diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index d8ca630b0a..893f432978 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -81,6 +81,7 @@ target_link_libraries(nuttx_arch
 		drivers_arch
 		drivers_boards_common
 		drivers_boards_common_arch
+		arch_hrt
 )
 
 target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
diff --git a/platforms/nuttx/src/px4/nxp/common/hrt/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/common/hrt/CMakeLists.txt
new file mode 100644
index 0000000000..ebd97f8a42
--- /dev/null
+++ b/platforms/nuttx/src/px4/nxp/common/hrt/CMakeLists.txt
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_hrt
+	hrt.c
+)
+target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
+
diff --git a/src/drivers/kinetis/drv_hrt.c b/platforms/nuttx/src/px4/nxp/common/hrt/hrt.c
similarity index 100%
rename from src/drivers/kinetis/drv_hrt.c
rename to platforms/nuttx/src/px4/nxp/common/hrt/hrt.c
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt
index b79346ca76..6b62fc697f 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/kinetis/CMakeLists.txt
@@ -33,6 +33,7 @@
 
 
 add_subdirectory(../common/adc adc)
+add_subdirectory(../common/hrt hrt)
 add_subdirectory(../common/tone_alarm tone_alarm)
 
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt
new file mode 100644
index 0000000000..ebd97f8a42
--- /dev/null
+++ b/platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_hrt
+	hrt.c
+)
+target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
+
diff --git a/src/drivers/stm32/drv_hrt.c b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
similarity index 100%
rename from src/drivers/stm32/drv_hrt.c
rename to platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
diff --git a/platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt
index 9ca45d87a9..ead07409b1 100644
--- a/platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/stm/stm32f1/CMakeLists.txt
@@ -33,4 +33,4 @@
 
 
 add_subdirectory(../stm32_common/io_pins io_pins)
-
+add_subdirectory(../stm32_common/hrt hrt)
diff --git a/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt
index 70e8b936a5..4792b81713 100644
--- a/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt
@@ -33,6 +33,7 @@
 
 
 add_subdirectory(../stm32_common/adc adc)
+add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/tone_alarm tone_alarm)
 
 add_subdirectory(px4io_serial)
diff --git a/platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt b/platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
index 70e8b936a5..4792b81713 100644
--- a/platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt
@@ -33,6 +33,7 @@
 
 
 add_subdirectory(../stm32_common/adc adc)
+add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/tone_alarm tone_alarm)
 
 add_subdirectory(px4io_serial)
diff --git a/src/drivers/kinetis/CMakeLists.txt b/src/drivers/kinetis/CMakeLists.txt
index a2fe213eb4..b01e11ee1c 100644
--- a/src/drivers/kinetis/CMakeLists.txt
+++ b/src/drivers/kinetis/CMakeLists.txt
@@ -32,7 +32,6 @@
 ############################################################################
 
 add_library(drivers_arch
-	drv_hrt.c
 	drv_io_timer.c
 	drv_pwm_servo.c
 	drv_pwm_trigger.c
diff --git a/src/drivers/stm32/CMakeLists.txt b/src/drivers/stm32/CMakeLists.txt
index aa444a97dd..fa3537378f 100644
--- a/src/drivers/stm32/CMakeLists.txt
+++ b/src/drivers/stm32/CMakeLists.txt
@@ -32,7 +32,6 @@
 ############################################################################
 
 add_library(drivers_arch
-	drv_hrt.c
 	drv_io_timer.c
 	drv_pwm_servo.c
 	drv_pwm_trigger.c