Merge branch 'master' of github.com:PX4/Firmware into paul_estimator

ROMFS/px4fmu_common/init.d/rcS

@@ -213,7 +213,9 @@ then
 	#  7000	..	 7999		Hexa +
 	#  8000	..	 8999		Octo X
 	#  9000	..	 9999		Octo +
-	# 10000	..	19999		Wide arm / H frame
+	# 10000	..	10999		Wide arm / H frame
+	# 11000	..	11999		Hexa Cox
+	# 12000	..	12999		Octo Cox
 	
 	if param compare SYS_AUTOSTART 4008 8
 	then
@@ -278,6 +280,13 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 12001
+	then
+		set MIXER /etc/mixers/FMU_octo_cox.mix
+		sh /etc/init.d/rc.octo
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 10015 15
 	then
 		sh /etc/init.d/10015_tbs_discovery

ROMFS/px4fmu_test/init.d/rcS

@@ -2,6 +2,7 @@
 #
 # PX4FMU startup script for test hackery.
 #
+uorb start
 
 if sercon
 then
@@ -10,3 +11,67 @@ then
 	# Try to get an USB console
 	nshterm /dev/ttyACM0 &
 fi
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+#
+# Start a minimal system
+#
+
+if [ -f /etc/extras/px4io-v2_default.bin ]
+then
+	set io_file /etc/extras/px4io-v2_default.bin
+else
+	set io_file /etc/extras/px4io-v1_default.bin
+fi
+
+if px4io start
+then
+	echo "PX4IO OK"
+fi
+
+if px4io checkcrc $io_file
+then
+	echo "PX4IO CRC OK"
+else
+	echo "PX4IO CRC failure"
+	tone_alarm MBABGP
+	if px4io forceupdate 14662 $io_file
+	then
+		usleep 500000
+		if px4io start
+		then
+			echo "PX4IO restart OK"
+			tone_alarm MSPAA
+		else
+			echo "PX4IO restart failed"
+			tone_alarm MNGGG
+			sleep 5
+			reboot
+		fi
+	else
+		echo "PX4IO update failed"
+		tone_alarm MNGGG
+	fi
+fi
+
+#
+# The presence of this file suggests we're running a mount stress test
+#
+if [ -f /fs/microsd/mount_test_cmds.txt ]
+then
+	tests mount
+fi

makefiles/config_px4fmu-v1_default.mk

@@ -36,6 +36,7 @@ MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 
 #

makefiles/config_px4fmu-v1_test.mk

@@ -0,0 +1,48 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/boards/px4fmu-v1
+MODULES		+= drivers/px4io
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )

makefiles/config_px4fmu-v2_default.mk

@@ -36,6 +36,7 @@ MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 
 # Needs to be burned to the ground and re-written; for now,

makefiles/config_px4fmu-v2_test.mk

@@ -6,21 +6,28 @@
 # Use the configuration's ROMFS.
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
 
 #
 # Board support modules
 #
 MODULES		+= drivers/device
 MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/px4io
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
 
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 
 #

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -566,7 +566,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0010
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -295,16 +295,16 @@ CONFIG_STM32_USART=y
 # U[S]ART Configuration
 #
 # CONFIG_USART1_RS485 is not set
-# CONFIG_USART1_RXDMA is not set
+CONFIG_USART1_RXDMA=y
 # CONFIG_USART2_RS485 is not set
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RS485 is not set
 CONFIG_USART3_RXDMA=y
 # CONFIG_UART4_RS485 is not set
 CONFIG_UART4_RXDMA=y
-# CONFIG_UART5_RXDMA is not set
+CONFIG_UART5_RXDMA=y
 # CONFIG_USART6_RS485 is not set
-# CONFIG_USART6_RXDMA is not set
+CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
 # CONFIG_UART7_RXDMA is not set
 # CONFIG_UART8_RS485 is not set
@@ -582,8 +582,8 @@ CONFIG_USART3_OFLOWCONTROL=y
 #
 # UART4 Configuration
 #
-CONFIG_UART4_RXBUFSIZE=128
+CONFIG_UART4_RXBUFSIZE=512
-CONFIG_UART4_TXBUFSIZE=128
+CONFIG_UART4_TXBUFSIZE=512
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_BITS=8
 CONFIG_UART4_PARITY=0
@@ -594,8 +594,8 @@ CONFIG_UART4_2STOP=0
 #
 # USART6 Configuration
 #
-CONFIG_USART6_RXBUFSIZE=256
+CONFIG_USART6_RXBUFSIZE=512
-CONFIG_USART6_TXBUFSIZE=256
+CONFIG_USART6_TXBUFSIZE=512
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0
@@ -662,7 +662,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

src/drivers/boards/px4fmu-v1/board_config.h

@@ -60,6 +60,7 @@ __BEGIN_DECLS
 
 /* PX4IO connection configuration */
 #define PX4IO_SERIAL_DEVICE	"/dev/ttyS2"
+#define UDID_START		0x1FFF7A10
 
 //#ifdef CONFIG_STM32_SPI2
 //#  error "SPI2 is not supported on this board"

src/drivers/boards/px4fmu-v2/board_config.h

@@ -53,6 +53,8 @@ __BEGIN_DECLS
 #include <stm32.h>
 #include <arch/board/board.h>
 
+#define UDID_START		0x1FFF7A10
+ 
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
-	message("[boot] Successfully initialized SPI port 1\n");
+	message("[boot] Initialized SPI port 1 (SENSORS)\n");
 
