66_cardinserted() (false)
+#endif
+
+/************************************************************************************
+ * Name: fmuk66_writeprotected
+ *
+ * Description:
+ *   Check if the card in the MMC/SD slot is write protected
+ *
+ ************************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool fmuk66_writeprotected(void);
+#else
+#  define fmuk66_writeprotected() (false)
+#endif
+
+/************************************************************************************
+ * Name:  fmuk66_automount_initialize
+ *
+ * Description:
+ *   Configure auto-mounter for the configured SDHC slot
+ *
+ * Input Parameters:
+ *   None
+ *
+ *  Returned Value:
+ *    None
+ *
+ ************************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+void fmuk66_automount_initialize(void);
+#endif
+
+/************************************************************************************
+ * Name:  fmuk66_automount_event
+ *
+ * Description:
+ *   The SDHC card detection logic has detected an insertion or removal event.  It
+ *   has already scheduled the MMC/SD block driver operations.  Now we need to
+ *   schedule the auto-mount event which will occur with a substantial delay to make
+ *   sure that everything has settle down.
+ *
+ * Input Parameters:
+ *   inserted - True if the card is inserted in the slot.  False otherwise.
+ *
+ *  Returned Value:
+ *    None
+ *
+ *  Assumptions:
+ *    Interrupts are disabled.
+ *
+ ************************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+void fmuk66_automount_event(bool inserted);
+#endif
+
+/************************************************************************************
+ * Name: fmuk66_timer_initialize
+ *
+ * Description:
+ *   Called to configure the FTM to provide 1 Mhz
+ *
+ ************************************************************************************/
+
+void fmuk66_timer_initialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include <chip.h>
+#include <kinetis.h>
+#include "up_arch.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(KINETIS_FLEXCAN0) && defined(KINETIS_FLEXCAN1)
+#  warning "Both CAN0 and CAN1 are enabled.  Assuming only CAN0."
+#  undef KINETIS_FLEXCAN0
+#endif
+
+#ifdef KINETIS_FLEXCAN0
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call kinetis_caninitialize() to get an instance of the CAN interface */
+
+		can = kinetis_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
+};
@@ -0,0 +1,307 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * NXP fmuk66-e specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/gpio.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <kinetis.h>
+#include <kinetis_uart.h>
+#include <hardware/kinetis_uart.h>
+#include <hardware/kinetis_sim.h>
+#include "board_config.h"
+
+#include "up_arch.h"
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+
+void board_on_reset(int status)
+{
+	for (int i = 0; i < 6; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
+	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * Name: board_read_VBUS_state
+ *
+ * Description:
+ *   All boards must provide a way to read the state of VBUS, this my be simple
+ *   digital input on a GPIO. Or something more complicated like a Analong input
+ *   or reading a bit from a USB controller register.
+ *
+ * Returns -  0 if connected.
+ *
+ ************************************************************************************/
+
+int board_read_VBUS_state(void)
+{
+	return BOARD_ADC_USB_CONNECTED ? 0 : 1;
+}
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+}
+
+/************************************************************************************
+ * Name: kinetis_boardinitialize
+ *
+ * Description:
+ *   All Kinetis architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+kinetis_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	fmuk66_timer_initialize();
+
+	/* Power on Spektrum */
+
+	VDD_3V3_SPEKTRUM_POWER_EN(true);
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+
+	VDD_3V3_SD_CARD_EN(true);
+	VDD_3V3_SENSORS_EN(true);
+
+	/* configure SPI interfaces */
+
+	fmuk66_spidev_initialize();
+
+	VDD_ETH_EN(true);
+
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+	/* set up the serial DMA polling */
+#ifdef SERIAL_HAVE_DMA
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_serial_dma_poll,
+		       NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+
+	int ret = fmuk66_sdhc_initialize();
+
+	if (ret != OK) {
+		board_autoled_on(LED_RED);
+		return ret;
+	}
+
+#ifdef HAVE_AUTOMOUNTER
+	/* Initialize the auto-mounter */
+
+	fmuk66_automount_initialize();
+#endif
+
+	/* Configure SPI-based devices */
+
+#ifdef CONFIG_SPI
+	ret = fmuk66_spi_bus_initialize();
+
+	if (ret != OK) {
+		board_autoled_on(LED_RED);
+		return ret;
+	}
+
+#endif
+
+#ifdef CONFIG_NETDEV_LATEINIT
+
+# ifdef CONFIG_KINETIS_ENET