 	/* Get the SPI port for the FRAM */
 
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
+	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-	SPI_SETFREQUENCY(spi2, 375000000);
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	message("[boot] Successfully initialized SPI port 2\n");
+	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 	if (!sdio) {
-		message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+		message("[boot] Failed to initialize SDIO slot %d\n",
 			CONFIG_NSH_MMCSDSLOTNO);
 		return -ENODEV;
 	}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* Now bind the SDIO interface to the MMC/SD driver */
 	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
 	if (ret != OK) {
-		message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
 		return ret;
 	}
 

src/drivers/frsky_telemetry/frsky_data.c

@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+
+#include "frsky_data.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <arch/math.h>
+#include <geo/geo.h>
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+/* FrSky sensor hub data IDs */
+#define FRSKY_ID_GPS_ALT_BP     0x01
+#define FRSKY_ID_TEMP1          0x02
+#define FRSKY_ID_RPM            0x03
+#define FRSKY_ID_FUEL           0x04
+#define FRSKY_ID_TEMP2          0x05
+#define FRSKY_ID_VOLTS          0x06
+#define FRSKY_ID_GPS_ALT_AP     0x09
+#define FRSKY_ID_BARO_ALT_BP    0x10
+#define FRSKY_ID_GPS_SPEED_BP   0x11
+#define FRSKY_ID_GPS_LONG_BP    0x12
+#define FRSKY_ID_GPS_LAT_BP     0x13
+#define FRSKY_ID_GPS_COURS_BP   0x14
+#define FRSKY_ID_GPS_DAY_MONTH  0x15
+#define FRSKY_ID_GPS_YEAR       0x16
+#define FRSKY_ID_GPS_HOUR_MIN   0x17
+#define FRSKY_ID_GPS_SEC        0x18
+#define FRSKY_ID_GPS_SPEED_AP   0x19
+#define FRSKY_ID_GPS_LONG_AP    0x1A
+#define FRSKY_ID_GPS_LAT_AP     0x1B
+#define FRSKY_ID_GPS_COURS_AP   0x1C
+#define FRSKY_ID_BARO_ALT_AP    0x21
+#define FRSKY_ID_GPS_LONG_EW    0x22
+#define FRSKY_ID_GPS_LAT_NS     0x23
+#define FRSKY_ID_ACCEL_X        0x24
+#define FRSKY_ID_ACCEL_Y        0x25
+#define FRSKY_ID_ACCEL_Z        0x26
+#define FRSKY_ID_CURRENT        0x28
+#define FRSKY_ID_VARIO          0x30
+#define FRSKY_ID_VFAS           0x39
+#define FRSKY_ID_VOLTS_BP       0x3A
+#define FRSKY_ID_VOLTS_AP       0x3B
+
+#define frac(f) (f - (int)f)
+
+static int battery_sub = -1;
+static int sensor_sub = -1;
+static int global_position_sub = -1;
+static int vehicle_status_sub = -1;
+
+/**
+ * Initializes the uORB subscriptions.
+ */
+void frsky_init()
+{
+	battery_sub = orb_subscribe(ORB_ID(battery_status));
+	global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+}
+
+/**
+ * Sends a 0x5E start/stop byte.
+ */
+static void frsky_send_startstop(int uart)
+{
+	static const uint8_t c = 0x5E;
+	write(uart, &c, sizeof(c));
+}
+
+/**
+ * Sends one byte, performing byte-stuffing if necessary.
+ */
+static void frsky_send_byte(int uart, uint8_t value)
+{
+	const uint8_t x5E[] = { 0x5D, 0x3E };
+	const uint8_t x5D[] = { 0x5D, 0x3D };
+
+	switch (value) {
+	case 0x5E:
+		write(uart, x5E, sizeof(x5E));
+		break;
+
+	case 0x5D:
+		write(uart, x5D, sizeof(x5D));
+		break;
+
+	default:
+		write(uart, &value, sizeof(value));
+		break;
+	}
+}
+
+/**
+ * Sends one data id/value pair.
+ */
+static void frsky_send_data(int uart, uint8_t id, int16_t data)
+{
+	/* Cast data to unsigned, because signed shift might behave incorrectly */
+	uint16_t udata = data;
+
+	frsky_send_startstop(uart);
+
+	frsky_send_byte(uart, id);
+	frsky_send_byte(uart, udata);      /* LSB */
+	frsky_send_byte(uart, udata >> 8); /* MSB */
+}
+
+/**
+ * Sends frame 1 (every 200ms):
+ *   acceleration values, barometer altitude, temperature, battery voltage & current
+ */
+void frsky_send_frame1(int uart)
+{
+	/* get a local copy of the current sensor values */
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+	/* get a local copy of the battery data */
+	struct battery_status_s battery;
+	memset(&battery, 0, sizeof(battery));
+	orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+
+	/* send formatted frame */
+	frsky_send_data(uart, FRSKY_ID_ACCEL_X,
+			roundf(raw.accelerometer_m_s2[0] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Y,
+			roundf(raw.accelerometer_m_s2[1] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Z,
+			roundf(raw.accelerometer_m_s2[2] * 1000.0f));
+
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
+			raw.baro_alt_meter);
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
+			roundf(frac(raw.baro_alt_meter) * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_TEMP1,
+			roundf(raw.baro_temp_celcius));
+
+	frsky_send_data(uart, FRSKY_ID_VFAS,
+			roundf(battery.voltage_v * 10.0f));
+	frsky_send_data(uart, FRSKY_ID_CURRENT,
+			(battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f));
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
+ */
+static float frsky_format_gps(float dec)
+{
+	float dms_deg = (int) dec;
+	float dec_deg = dec - dms_deg;
+	float dms_min = (int) (dec_deg * 60);
+	float dec_min = (dec_deg * 60) - dms_min;
+	float dms_sec = dec_min * 60;
+
+	return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
+}
+
+/**
+ * Sends frame 2 (every 1000ms):
+ *   GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
+ */
+void frsky_send_frame2(int uart)
+{
+	/* get a local copy of the global position data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send formatted frame */
+	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
+	char lat_ns = 0, lon_ew = 0;
+	int sec = 0;
+	if (global_pos.valid) {
+		time_t time_gps = global_pos.time_gps_usec / 1000000;
+		struct tm *tm_gps = gmtime(&time_gps);
+
+		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
+		lat    = frsky_format_gps(abs(global_pos.lat) / 10000000.0f);
+		lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
+		lon    = frsky_format_gps(abs(global_pos.lon) / 10000000.0f);
+		lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
+		speed  = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy)
+				* 25.0f / 46.0f;
+		alt    = global_pos.alt;
+		sec    = tm_gps->tm_sec;
+	}
+
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_FUEL,
+			roundf(vehicle_status.battery_remaining * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec);
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Sends frame 3 (every 5000ms):
+ *   GPS date & time
+ */
+void frsky_send_frame3(int uart)
+{
+	/* get a local copy of the battery data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* send formatted frame */
+	time_t time_gps = global_pos.time_gps_usec / 1000000;
+	struct tm *tm_gps = gmtime(&time_gps);
+	uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
+	frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
+	frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
+	frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
+
+	frsky_send_startstop(uart);
+}

src/drivers/frsky_telemetry/frsky_data.h

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.h
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+#ifndef _FRSKY_DATA_H
+#define _FRSKY_DATA_H
+
+// Public functions
+void frsky_init(void);
+void frsky_send_frame1(int uart);
+void frsky_send_frame2(int uart);
+void frsky_send_frame3(int uart);
+
+#endif /* _FRSKY_TELEMETRY_H */

src/drivers/frsky_telemetry/frsky_telemetry.c

@@ -0,0 +1,266 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_telemetry.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ * This daemon emulates an FrSky sensor hub by periodically sending data
+ * packets to an attached FrSky receiver.
+ *
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <termios.h>
+
+#include "frsky_data.h"
+
+
+/* thread state */
+static volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int frsky_task;
+
+/* functions */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
+static void usage(void);
+static int frsky_telemetry_thread_main(int argc, char *argv[]);
+__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
+
+
+/**
+ * Opens the UART device and sets all required serial parameters.
+ */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
+{
+	/* Open UART */
+	const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", uart_name);
+	}
+
+	/* Back up the original UART configuration to restore it after exit */
+	int termios_state;
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Disable output post-processing */
+	uart_config.c_oflag &= ~OPOST;
+
+	/* Set baud rate */
+	static const speed_t speed = B9600;
+
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
+	}
+
+	return uart;
+}
+
+/**
+ * Print command usage information
+ */
+static void usage()
+{
+	fprintf(stderr,
+			"usage: frsky_telemetry start [-d <devicename>]\n"
+			"       frsky_telemetry stop\n"
+			"       frsky_telemetry status\n");
+	exit(1);
+}
+
+/**
+ * The daemon thread.
+ */
+static int frsky_telemetry_thread_main(int argc, char *argv[])
+{
+	/* Default values for arguments */
+	char *device_name = "/dev/ttyS1"; /* USART2 */
+
+	/* Work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	int ch;
+	while ((ch = getopt(argc, argv, "d:")) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = optarg;
+			break;
+
+		default:
+			usage();
+			break;
+		}
+	}
+
+	/* Print welcome text */
+	warnx("FrSky telemetry interface starting...");
+
+	/* Open UART */
+	struct termios uart_config_original;
+	const int uart = frsky_open_uart(device_name, &uart_config_original);
+
+	if (uart < 0)
+		err(1, "could not open %s", device_name);
+
+	/* Subscribe to topics */
+	frsky_init();
+
+	thread_running = true;
+
+	/* Main thread loop */
+	unsigned int iteration = 0;
+	while (!thread_should_exit) {
+
+		/* Sleep 200 ms */
+		usleep(200000);
+
+		/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
+		frsky_send_frame1(uart);
+
+		/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
+		if (iteration % 5 == 0)
+		{
+			frsky_send_frame2(uart);
+		}
+
+		/* Send frame 3 (every 5000ms): date, time */
+		if (iteration % 25 == 0)
+		{
+			frsky_send_frame3(uart);
+
+			iteration = 0;
+		}
+
+		iteration++;
+	}
+
+	/* Reset the UART flags to original state */
+	tcsetattr(uart, TCSANOW, &uart_config_original);
+	close(uart);
+
+	thread_running = false;
+	return 0;
+}
+
+/**
+ * The main command function.
+ * Processes command line arguments and starts the daemon.
+ */
+int frsky_telemetry_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		/* this is not an error */
+		if (thread_running)
+			errx(0, "frsky_telemetry already running");
+
+		thread_should_exit = false;
+		frsky_task = task_spawn_cmd("frsky_telemetry",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2048,
+					  frsky_telemetry_thread_main,
+					  (const char **)argv);
+
+		while (!thread_running) {
+			usleep(200);
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		/* this is not an error */
+		if (!thread_running)
+			errx(0, "frsky_telemetry already stopped");
+
+		thread_should_exit = true;
+
+		while (thread_running) {
+			usleep(200000);
+			warnx(".");
+		}
+
+		warnx("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
+}

src/drivers/frsky_telemetry/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013-2014 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.
+#
+############################################################################
+
+#
+# FrSky telemetry application.
+#
+
+MODULE_COMMAND	= frsky_telemetry
+
+SRCS		= frsky_data.c \
+              frsky_telemetry.c

src/drivers/gps/gps.cpp

@@ -85,7 +85,7 @@ static const int ERROR = -1;
 class GPS : public device::CDev
 {
 public:
-	GPS(const char *uart_path);
+	GPS(const char *uart_path, bool fake_gps);
 	virtual ~GPS();
 
 	virtual int			init();
@@ -112,6 +112,7 @@ private:
 	struct vehicle_gps_position_s 	_report;					///< uORB topic for gps position
 	orb_advert_t			_report_pub;					///< uORB pub for gps position
 	float				_rate;						///< position update rate
+	bool				_fake_gps;					///< fake gps output
 
 
 	/**
@@ -156,7 +157,7 @@ GPS	*g_dev;
 }
 
 
-GPS::GPS(const char *uart_path) :
+GPS::GPS(const char *uart_path, bool fake_gps) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
 	_healthy(false),
@@ -164,7 +165,8 @@ GPS::GPS(const char *uart_path) :
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_report_pub(-1),
-	_rate(0.0f)
+	_rate(0.0f),
+	_fake_gps(fake_gps)
 {
 	/* store port name */
 	strncpy(_port, uart_path, sizeof(_port));
@@ -264,6 +266,40 @@ GPS::task_main()
 	/* loop handling received serial bytes and also configuring in between */
 	while (!_task_should_exit) {
 