+	kinetis_netinitialize(0);
+# endif
+
+# ifdef CONFIG_KINETIS_FLEXCAN0
+	kinetis_caninitialize(0);
+# endif
+
+# ifdef CONFIG_KINETIS_FLEXCAN1
+	kinetis_caninitialize(1);
+# endif
+
+#endif
+
+	return OK;
+}
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * NXP fmuk66-e LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "kinetis.h"
+#include "chip.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+static uint32_t g_ledmap[] = {
+	0,      // Indexed by LED_BLUE
+	GPIO_LED_1,       // Indexed by LED_RED, LED_AMBER
+	GPIO_LED_SAFETY,  // Indexed by LED_SAFETY
+	GPIO_LED_2,     // Indexed by LED_GREEN
+};
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			kinetis_pinconfig(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive High to switch on */
+
+	if (g_ledmap[led] != 0) {
+		kinetis_gpiowrite(g_ledmap[led], state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+
+	if (g_ledmap[led] != 0) {
+		return kinetis_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+
+	phy_set_led(led, !phy_get_led(led));
+}
@@ -0,0 +1,270 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/* A micro Secure Digital (SD) card slot is available on the board connected to
+ * the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
+ * format SD memory cards. The SD card detect pin (PTE6) is an open switch that
+ * shorts with VDD when card is inserted.
+ *
+ *   ------------ ------------- --------
+ *    SD Card Slot Board Signal  K66 Pin
+ *    ------------ ------------- --------
+ *    DAT0         SDHC0_D0      PTE1
+ *    DAT1         SDHC0_D1      PTE0
+ *    DAT2         SDHC0_D2      PTE5
+ *    CD/DAT3      SDHC0_D3      PTE4
+ *    CMD          SDHC0_CMD     PTE3
+ *    CLK          SDHC0_DCLK    PTE2
+ *    SWITCH       D_CARD_DETECT PTE6
+ *    ------------ ------------- --------
+ *
+ * There is no Write Protect pin available to the K66.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "kinetis.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_KINETIS_SDHC
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+/* This structure holds static information unique to one SDHC peripheral */
+
+struct fmuk66_sdhc_state_s {
+	struct sdio_dev_s *sdhc;    /* R/W device handle */
+	bool inserted;              /* TRUE: card is inserted */
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* HSCMI device state */
+
+static struct fmuk66_sdhc_state_s g_sdhc;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#if defined(GPIO_SD_CARDDETECT)
+/****************************************************************************
+ * Name: fmuk66_mediachange
+ ****************************************************************************/
+
+static void fmuk66_mediachange(struct fmuk66_sdhc_state_s *sdhc)
+{
+	bool inserted;
+
+	/* Get the current value of the card detect pin.  This pin is pulled up on
+	 * board.  So low means that a card is present.
+	 */
+
+	inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
+	mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
+
+	/* Has the pin changed state? */
+
+	if (inserted != sdhc->inserted) {
+		mcinfo("Media change: %d->%d\n",  sdhc->inserted, inserted);
+
+		/* Yes.. perform the appropriate action (this might need some debounce). */
+
+		sdhc->inserted = inserted;
+		sdhc_mediachange(sdhc->sdhc, inserted);
+
+#ifdef CONFIG_FMUK66_SDHC_AUTOMOUNT
+		/* Let the automounter know about the insertion event */
+
+		fmuk66_automount_event(fmuk66_cardinserted());
+#endif
+	}
+}
+
+/****************************************************************************
+ * Name: fmuk66_cdinterrupt
+ ****************************************************************************/
+
+static int fmuk66_cdinterrupt(int irq, FAR void *context, FAR void *args)
+{
+	/* All of the work is done by fmuk66_mediachange() */
+
+	fmuk66_mediachange((struct fmuk66_sdhc_state_s *) args);
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: fmuk66_sdhc_initialize
+ *
+ * Description:
+ *   Inititialize the SDHC SD card slot
+ *
+ ****************************************************************************/
+
+int fmuk66_sdhc_initialize(void)
+{
+	int ret;
+	struct fmuk66_sdhc_state_s   *sdhc = &g_sdhc;
+	/* Configure GPIO pins */
+
+	VDD_3V3_SD_CARD_EN(true);
+
+#if defined(GPIO_SD_CARDDETECT)
+	kinetis_pinconfig(GPIO_SD_CARDDETECT);
+
+	/* Attached the card detect interrupt (but don't enable it yet) */
+
+	kinetis_pinirqattach(GPIO_SD_CARDDETECT, fmuk66_cdinterrupt, sdhc);
+#endif
+	/* Configure the write protect GPIO -- None */
+
+	/* Mount the SDHC-based MMC/SD block driver */
+	/* First, get an instance of the SDHC interface */
+
+	mcinfo("Initializing SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+
+	sdhc->sdhc = sdhc_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdhc->sdhc) {
+		mcerr("ERROR: Failed to initialize SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