+		if (_fake_gps) {
+
+			_report.timestamp_position = hrt_absolute_time();
+			_report.lat = (int32_t)47.378301e7f;
+			_report.lon = (int32_t)8.538777e7f;
+			_report.alt = (int32_t)400e3f;
+			_report.timestamp_variance = hrt_absolute_time();
+			_report.s_variance_m_s = 10.0f;
+			_report.p_variance_m = 10.0f;
+			_report.c_variance_rad = 0.1f;
+			_report.fix_type = 3;
+			_report.eph_m = 10.0f;
+			_report.epv_m = 10.0f;
+			_report.timestamp_velocity = hrt_absolute_time();
+			_report.vel_n_m_s = 0.0f;
+			_report.vel_e_m_s = 0.0f;
+			_report.vel_d_m_s = 0.0f;
+			_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+			_report.cog_rad = 0.0f;
+			_report.vel_ned_valid = true;
+
+			//no time and satellite information simulated
+
+			if (_report_pub > 0) {
+				orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+			} else {
+				_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+			}
+
+			usleep(2e5);
+
+		} else {
+
 			if (_Helper != nullptr) {
 				delete(_Helper);
 				/* set to zero to ensure parser is not used while not instantiated */
@@ -357,6 +393,7 @@ GPS::task_main()
 			default:
 				break;
 			}
+		}
 
 	}
 
@@ -417,7 +454,7 @@ namespace gps
 
 GPS	*g_dev;
 
-void	start(const char *uart_path);
+void	start(const char *uart_path, bool fake_gps);
 void	stop();
 void	test();
 void	reset();
@@ -427,7 +464,7 @@ void	info();
  * Start the driver.
  */
 void
-start(const char *uart_path)
+start(const char *uart_path, bool fake_gps)
 {
 	int fd;
 
@@ -435,7 +472,7 @@ start(const char *uart_path)
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new GPS(uart_path);
+	g_dev = new GPS(uart_path, fake_gps);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -527,6 +564,7 @@ gps_main(int argc, char *argv[])
 
 	/* set to default */
 	char *device_name = GPS_DEFAULT_UART_PORT;
+	bool fake_gps = false;
 
 	/*
 	 * Start/load the driver.
@@ -542,7 +580,13 @@ gps_main(int argc, char *argv[])
 			}
 		}
 
-		gps::start(device_name);
+		/* Detect fake gps option */
+		for (int i = 2; i < argc; i++) {
+			if (!strcmp(argv[i], "-f"))
+				fake_gps = true;
+		}
+
+		gps::start(device_name, fake_gps);
 	}
 
 	if (!strcmp(argv[1], "stop"))
@@ -567,5 +611,5 @@ gps_main(int argc, char *argv[])
 		gps::info();
 
 out:
-	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
 }

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 40,
+					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
+					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -198,7 +198,9 @@ MEASAirspeed::collect()
 //	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
 	const float P_min = -1.0f;
 	const float P_max = 1.0f;
-	float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f)   - _diff_pres_offset);
+	float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+        if (diff_press_pa < 0.0f)
+            diff_press_pa = 0.0f;
 
 	struct differential_pressure_s report;
 

src/drivers/ms5611/ms5611.cpp

@@ -124,6 +124,8 @@ protected:
 	int32_t			_TEMP;
 	int64_t			_OFF;
 	int64_t			_SENS;
+	float			_P;
+	float			_T;
 
 	/* altitude conversion calibration */
 	unsigned		_msl_pressure;	/* in kPa */
@@ -623,6 +625,8 @@ MS5611::collect()
 
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
+		_P = P * 0.01f;
+		_T = _TEMP * 0.01f;
 
 		/* generate a new report */
 		report.temperature = _TEMP / 100.0f;
@@ -695,6 +699,8 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
+	printf("P:              %.3f\n", _P);
+	printf("T:              %.3f\n", _T);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);

src/drivers/px4fmu/fmu.cpp

@@ -65,6 +65,7 @@
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
 		errx(0, "FMU driver stopped");
 	}
 
+	if (!strcmp(verb, "id")) {
+		char id[12];
+		(void)get_board_serial(id);
+
+		errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+		     (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+		     (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+	}
+
 
 	if (fmu_start() != OK)
 		errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
 			sensor_reset(0);
 			warnx("resettet default time");
 		}
+
 		exit(0);
 	}
 

src/drivers/px4io/px4io.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -35,7 +35,7 @@
  * @file px4io.cpp
  * Driver for the PX4IO board.
  *
- * PX4IO is connected via I2C.
+ * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
 #include <nuttx/config.h>
@@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 
 		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
 
+		if (ret)
+			return ret;
+
 		retries--;
 
 		log("mixer sent");
@@ -2419,6 +2422,69 @@ detect(int argc, char *argv[])
 	}
 }
 
+void
+checkcrc(int argc, char *argv[])
+{
+	bool keep_running = false;
+
+	if (g_dev == nullptr) {
+		/* allocate the interface */
+		device::Device *interface = get_interface();
+
+		/* create the driver - it will set g_dev */
+		(void)new PX4IO(interface);
+
+		if (g_dev == nullptr)
+			errx(1, "driver alloc failed");
+	} else {
+		/* its already running, don't kill the driver */
+		keep_running = true;
+	}
+
+	/*
+	  check IO CRC against CRC of a file
+	 */
+	if (argc < 2) {
+		printf("usage: px4io checkcrc filename\n");
+		exit(1);
+	}
+	int fd = open(argv[1], O_RDONLY);
+	if (fd == -1) {
+		printf("open of %s failed - %d\n", argv[1], errno);
+		exit(1);			
+	}
+	const uint32_t app_size_max = 0xf000;
+	uint32_t fw_crc = 0;
+	uint32_t nbytes = 0;
+	while (true) {
+		uint8_t buf[16];
+		int n = read(fd, buf, sizeof(buf));
+		if (n <= 0) break;
+		fw_crc = crc32part(buf, n, fw_crc);
+		nbytes += n;
+	}
+	close(fd);
+	while (nbytes < app_size_max) {
+		uint8_t b = 0xff;
+		fw_crc = crc32part(&b, 1, fw_crc);			
+		nbytes++;
+	}
+
+	int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+
+	if (!keep_running) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	if (ret != OK) {
+		printf("check CRC failed - %d\n", ret);
+		exit(1);			
+	}
+	printf("CRCs match\n");
+	exit(0);
+}
+
 void
 bind(int argc, char *argv[])
 {
@@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "detect"))
 		detect(argc - 1, argv + 1);
 
+	if (!strcmp(argv[1], "checkcrc"))
+		checkcrc(argc - 1, argv + 1);
+
 	if (!strcmp(argv[1], "update")) {
 
 		if (g_dev != nullptr) {
@@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "checkcrc")) {
-		/*
-		  check IO CRC against CRC of a file
-		 */
-		if (argc <= 2) {
-			printf("usage: px4io checkcrc filename\n");
-			exit(1);
-		}
-		if (g_dev == nullptr) {
-			printf("px4io is not started\n");
-			exit(1);
-		}
-		int fd = open(argv[2], O_RDONLY);
-		if (fd == -1) {
-			printf("open of %s failed - %d\n", argv[2], errno);
-			exit(1);			
-		}
-		const uint32_t app_size_max = 0xf000;
-		uint32_t fw_crc = 0;
-		uint32_t nbytes = 0;
-		while (true) {
-			uint8_t buf[16];
-			int n = read(fd, buf, sizeof(buf));
-			if (n <= 0) break;
-			fw_crc = crc32part(buf, n, fw_crc);
-			nbytes += n;
-		}
-		close(fd);
-		while (nbytes < app_size_max) {
-			uint8_t b = 0xff;
-			fw_crc = crc32part(&b, 1, fw_crc);			
-			nbytes++;
-		}
-
-		int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
-		if (ret != OK) {
-			printf("check CRC failed - %d\n", ret);
-			exit(1);			
-		}
-		printf("CRCs match\n");
-		exit(0);
-	}
-
 	if (!strcmp(argv[1], "rx_dsm") ||
 	    !strcmp(argv[1], "rx_dsm_10bit") ||
 	    !strcmp(argv[1], "rx_dsm_11bit") ||

src/modules/px4iofirmware/dsm.c

@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
 int
 dsm_init(const char *device)
 {
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+	// enable power on DSM connector
+	POWER_SPEKTRUM(true);
+#endif
+
 	if (dsm_fd < 0)
 		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
 

src/modules/px4iofirmware/px4io.c

@@ -125,6 +125,25 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+static uint64_t reboot_time;
+
+/**
+   schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+    reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+   check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+    if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+        up_systemreset();
+    }
+}
 
 static void
 calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                check_reboot();
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();

src/modules/px4iofirmware/px4io.h

@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
 
 /** send a debug message to the console */
 extern void	isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+

src/modules/px4iofirmware/registers.c

@@ -519,15 +519,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			if (value != PX4IO_REBOOT_BL_MAGIC)
 				break;
 
-                        // note that we don't set BL_WAIT_MAGIC in
+                        // we schedule a reboot rather than rebooting
-                        // BKP_DR1 as that is not necessary given the
+                        // immediately to allow the IO board to ACK
-                        // timing of the forceupdate command. The
+                        // the reboot command
-                        // bootloader on px4io waits for enough time
+                        schedule_reboot(100000);
-                        // anyway, and this method works with older
-                        // bootloader versions (tested with both
-                        // revision 3 and revision 4).
-
-			up_systemreset();
 			break;
 
 		case PX4IO_P_SETUP_DSM:

src/modules/systemlib/board_serial.c

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include "otp.h"
+#include "board_config.h"
+#include "board_serial.h"
+
+int get_board_serial(char *serialid)
+{
+	const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+	union udid id;
+	val_read((unsigned *)&id, udid_ptr, sizeof(id));
+
+
+	/* Copy the serial from the chips non-write memory and swap endianess */
+	serialid[0] = id.data[3];   serialid[1] = id.data[2];  serialid[2] = id.data[1];  serialid[3] = id.data[0];
+	serialid[4] = id.data[7];   serialid[5] = id.data[6];  serialid[6] = id.data[5];  serialid[7] = id.data[4];
+	serialid[8] = id.data[11];   serialid[9] = id.data[10];  serialid[10] = id.data[9];  serialid[11] = id.data[8];
+
+	return 0;
+}

src/modules/systemlib/board_serial.h

@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT int get_board_serial(char *serialid);
+
+__END_DECLS

src/modules/systemlib/module.mk

@@ -49,4 +49,7 @@ SRCS		 = err.c \
 		   airspeed.c \
 		   system_params.c \
 		   mavlink_log.c \
-		   rc_check.c
+		   rc_check.c \
+		   otp.c \
+		   board_serial.c
+