+	}
+
+//   Testing done on SanDISK HC all failed sd_bench with Drive/Slew other than default and _PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE
+//	_PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE    Square noisy, pass SanDISK HC
+//  _PIN_OUTPUT_FAST|_PIN_OUTPUT_LOWDRIVE     Square noisy, pass SanDISK HC
+//  _PIN_OUTPUT_HIGHDRIVE|_PIN_OUTPUT_SLOW    sinusoidal fail SanDISK HC pass SanDISK HC1
+//  _PIN_OUTPUT_LOWDRIVE|_PIN_OUTPUT_SLOW     sinusoidal fail SanDISK HC pass SanDISK HC1
+//                       _PIN_OUTPUT_SLOW     sinusoidal fail SanDISK HC pass SanDISK HC1
+
+	// This up dating of the driver setting is for EMI issue with GPS and FCC
+	// With this setting the clock is sinusoidal N.B. sd_bench fails on SanDISK HC, but
+	// Passes SanDISK **HC1** - use HC1 or Kingston cards!
+
+	kinetis_pinconfig(PIN_SDHC0_DCLK | _PIN_OUTPUT_HIGHDRIVE | _PIN_OUTPUT_SLOW);
+
+	/* Now bind the SDHC interface to the MMC/SD driver */
+
+	mcinfo("Bind SDHC to the MMC/SD driver, minor=%d\n", CONFIG_NSH_MMCSDMINOR);
+
+	ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdhc->sdhc);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	syslog(LOG_ERR, "Successfully bound SDHC to the MMC/SD driver\n");
+
+#if defined(GPIO_SD_CARDDETECT)
+	/* Handle the initial card state */
+
+	fmuk66_mediachange(sdhc);
+
+	/* Enable CD interrupts to handle subsequent media changes */
+
+	kinetis_pinirqenable(GPIO_SD_CARDDETECT);
+#else
+	sdhc_mediachange(sdhc->sdhc, true);
+#endif
+	return OK;
+}
+
+/****************************************************************************
+ * Name: fmuk66_cardinserted
+ *
+ * Description:
+ *   Check if a card is inserted into the SDHC slot
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool fmuk66_cardinserted(void)
+{
+	bool inserted;
+
+	/* Get the current value of the card detect pin.  This pin is pulled up on
+	 * board.  So low means that a card is present.
+	 */
+
+	inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
+	mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
+	return inserted;
+}
+#endif
+
+/****************************************************************************
+ * Name: fmuk66_writeprotected
+ *
+ * Description:
+ *   Check if a card is inserted into the SDHC slot
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_AUTOMOUNTER
+bool fmuk66_writeprotected(void)
+{
+	/* There are no write protect pins */
+
+	return false;
+}
+#endif
+
+#endif /* HAVE_MMCSD */
@@ -0,0 +1,313 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+//#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include "up_arch.h"
+#include "chip.h"
+#include <kinetis.h>
+#include "board_config.h"
+#include <systemlib/px4_macros.h>
+
+#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || defined(CONFIG_KINETIS_SPI2)
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI0, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortC, GPIO::Pin2})
+	}),
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin9}),
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin9}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin6}),
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortA, GPIO::Pin19}), // CAL Memory
+	}, {GPIO::PortB, GPIO::Pin8}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin20}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin15}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+
+#define PX4_MK_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+__EXPORT void board_spi_reset(int ms, int bus_mask)
+{
+	/* Goal not to back feed the chips on the bus via IO lines */
+
+	/* Next Change CS to inputs with pull downs */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					kinetis_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
+				}
+			}
+		}
+	}
+
+	/* Turn all the int inputs to inputs with pull down  */
+
+	kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1, GPIO_PULLDOWN));
+	kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2, GPIO_PULLDOWN));
+	kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY3_ICM42688_INT1, GPIO_PULLDOWN));
+
+	/* Power Down The Sensors */
+
+	VDD_3V3_SENSORS_EN(false);
+	up_mdelay(ms);
+
+	/* Power Up The Sensors */
+	VDD_3V3_SENSORS_EN(true);
+	up_mdelay(2);
+
+	/* Restore all the CS to ouputs inactive */
+
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+				}
+			}
+		}
+	}
+
+	/* Restore all the int inputs to inputs */
+
+	kinetis_pinconfig(GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1);
+	kinetis_pinconfig(GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2);
+	kinetis_pinconfig(GPIO_nSPI1_DRDY3_ICM42688_INT1);
+}
+
+/************************************************************************************
+ * Name: fmuk66_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP FMUK66-E board.
+ *
+ ************************************************************************************/
+
+void fmuk66_spidev_initialize(void)
+{
+	board_spi_reset(10, 0xffff);
+
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+			}
+		}
+	}
+}
+
+/************************************************************************************
+ * Name: kinetis_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP FMUK66 v3 board.
+ *
+ ************************************************************************************/
+static const px4_spi_bus_t *_spi_bus0;
+static const px4_spi_bus_t *_spi_bus1;
+static const px4_spi_bus_t *_spi_bus2;
+
+__EXPORT int fmuk66_spi_bus_initialize(void)
+{
+	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+		switch (px4_spi_buses[i].bus) {
+		case PX4_BUS_NUMBER_TO_PX4(0): _spi_bus0 = &px4_spi_buses[i]; break;
+
+		case PX4_BUS_NUMBER_TO_PX4(1): _spi_bus1 = &px4_spi_buses[i]; break;
+
+		case PX4_BUS_NUMBER_TO_PX4(2): _spi_bus2 = &px4_spi_buses[i]; break;
+		}
+	}
+
+	/* Configure SPI-based devices */
+
+	struct spi_dev_s *spi_sensors = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(1));
+
+	if (!spi_sensors) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
+		return -ENODEV;
+	}
+
+	/* Default bus 1 to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
+	SPI_SETBITS(spi_sensors, 8);
+	SPI_SETMODE(spi_sensors, SPIDEV_MODE0);
+
+	/* Get the SPI port for the Memory */
+
+	struct spi_dev_s *spi_memory = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(0));
+
+	if (!spi_memory) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 0);
+		return -ENODEV;
+	}
+
+	/* Default bus 0 to 12MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
+	SPI_SETBITS(spi_memory, 8);
+	SPI_SETMODE(spi_memory, SPIDEV_MODE3);
+
+	/* Configure EXTERNAL SPI-based devices */
+
+	struct spi_dev_s *spi_ext = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(2));
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	return OK;
+
+}
+
+/************************************************************************************
+ * Name:  kinetis_spi[n]select, kinetis_spi[n]status, and kinetis_spi[n]cmddata
+ *
+ * Description:
+ *   These external functions must be provided by board-specific logic.  They are
+ *   implementations of the select, status, and cmddata methods of the SPI interface
+ *   defined by struct spi_ops_s (see include/nuttx/spi/spi.h). All other methods
+ *   including kinetis_spibus_initialize()) are provided by common Kinetis logic.
+ *   To use this common SPI logic on your board:
+ *
+ *   1. Provide logic in kinetis_boardinitialize() to configure SPI chip select
+ *      pins.
+ *   2. Provide kinetis_spi[n]select() and kinetis_spi[n]status() functions
+ *      in your board-specific logic.  These functions will perform chip selection
+ *      and status operations using GPIOs in the way your board is configured.
+ *   2. If CONFIG_SPI_CMDDATA is defined in the NuttX configuration, provide
+ *      kinetis_spi[n]cmddata() functions in your board-specific logic.  These
+ *      functions will perform cmd/data selection operations using GPIOs in the way
+ *      your board is configured.
+ *   3. Add a call to kinetis_spibus_initialize() in your low level application
+ *      initialization logic
+ *   4. The handle returned by kinetis_spibus_initialize() may then be used to bind the
+ *      SPI driver to higher level logic (e.g., calling
+ *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
+ *      the SPI MMC/SD driver).