src/modules/systemlib/otp.c

@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Authors:
+ *      Lorenz Meier <lm@inf.ethz.ch>
+ *      David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file otp.c
+ * otp estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include <nuttx/config.h>
+#include <board_config.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <string.h>  // memset
+#include "conversions.h"
+#include "otp.h"
+#include "err.h"   // warnx 
+#include <assert.h>
+
+
+int val_read(void *dest, volatile const void *src, int bytes)
+{
+
+	int i;
+
+	for (i = 0; i < bytes / 4; i++) {
+		*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
+	}
+
+	return i * 4;
+}
+
+
+int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
+{
+
+	warnx("write_otp: PX4 / %02X / %02X / %02X  / ... etc  \n", id_type, vid, pid);
+
+	int errors = 0;
+
+	// descriptor
+	if (F_write_byte(ADDR_OTP_START, 'P'))
+		errors++;
+	  //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 1, 'X'))
+		errors++; //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 2, '4'))
+		errors++;
+	if (F_write_byte(ADDR_OTP_START + 3, '\0'))
+		errors++;
+	//id_type
+	if (F_write_byte(ADDR_OTP_START + 4, id_type))
+		errors++;
+	// vid and pid are 4 bytes each
+	if (F_write_word(ADDR_OTP_START + 5, vid))
+		errors++;
+	if (F_write_word(ADDR_OTP_START + 9, pid))
+		errors++;
+
+	// leave some 19 bytes of space, and go to the next block...
+	// then the auth sig starts
+	for (int i = 0 ; i < 128 ; i++) {
+		if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
+			errors++;
+	}
+
+	return errors;
+}
+
+int lock_otp(void)
+{
+	//determine the required locking size - can only write full lock bytes */
+//	int size = sizeof(struct otp) / 32;
+//
+//	struct otp_lock otp_lock_mem;
+//
+//	memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
+//	for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
+//		otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
+	//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
+	// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
+
+	int locksize = 5;
+
+	int errors = 0;
+
+	// or just realise it's exctly 5x 32byte blocks we need to lock.  1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
+	for (int i = 0 ; i < locksize ; i++) {
+		if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
+			errors++;
+	}
+
+	return errors;
+}
+
+
+
+// COMPLETE, BUSY, or other flash error?
+int F_GetStatus(void)
+{
+	int fs = F_COMPLETE;
+
+	if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
+
+		if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
+
+			if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
+
+				if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
+					fs = F_COMPLETE;
+				}
+			}
+		}
+	}
+
+	return fs;
+}
+
+
+// enable FLASH Registers
+void F_unlock(void)
+{
+	if ((FLASH->control & F_CR_LOCK) != 0) {
+		FLASH->key = F_KEY1;
+		FLASH->key = F_KEY2;
+	}
+}
+
+//  lock the FLASH Registers
+void F_lock(void)
+{
+	FLASH->control |= F_CR_LOCK;
+}
+
+// flash write word.
+int F_write_word(uint32_t Address, uint32_t Data)
+{
+	unsigned char octet[4] = {0, 0, 0, 0};
+
+	int ret = 0;
+
+	for (int i = 0; i < 4; i++) {
+		octet[i] = (Data >> (i * 8)) & 0xFF;
+		ret = F_write_byte(Address + i, octet[i]);
+	}
+
+	return ret;
+}
+
+// flash write byte
+int F_write_byte(uint32_t Address, uint8_t Data)
+{
+	volatile int status = F_COMPLETE;
+
+	//warnx("F_write_byte: %08X %02d", Address , Data ) ;
+
+	//Check the parameters
+	assert(IS_F_ADDRESS(Address));
+
+	//Wait for FLASH operation to complete by polling on BUSY flag.
+	status = F_GetStatus();
+
+	while (status == F_BUSY) { status = F_GetStatus();}
+
+	if (status == F_COMPLETE) {
+		//if the previous operation is completed, proceed to program the new data
+		FLASH->control &= CR_PSIZE_MASK;
+		FLASH->control |= F_PSIZE_BYTE;
+		FLASH->control |= F_CR_PG;
+
+		*(volatile uint8_t *)Address = Data;
+
+		//Wait for FLASH operation to complete by polling on BUSY flag.
+		status = F_GetStatus();
+
+		while (status == F_BUSY) { status = F_GetStatus();}
+
+		//if the program operation is completed, disable the PG Bit
+		FLASH->control &= (~F_CR_PG);
+	}
+
+	//Return the Program Status
+	return !(status == F_COMPLETE);
+}
+
+
+

src/modules/systemlib/otp.h

@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 otp.h
+ * One TIme Programmable ( OTP ) Flash routine/s.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#ifndef OTP_H_
+#define OTP_H_
+
+__BEGIN_DECLS
+
+#define ADDR_OTP_START			0x1FFF7800
+#define ADDR_OTP_LOCK_START		0x1FFF7A00
+
+#define OTP_LOCK_LOCKED			0x00
+#define OTP_LOCK_UNLOCKED		0xFF
+
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+// possible flash statuses
+#define F_BUSY 1
+#define F_ERROR_WRP 2
+#define F_ERROR_PROGRAM 3
+#define F_ERROR_OPERATION 4
+#define F_COMPLETE 5
+
+typedef struct {
+	volatile uint32_t accesscontrol;      // 0x00
+	volatile uint32_t key;     //  0x04
+	volatile uint32_t optionkey;  //  0x08
+	volatile uint32_t status;       // 0x0C
+	volatile uint32_t control;       // 0x10
+	volatile uint32_t optioncontrol;    //0x14
+} flash_registers;
+
+#define PERIPH_BASE           ((uint32_t)0x40000000) //Peripheral base address
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000)
+#define F_R_BASE          (AHB1PERIPH_BASE + 0x3C00)
+#define FLASH               ((flash_registers *) F_R_BASE)
+
+#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
+#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
+#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
+#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
+#define F_PSIZE_WORD ((uint32_t)0x00000200)
+#define F_PSIZE_BYTE ((uint32_t)0x00000000)
+#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
+#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
+
+#define F_KEY1 ((uint32_t)0x45670123)
+#define F_KEY2 ((uint32_t)0xCDEF89AB)
+#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
+
+
+
+#pragma pack(push, 1)
+
+/*
+ * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
+ * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
+ * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
+ * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
+ * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
+ */
+
+struct otp {
+	// first 32 bytes =  the '0' Block
+	char		id[4];		///4 bytes < 'P' 'X' '4' '\n'
+	uint8_t		id_type;	///1 byte < 0 for USB VID, 1 for generic VID
+	uint32_t	vid;        ///4 bytes
+	uint32_t	pid;        ///4 bytes
+	char        unused[19];  ///19 bytes
+	// Cert-of-Auth is next 4 blocks ie 1-4  ( where zero is first block )
+	char        signature[128];
+	// insert extras here
+	uint32_t	lock_bytes[4];
+};
+
+struct otp_lock {
+	uint8_t		lock_bytes[16];
+};
+#pragma pack(pop)
+
+#define ADDR_F_SIZE		0x1FFF7A22
+
+#pragma pack(push, 1)
+union udid {
+	uint32_t	serial[3];
+	char  data[12];
+};
+#pragma pack(pop)
+
+
+/**
+ *   s
+ */
+//__EXPORT float calc_indicated_airspeed(float differential_pressure);
+
+__EXPORT void F_unlock(void);
+__EXPORT void F_lock(void);
+__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
+__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
+__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
+__EXPORT int lock_otp(void);
+
+
+__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
+__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
+
+__END_DECLS
+
+#endif

src/systemcmds/nshterm/nshterm.c

@@ -62,7 +62,9 @@ nshterm_main(int argc, char *argv[])
     }
     uint8_t retries = 0;
     int fd = -1;
-    while (retries < 50) {
+
+    /* try the first 30 seconds */
+    while (retries < 300) {
         /* the retries are to cope with the behaviour of /dev/ttyACM0 */
         /* which may not be ready immediately. */
         fd = open(argv[1], O_RDWR);

src/systemcmds/tests/module.mk

@@ -28,4 +28,5 @@ SRCS			 = test_adc.c \
 			   tests_main.c \
 			   test_param.c \
 			   test_ppm_loopback.c \
-			   test_rc.c
+			   test_rc.c \
+			   test_mount.c

src/systemcmds/tests/test_file.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -35,9 +35,12 @@
  * @file test_file.c
  *
  * File write test.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <sys/stat.h>
+#include <poll.h>
 #include <dirent.h>
 #include <stdio.h>
 #include <stddef.h>
@@ -51,6 +54,38 @@
 
 #include "tests.h"
 
+int check_user_abort();
+
+int check_user_abort() {
+	/* check if user wants to abort */
+	char c;
+
+	struct pollfd fds;
+	int ret;
+	fds.fd = 0; /* stdin */
+	fds.events = POLLIN;
+	ret = poll(&fds, 1, 0);
+
+	if (ret > 0) {
+
+		read(0, &c, 1);
+
+		switch (c) {
+		case 0x03: // ctrl-c
+		case 0x1b: // esc
+		case 'c':
+		case 'q':
+		{
+			warnx("Test aborted.");
+			return OK;
+			/* not reached */
+			}
+		}
+	}
+
+	return 1;
+}
+
 int
 test_file(int argc, char *argv[])
 {
@@ -86,7 +121,6 @@ test_file(int argc, char *argv[])
 
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 			hrt_abstime start, end;
-			//perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)");
 
 			int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
@@ -94,28 +128,25 @@ test_file(int argc, char *argv[])
 
 			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
-				//perf_begin(wperf);
 				int wret = write(fd, write_buf + a, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
 					warn("WRITE ERROR!");
 
 					if ((0x3 & (uintptr_t)(write_buf + a)))
-						errx(1, "memory is unaligned, align shift: %d", a);
+						warnx("memory is unaligned, align shift: %d", a);
 
+					return 1;
 				}
 
 				fsync(fd);
-				//perf_end(wperf);
+
+				if (!check_user_abort())
+					return OK;
 
 			}
 			end = hrt_absolute_time();
 
-			//warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
-
-			//perf_print_counter(wperf);
-			//perf_free(wperf);
-
 			close(fd);
 			fd = open("/fs/microsd/testfile", O_RDONLY);
 
@@ -124,7 +155,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					errx(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 				
 				/* compare value */
@@ -139,9 +171,13 @@ test_file(int argc, char *argv[])
 				}
 
 				if (!compare_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
+				if (!check_user_abort())
+					return OK;
+
 			}
 
 			/*
@@ -152,16 +188,20 @@ test_file(int argc, char *argv[])
 			int ret = unlink("/fs/microsd/testfile");
 			fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
-			warnx("testing aligned writes - please wait..");
+			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
 			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
 				int wret = write(fd, write_buf, chunk_sizes[c]);
 
 				if (wret != chunk_sizes[c]) {
-					err(1, "WRITE ERROR!");
+					warnx("WRITE ERROR!");
+					return 1;
 				}
 
+				if (!check_user_abort())
+					return OK;
+
 			}
 
 			fsync(fd);
@@ -178,7 +218,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					err(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 				
 				/* compare value */
@@ -190,10 +231,14 @@ test_file(int argc, char *argv[])
 						align_read_ok = false;
 						break;
 					}
+
+					if (!check_user_abort())
+						return OK;
 				}
 
 				if (!align_read_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
 			}
@@ -215,7 +260,8 @@ test_file(int argc, char *argv[])
 				int rret = read(fd, read_buf + a, chunk_sizes[c]);
 
 				if (rret != chunk_sizes[c]) {
-					err(1, "READ ERROR!");
+					warnx("READ ERROR!");
+					return 1;
 				}
 
 				for (int j = 0; j < chunk_sizes[c]; j++) {
@@ -228,10 +274,14 @@ test_file(int argc, char *argv[])
 						if (unalign_read_err_count > 10)
 							break;
 					}
+
+					if (!check_user_abort())
+						return OK;
 				}
 
 				if (!unalign_read_ok) {
-					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
 				}
 
 			}
@@ -239,9 +289,10 @@ test_file(int argc, char *argv[])
 			ret = unlink("/fs/microsd/testfile");
 			close(fd);
 
-			if (ret)
+			if (ret) {
-				err(1, "UNLINKING FILE FAILED");
+				warnx("UNLINKING FILE FAILED");
-
+				return 1;
+			}
 		}
 	}
 
@@ -261,75 +312,9 @@ test_file(int argc, char *argv[])
 
 	} else {
 		/* failed opening dir */
-		err(1, "FAILED LISTING MICROSD ROOT DIRECTORY");
+		warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
-	}
-
-	return 0;
-}
-#if 0
-int
-test_file(int argc, char *argv[])
-{
-	const iterations = 1024;
-
-	/* check if microSD card is mounted */
-	struct stat buffer;
-	if (stat("/fs/microsd/", &buffer)) {
-		warnx("no microSD card mounted, aborting file test");
 		return 1;
 	}
 
-	uint8_t buf[512];
-	hrt_abstime start, end;
-	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
-
-	int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-	memset(buf, 0, sizeof(buf));
-
-	start = hrt_absolute_time();
-	for (unsigned i = 0; i < iterations; i++) {
-		perf_begin(wperf);
-		write(fd, buf, sizeof(buf));
-		perf_end(wperf);
-	}
-	end = hrt_absolute_time();
-
-	close(fd);
-
-	unlink("/fs/microsd/testfile");
-
-	warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
-	perf_print_counter(wperf);
-	perf_free(wperf);
-
-	warnx("running unlink test");
-
-	/* ensure that common commands do not run against file count limits */
-	for (unsigned i = 0; i < 64; i++) {
-
-		warnx("unlink iteration #%u", i);
-
-		int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-		if (fd < 0)
-			errx(1, "failed opening test file before unlink()");
-		int ret = write(fd, buf, sizeof(buf));
-		if (ret < 0)
-			errx(1, "failed writing test file before unlink()");
-		close(fd);
-
-		ret = unlink("/fs/microsd/testfile");
-		if (ret != OK)
-			errx(1, "failed unlinking test file");
-
-		fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-		if (fd < 0)
-			errx(1, "failed opening test file after unlink()");
-		ret = write(fd, buf, sizeof(buf));
-		if (ret < 0)
-			errx(1, "failed writing test file after unlink()");
-		close(fd);
-	}
-
 	return 0;
 }
-#endif