+ *
+ ************************************************************************************/
+
+static inline void kinetis_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+		if (bus->devices[i].cs_gpio == 0) {
+			break;
+		}
+
+		if (devid == bus->devices[i].devid) {
+			// SPI select is active low, so write !selected to select the device
+			kinetis_gpiowrite(bus->devices[i].cs_gpio, !selected);
+		}
+	}
+}
+
+void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+	kinetis_spixselect(_spi_bus0, dev, devid, selected);
+}
+
+uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+void kinetis_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+	kinetis_spixselect(_spi_bus1, dev, devid, selected);
+}
+
+uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+void kinetis_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
+	kinetis_spixselect(_spi_bus2, dev, devid, selected);
+}
+
+uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+
+
+#endif /* CONFIG_KINETIS_SPI0 || CONFIG_KINETIS_SPI1 || CONFIG_KINETIS_SPI2 */
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file timer_config.c
+ *
+ * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+// TODO:Stubbed out for now
+#include <stdint.h>
+
+#include <kinetis.h>
+#include "hardware/kinetis_sim.h"
+#include "hardware/kinetis_ftm.h"
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer_hw_description.h>
+
+#include "board_config.h"
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::FTM0),
+	initIOTimer(Timer::FTM3),
+	initIOTimer(Timer::FTM2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel0}, {GPIO::PortC, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel3}, {GPIO::PortA, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel4}, {GPIO::PortD, GPIO::Pin4}),
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel6}, {GPIO::PortD, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
+	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+	{
+		.base = KINETIS_FTM3_BASE,
+		.clock_register = KINETIS_SIM_SCGC3,
+		.clock_bit = SIM_SCGC3_FTM3,
+		.vectorno =  0,
+	},
+};
+
+const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+	{
+		.gpio_out = LED_TIM3_CH1OUT, // RGB_R
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 2,
+	},
+	{
+		.gpio_out = LED_TIM3_CH5OUT, // RGB_G
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 6,
+	},
+	{
+		.gpio_out = LED_TIM3_CH4OUT, // RGB_B
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 5,
+	},
+};
+
+#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
+
+/* Timer register accessors */
+
+#define REG(t, _reg)	_REG(KINETIS_FTM##t##_BASE + (_reg))
+
+#define rSC(t)         REG(t,KINETIS_FTM_SC_OFFSET)
+#define rCNT(t)        REG(t,KINETIS_FTM_CNT_OFFSET)
+#define rMOD(t)        REG(t,KINETIS_FTM_MOD_OFFSET)
+#define rC0SC(t)       REG(t,KINETIS_FTM_C0SC_OFFSET)
+#define rC0V(t)        REG(t,KINETIS_FTM_C0V_OFFSET)
+#define rC1SC(t)       REG(t,KINETIS_FTM_C1SC_OFFSET)
+#define rC1V(t)        REG(t,KINETIS_FTM_C1V_OFFSET)
+#define rC2SC(t)       REG(t,KINETIS_FTM_C2SC_OFFSET)
+#define rC2V(t)        REG(t,KINETIS_FTM_C2V_OFFSET)
+#define rC3SC(t)       REG(t,KINETIS_FTM_C3SC_OFFSET)
+#define rC3V(t)        REG(t,KINETIS_FTM_C3V_OFFSET)
+#define rC4SC(t)       REG(t,KINETIS_FTM_C4SC_OFFSET)
+#define rC4V(t)        REG(t,KINETIS_FTM_C4V_OFFSET)
+#define rC5SC(t)       REG(t,KINETIS_FTM_C5SC_OFFSET)
+#define rC5V(t)        REG(t,KINETIS_FTM_C5V_OFFSET)