src/systemcmds/tests/test_mount.c

@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 test_mount.c
+ *
+ * Device mount / unmount stress test
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <sys/stat.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
+#include <string.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "tests.h"
+
+const int fsync_tries = 1;
+const int abort_tries = 10;
+
+int
+test_mount(int argc, char *argv[])
+{
+	const unsigned iterations = 2000;
+	const unsigned alignments = 10;
+
+	const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt";
+
+
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
+	/* list directory */
+	DIR		*d;
+	struct dirent	*dir;
+	d = opendir("/fs/microsd");
+	if (d) {
+
+		while ((dir = readdir(d)) != NULL) {
+			//printf("%s\n", dir->d_name);
+		}
+
+		closedir(d);
+
+		warnx("directory listing ok (FS mounted and readable)");
+
+	} else {
+		/* failed opening dir */
+		warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
+
+		if (stat(cmd_filename, &buffer) == OK) {
+			(void)unlink(cmd_filename);
+		}
+
+		return 1;
+	}
+
+	/* read current test status from file, write test instructions for next round */
+
+	/* initial values */
+	int it_left_fsync = fsync_tries;
+	int it_left_abort = abort_tries;
+
+	int cmd_fd;
+	if (stat(cmd_filename, &buffer) == OK) {
+
+		/* command file exists, read off state */
+		cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK);
+		char buf[64];
+		int ret = read(cmd_fd, buf, sizeof(buf));
+
+		if (ret > 0) {
+			int count = 0;
+			ret = sscanf(buf, "TEST: %u %u %n", &it_left_fsync, &it_left_abort, &count);
+		} else {
+			buf[0] = '\0';
+		}
+
+		if (it_left_fsync > fsync_tries)
+			it_left_fsync = fsync_tries;
+
+		if (it_left_abort > abort_tries)
+			it_left_abort = abort_tries;
+
+		warnx("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort,
+			fsync_tries, abort_tries, buf);
+
+		int it_left_fsync_prev = it_left_fsync;
+
+		/* now write again what to do next */
+		if (it_left_fsync > 0)
+			it_left_fsync--;
+
+		if (it_left_fsync == 0 && it_left_abort > 0) {
+
+			it_left_abort--;
+
+			/* announce mode switch */
+			if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) {
+				warnx("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
+				fsync(stdout);
+				fsync(stderr);
+				usleep(20000);
+			}
+
+		}
+
+		if (it_left_abort == 0) {
+			(void)unlink(cmd_filename);
+			return 0;
+		}
+
+	} else {
+
+		/* this must be the first iteration, do something */
+		cmd_fd = open(cmd_filename, O_TRUNC | O_WRONLY | O_CREAT);
+
+		warnx("First iteration of file test\n");
+	}
+
+	char buf[64];
+	int wret = sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort);
+	lseek(cmd_fd, 0, SEEK_SET);
+	write(cmd_fd, buf, strlen(buf) + 1);
+	fsync(cmd_fd);
+
+	/* perform tests for a range of chunk sizes */
+	unsigned chunk_sizes[] = {32, 64, 128, 256, 512, 600, 1200};
+
+	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
+
+		printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC");
+		printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
+		fsync(stdout);
+		fsync(stderr);
+		usleep(50000);
+
+		for (unsigned a = 0; a < alignments; a++) {
+
+			printf(".");
+
+			uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
+
+			/* fill write buffer with known values */
+			for (int i = 0; i < sizeof(write_buf); i++) {
+				/* this will wrap, but we just need a known value with spacing */
+				write_buf[i] = i+11;
+			}
+
+			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
+			hrt_abstime start, end;
+
+			int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+
+			start = hrt_absolute_time();
+			for (unsigned i = 0; i < iterations; i++) {
+
+				int wret = write(fd, write_buf + a, chunk_sizes[c]);
+
+				if (wret != chunk_sizes[c]) {
+					warn("WRITE ERROR!");
+
+					if ((0x3 & (uintptr_t)(write_buf + a)))
+						warnx("memory is unaligned, align shift: %d", a);
+
+					return 1;
+
+				}
+
+				if (it_left_fsync > 0) {
+					fsync(fd);
+				} else {
+					printf("#");
+					fsync(stdout);
+					fsync(stderr);
+				}
+			}
+
+			if (it_left_fsync > 0) {
+				printf("#");
+			}
+
+			printf(".");
+			fsync(stdout);
+			fsync(stderr);
+			usleep(200000);
+
+			end = hrt_absolute_time();
+
+			close(fd);
+			fd = open("/fs/microsd/testfile", O_RDONLY);
+
+			/* read back data for validation */
+			for (unsigned i = 0; i < iterations; i++) {
+				int rret = read(fd, read_buf, chunk_sizes[c]);
+
+				if (rret != chunk_sizes[c]) {
+					warnx("READ ERROR!");
+					return 1;
+				}
+				
+				/* compare value */
+				bool compare_ok = true;
+
+				for (int j = 0; j < chunk_sizes[c]; j++) {
+					if (read_buf[j] != write_buf[j + a]) {
+						warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
+						compare_ok = false;
+						break;
+					}
+				}
+
+				if (!compare_ok) {
+					warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+					return 1;
+				}
+
+			}
+
+			int ret = unlink("/fs/microsd/testfile");
+			close(fd);
+
+			if (ret) {
+				warnx("UNLINKING FILE FAILED");
+				return 1;
+			}
+
+		}
+	}
+
+	fsync(stdout);
+	fsync(stderr);
+	usleep(20000);
+
+
+
+	/* we always reboot for the next test if we get here */
+	warnx("Iteration done, rebooting..");
+	fsync(stdout);
+	fsync(stderr);
+	usleep(50000);
+	systemreset(false);
+
+	/* never going to get here */
+	return 0;
+}

src/systemcmds/tests/tests.h

@@ -109,6 +109,7 @@ extern int	test_bson(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
 extern int	test_rc(int argc, char *argv[]);
+extern int	test_mount(int argc, char *argv[]);
 
 __END_DECLS
 

src/systemcmds/tests/tests_main.c

@@ -106,6 +106,7 @@ const struct {
 	{"file",		test_file,	0},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
 	{NULL,			NULL, 		0}
 };