+#define rC6SC(t)       REG(t,KINETIS_FTM_C6SC_OFFSET)
+#define rC6V(t)        REG(t,KINETIS_FTM_C6V_OFFSET)
+#define rC7SC(t)       REG(t,KINETIS_FTM_C7SC_OFFSET)
+#define rC7V(t)        REG(t,KINETIS_FTM_C7V_OFFSET)
+
+#define rCNTIN(t)      REG(t,KINETIS_FTM_CNTIN_OFFSET)
+#define rSTATUS(t)     REG(t,KINETIS_FTM_STATUS_OFFSET)
+#define rMODE(t)       REG(t,KINETIS_FTM_MODE_OFFSET)
+#define rSYNC(t)       REG(t,KINETIS_FTM_SYNC_OFFSET)
+#define rOUTINIT(t)    REG(t,KINETIS_FTM_OUTINIT_OFFSET)
+#define rOUTMASK(t)    REG(t,KINETIS_FTM_OUTMASK_OFFSET)
+#define rCOMBINE(t)    REG(t,KINETIS_FTM_COMBINE_OFFSET)
+#define rDEADTIME(t)   REG(t,KINETIS_FTM_DEADTIME_OFFSET)
+#define rEXTTRIG(t)    REG(t,KINETIS_FTM_EXTTRIG_OFFSET)
+#define rPOL(t)        REG(t,KINETIS_FTM_POL_OFFSET)
+#define rFMS(t)        REG(t,KINETIS_FTM_FMS_OFFSET)
+#define rFILTER(t)     REG(t,KINETIS_FTM_FILTER_OFFSET)
+#define rFLTCTRL(t)    REG(t,KINETIS_FTM_FLTCTRL_OFFSET)
+#define rQDCTRL(t)     REG(t,KINETIS_FTM_QDCTRL_OFFSET)
+#define rCONF(t)       REG(t,KINETIS_FTM_CONF_OFFSET)
+#define rFLTPOL(t)     REG(t,KINETIS_FTM_FLTPOL_OFFSET)
+#define rSYNCONF(t)    REG(t,KINETIS_FTM_SYNCONF_OFFSET)
+#define rINVCTRL(t)    REG(t,KINETIS_FTM_INVCTRL_OFFSET)
+#define rSWOCTRL(t)    REG(t,KINETIS_FTM_SWOCTRL_OFFSET)
+#define rPWMLOAD(t)    REG(t,KINETIS_FTM_PWMLOAD_OFFSET)
+
+#if !defined(BOARD_PWM_SRC_CLOCK_FREQ)
+#define BOARD_PWM_SRC_CLOCK_FREQ 16000000
+#endif
+
+
+void fmuk66_timer_initialize(void)
+{
+
+
+	/* Y1 is 16 Mhz used to driver the FTM_CLKIN0 (PCT12) */
+
+
+	/* Enable PCT12 as FTM_CLKIN0 */
+
+	kinetis_pinconfig(PIN_FTM_CLKIN0_3);
+
+	/* Select FTM_CLKIN0 as source for FTM0, FTM2, and FTM3 */
+
+	uint32_t regval = _REG(KINETIS_SIM_SOPT4);
+	regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM2CLKSEL | SIM_SOPT4_FTM3CLKSEL);
+	_REG(KINETIS_SIM_SOPT4) = regval;
+
+
+	/* Enabled System Clock Gating Control for FTM 0 and 2*/
+
+	regval = _REG(KINETIS_SIM_SCGC6);
+	regval |= SIM_SCGC6_FTM0 | SIM_SCGC6_FTM2;
+	_REG(KINETIS_SIM_SCGC6) = regval;
+
+	/* Enabled System Clock Gating Control for FTM 2 and 3 */
+
+	regval = _REG(KINETIS_SIM_SCGC3);
+	regval |= SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
+	_REG(KINETIS_SIM_SCGC3) = regval;
+
+}
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <up_arch.h>
+#include <kinetis.h>
+#include <kinetis_usbotg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name:  kinetis_usbpullup
+ *
+ * Description:
+ *   If USB is supported and the board supports a pullup via GPIO (for USB software
+ *   connect and disconnect), then the board software must provide kinetis_usbpullup.
+ *   See include/nuttx/usb/usbdev.h for additional description of this method.
+ *   Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
+ *   NULL.
+ *
+ ************************************************************************************/
+
+__EXPORT
+int kinetis_usbpullup(FAR struct usbdev_s *dev, bool enable)
+{
+	usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
+
+	if (enable) {
+		putreg8(USB_CONTROL_DPPULLUPNONOTG, KINETIS_USB0_CONTROL);
+
+	} else {
+		putreg8(0, KINETIS_USB0_CONTROL);
+	}
+
+	return OK;
+}
+
+/************************************************************************************
+ * Name:  kinetis_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the kinetis_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT
+void kinetis_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}